Merge branch 'master' into clippy

2026-07-23 16:32:04 +08:00 · 2025-10-15 22:04:34 -04:00
parent 8b210c9bdb 437726b348
commit a95d91f77a
47 changed files with 1068 additions and 673 deletions
@@ -69,6 +69,48 @@ struct LeadData {
 struct SelfdriveStateSP @0x81c2f05a394cf4af {
  mads @0 :ModularAssistiveDrivingSystem;
  intelligentCruiseButtonManagement @1 :IntelligentCruiseButtonManagement;
+
+  enum AudibleAlert {
+    none @0;
+
+    engage @1;
+    disengage @2;
+    refuse @3;
+
+    warningSoft @4;
+    warningImmediate @5;
+
+    prompt @6;
+    promptRepeat @7;
+    promptDistracted @8;
+
+    # unused, these are reserved for upstream events so we don't collide
+    reserved9 @9;
+    reserved10 @10;
+    reserved11 @11;
+    reserved12 @12;
+    reserved13 @13;
+    reserved14 @14;
+    reserved15 @15;
+    reserved16 @16;
+    reserved17 @17;
+    reserved18 @18;
+    reserved19 @19;
+    reserved20 @20;
+    reserved21 @21;
+    reserved22 @22;
+    reserved23 @23;
+    reserved24 @24;
+    reserved25 @25;
+    reserved26 @26;
+    reserved27 @27;
+    reserved28 @28;
+    reserved29 @29;
+    reserved30 @30;
+
+    promptSingleLow @31;
+    promptSingleHigh @32;
+  }
 }

 struct ModelManagerSP @0xaedffd8f31e7b55d {
@@ -404,13 +446,13 @@ struct LiveMapDataSP @0xf416ec09499d9d19 {

 struct ModelDataV2SP @0xa1680744031fdb2d {
  laneTurnDirection @0 :TurnDirection;
-}

  enum TurnDirection {
    none @0;
    turnLeft @1;
    turnRight @2;
  }
+}

 struct CustomReserved10 @0xcb9fd56c7057593a {
 }
@@ -160,9 +160,9 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"ModelRunnerTypeCache", {CLEAR_ON_ONROAD_TRANSITION, INT}},
    {"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}},
    {"Offroad_TiciSupport", {CLEAR_ON_MANAGER_START, JSON}},
-    {"OnroadScreenOffBrightness", {PERSISTENT | BACKUP, INT, "100"}},
+    {"OnroadScreenOffBrightness", {PERSISTENT | BACKUP, INT, "0"}},
    {"OnroadScreenOffControl", {PERSISTENT | BACKUP, BOOL}},
-    {"OnroadScreenOffTimer", {PERSISTENT | BACKUP, INT, "0"}},
+    {"OnroadScreenOffTimer", {PERSISTENT | BACKUP, INT, "15"}},
    {"OnroadUploads", {PERSISTENT | BACKUP, BOOL, "1"}},
    {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
@@ -205,6 +205,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {

    // sunnypilot car specific params
    {"HyundaiLongitudinalTuning", {PERSISTENT | BACKUP, INT, "0"}},
+    {"SubaruStopAndGo", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}},

    {"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbfa5858c0a672411ffdc691efdecb06d01ae458cc1df409bcf3fdeaa4756f72
+size 34638
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db9671bb03e01f119bba1eb6cc0507e0f039ac4e5b7f9f839a87071c52e86e56
+size 44416
@@ -6,6 +6,7 @@ from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTur

 LaneChangeState = log.LaneChangeState
 LaneChangeDirection = log.LaneChangeDirection
+TurnDirection = custom.ModelDataV2SP.TurnDirection

 LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS
 LANE_CHANGE_TIME_MAX = 10.
@@ -32,9 +33,9 @@ DESIRES = {
 }

 TURN_DESIRES = {
-  custom.TurnDirection.none: log.Desire.none,
-  custom.TurnDirection.turnLeft: log.Desire.turnLeft,
-  custom.TurnDirection.turnRight: log.Desire.turnRight,
+  TurnDirection.none: log.Desire.none,
+  TurnDirection.turnLeft: log.Desire.turnLeft,
+  TurnDirection.turnRight: log.Desire.turnRight,
 }


@@ -49,7 +50,7 @@ class DesireHelper:
    self.desire = log.Desire.none
    self.alc = AutoLaneChangeController(self)
    self.lane_turn_controller = LaneTurnController(self)
-    self.lane_turn_direction = custom.TurnDirection.none
+    self.lane_turn_direction = TurnDirection.none

  @staticmethod
  def get_lane_change_direction(CS):
@@ -126,7 +127,7 @@ class DesireHelper:

    self.prev_one_blinker = one_blinker

-    if self.lane_turn_direction != custom.TurnDirection.none:
+    if self.lane_turn_direction != TurnDirection.none:
      self.desire = TURN_DESIRES[self.lane_turn_direction]
    else:
      self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
@@ -24,6 +24,7 @@ from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroa
 from openpilot.system.version import get_build_metadata

 from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
+from openpilot.sunnypilot import get_sanitize_int_param
 from openpilot.sunnypilot.selfdrive.car.car_specific import CarSpecificEventsSP
 from openpilot.sunnypilot.selfdrive.car.cruise_helpers import CruiseHelper
 from openpilot.sunnypilot.selfdrive.car.intelligent_cruise_button_management.controller import IntelligentCruiseButtonManagement
@@ -43,6 +44,7 @@ LaneChangeDirection = log.LaneChangeDirection
 EventName = log.OnroadEvent.EventName
 ButtonType = car.CarState.ButtonEvent.Type
 SafetyModel = car.CarParams.SafetyModel
+TurnDirection = custom.ModelDataV2SP.TurnDirection

 IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)

@@ -130,7 +132,12 @@ class SelfdriveD(CruiseHelper):
    self.logged_comm_issue = None
    self.not_running_prev = None
    self.experimental_mode = False
-    self.personality = self.params.get("LongitudinalPersonality", return_default=True)
+    self.personality = get_sanitize_int_param(
+      "LongitudinalPersonality",
+      min(log.LongitudinalPersonality.schema.enumerants.values()),
+      max(log.LongitudinalPersonality.schema.enumerants.values()),
+      self.params
+    )
    self.recalibrating_seen = False
    self.state_machine = StateMachine()
    self.rk = Ratekeeper(100, print_delay_threshold=None)
@@ -299,9 +306,9 @@ class SelfdriveD(CruiseHelper):

    # Handle lane turn
    lane_turn_direction = self.sm['modelDataV2SP'].laneTurnDirection
-    if lane_turn_direction == custom.TurnDirection.turnLeft:
+    if lane_turn_direction == TurnDirection.turnLeft:
      self.events_sp.add(custom.OnroadEventSP.EventName.laneTurnLeft)
-    elif lane_turn_direction == custom.TurnDirection.turnRight:
+    elif lane_turn_direction == TurnDirection.turnRight:
      self.events_sp.add(custom.OnroadEventSP.EventName.laneTurnRight)

    for i, pandaState in enumerate(self.sm['pandaStates']):
@@ -33,13 +33,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
      "../assets/icons/experimental_white.svg",
      false,
    },
-    {
-      "DynamicExperimentalControl",
-      tr("Enable Dynamic Experimental Control"),
-      tr("Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal."),
-      "../assets/offroad/icon_blank.png",
-      false,
-    },
    {
      "DisengageOnAccelerator",
      tr("Disengage on Accelerator Pedal"),
@@ -22,7 +22,7 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {

  update_model(model, lead_one);
  drawLaneLines(painter);
-  drawPath(painter, model, surface_rect);
+  drawPath(painter, model, surface_rect.height());

  if (longitudinal_control && sm.alive("radarState")) {
    update_leads(radar_state, model.getPosition());
@@ -34,7 +34,6 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
      drawLead(painter, lead_two, lead_vertices[1], surface_rect);
    }
  }
-  drawLeadStatus(painter, surface_rect.height(), surface_rect.width());

  painter.restore();
 }
@@ -174,173 +173,6 @@ QColor ModelRenderer::blendColors(const QColor &start, const QColor &end, float
      (1 - t) * start.alphaF() + t * end.alphaF());
 }

-
-void ModelRenderer::drawLeadStatus(QPainter &painter, int height, int width) {
-    auto *s = uiState();
-    auto &sm = *(s->sm);
-
-    if (!sm.alive("radarState")) return;
-
-    const auto &radar_state = sm["radarState"].getRadarState();
-    const auto &lead_one = radar_state.getLeadOne();
-    const auto &lead_two = radar_state.getLeadTwo();
-
-    // Check if we have any active leads
-    bool has_lead_one = lead_one.getStatus();
-    bool has_lead_two = lead_two.getStatus();
-
-    if (!has_lead_one && !has_lead_two) {
-        // Fade out status display
-        lead_status_alpha = std::max(0.0f, lead_status_alpha - 0.05f);
-        if (lead_status_alpha <= 0.0f) return;
-    } else {
-        // Fade in status display
-        lead_status_alpha = std::min(1.0f, lead_status_alpha + 0.1f);
-    }
-
-    // Draw status for each lead vehicle under its chevron
-    if (true) {
-        drawLeadStatusAtPosition(painter, lead_one, lead_vertices[0], height, width, "L1");
-    }
-
-    if (has_lead_two && std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0) {
-        drawLeadStatusAtPosition(painter, lead_two, lead_vertices[1], height, width, "L2");
-    }
-}
-
-void ModelRenderer::drawLeadStatusAtPosition(QPainter &painter,
-                                           const cereal::RadarState::LeadData::Reader &lead_data,
-                                           const QPointF &chevron_pos,
-                                           int height, int width,
-                                           const QString &label) {
-
-    float d_rel = lead_data.getDRel();
-    float v_rel = lead_data.getVRel();
-    auto *s = uiState();
-    auto &sm = *(s->sm);
-    float v_ego = sm["carState"].getCarState().getVEgo();
-
-    int chevron_data = std::atoi(Params().get("ChevronInfo").c_str());
-
-    // Calculate chevron size (same logic as drawLead)
-    float sz = std::clamp((25 * 30) / (d_rel / 3 + 30), 15.0f, 30.0f) * 2.35;
-
-    QFont content_font = painter.font();
-    content_font.setPixelSize(35);
-    content_font.setBold(true);
-    painter.setFont(content_font);
-
-    QFontMetrics fm(content_font);
-    bool is_metric = s->scene.is_metric;
-
-    QStringList text_lines;
-
-    const int chevron_types = 3;
-    const int chevron_all = chevron_types + 1;  // All metrics (value 4)
-    QStringList chevron_text[chevron_types];
-    int position;
-    float val;
-
-    // Distance display (chevron_data == 1 or all)
-    if (chevron_data == 1 || chevron_data == chevron_all) {
-        position = 0;
-        val = std::max(0.0f, d_rel);
-        QString distance_unit = is_metric ? "m" : "ft";
-        if (!is_metric) {
-            val *= 3.28084f; // Convert meters to feet
-        }
-        chevron_text[position].append(QString::number(val, 'f', 0) + " " + distance_unit);
-    }
-
-    // Absolute velocity display (chevron_data == 2 or all)
-    if (chevron_data == 2 || chevron_data == chevron_all) {
-        position = (chevron_data == 2) ? 0 : 1;
-        val = std::max(0.0f, (v_rel + v_ego) * (is_metric ? static_cast<float>(MS_TO_KPH) : static_cast<float>(MS_TO_MPH)));
-        chevron_text[position].append(QString::number(val, 'f', 0) + " " + (is_metric ? "km/h" : "mph"));
-    }
-
-    // Time-to-contact display (chevron_data == 3 or all)
-    if (chevron_data == 3 || chevron_data == chevron_all) {
-        position = (chevron_data == 3) ? 0 : 2;
-        val = (d_rel > 0 && v_ego > 0) ? std::max(0.0f, d_rel / v_ego) : 0.0f;
-        QString ttc_str = (val > 0 && val < 200) ? QString::number(val, 'f', 1) + "s" : "---";
-        chevron_text[position].append(ttc_str);
-    }
-
-    // Collect all non-empty text lines
-    for (int i = 0; i < chevron_types; ++i) {
-        if (!chevron_text[i].isEmpty()) {
-            text_lines.append(chevron_text[i]);
-        }
-    }
-
-    // If no text to display, return early
-    if (text_lines.isEmpty()) {
-        return;
-    }
-
-    // Text box dimensions
-    float str_w = 150;  // Width of text area
-    float str_h = 45;   // Height per line
-
-    // Position text below chevron, centered horizontally
-    float text_x = chevron_pos.x() - str_w / 2;
-    float text_y = chevron_pos.y() + sz + 15;
-
-    // Clamp to screen bounds
-    text_x = std::clamp(text_x, 10.0f, (float)width - str_w - 10);
-
-    // Shadow offset
-    QPoint shadow_offset(2, 2);
-
-    // Draw each line of text with shadow
-    for (int i = 0; i < text_lines.size(); ++i) {
-        if (!text_lines[i].isEmpty()) {
-            QRect textRect(text_x, text_y + (i * str_h), str_w, str_h);
-
-            // Draw shadow
-            painter.setPen(QColor(0x0, 0x0, 0x0, (int)(200 * lead_status_alpha)));
-            painter.drawText(textRect.translated(shadow_offset.x(), shadow_offset.y()),
-                           Qt::AlignBottom | Qt::AlignHCenter, text_lines[i]);
-
-            // Determine text color based on content and danger level
-            QColor text_color;
-
-            // Check if this is a distance line (contains 'm' or 'ft')
-            if (text_lines[i].contains("m") || text_lines[i].contains("ft")) {
-                if (d_rel < 20.0f) {
-                    text_color = QColor(255, 80, 80, (int)(255 * lead_status_alpha)); // Red - danger
-                } else if (d_rel < 40.0f) {
-                    text_color = QColor(255, 200, 80, (int)(255 * lead_status_alpha)); // Yellow - caution
-                } else {
-                    text_color = QColor(80, 255, 120, (int)(255 * lead_status_alpha)); // Green - safe
-                }
-            }
-            // Enhanced color coding for time-to-contact
-            else if (text_lines[i].contains("s") && !text_lines[i].contains("---")) {
-                float ttc_val = text_lines[i].left(text_lines[i].length() - 1).toFloat();
-                if (ttc_val < 3.0f) {
-                    text_color = QColor(255, 80, 80, (int)(255 * lead_status_alpha)); // Red - urgent
-                } else if (ttc_val < 6.0f) {
-                    text_color = QColor(255, 200, 80, (int)(255 * lead_status_alpha)); // Yellow - caution
-                } else {
-                    text_color = QColor(0xff, 0xff, 0xff, (int)(255 * lead_status_alpha)); // White - safe
-                }
-            }
-            else {
-                text_color = QColor(0xff, 0xff, 0xff, (int)(255 * lead_status_alpha)); // White for other lines
-            }
-
-            // Draw main text
-            painter.setPen(text_color);
-            painter.drawText(textRect, Qt::AlignBottom | Qt::AlignHCenter, text_lines[i]);
-        }
-    }
-
-    // Reset pen
-    painter.setPen(Qt::NoPen);
-}
-
 void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
                             const QPointF &vd, const QRect &surface_rect) {
  const float speedBuff = 10.;
@@ -34,20 +34,11 @@ protected:
  bool mapToScreen(float in_x, float in_y, float in_z, QPointF *out);
  void mapLineToPolygon(const cereal::XYZTData::Reader &line, float y_off, float z_off,
                        QPolygonF *pvd, int max_idx, bool allow_invert = true);
-  void drawLeadStatus(QPainter &painter, int height, int width);
-  void drawLeadStatusAtPosition(QPainter &painter,
-                             const cereal::RadarState::LeadData::Reader &lead_data,
-                             const QPointF &chevron_pos,
-                             int height, int width,
-                             const QString &label);
  void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd, const QRect &surface_rect);
  void update_leads(const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line);
  virtual void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead);
  void drawLaneLines(QPainter &painter);
  void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height);
-  virtual void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &surface_rect) {;
-    drawPath(painter, model, surface_rect.height());
-  }
  void updatePathGradient(QLinearGradient &bg);
  QColor blendColors(const QColor &start, const QColor &end, float t);

@@ -64,9 +55,4 @@ protected:
  QPointF lead_vertices[2] = {};
  Eigen::Matrix3f car_space_transform = Eigen::Matrix3f::Zero();
  QRectF clip_region;
-
-  float lead_status_alpha = 0.0f;
-  QPointF lead_status_pos;
-  QString lead_status_text;
-  QColor lead_status_color;
 };
@@ -92,6 +92,16 @@ bool MainWindow::eventFilter(QObject *obj, QEvent *event) {
      // ignore events when device is awakened by resetInteractiveTimeout
      ignore = !device()->isAwake();
      device()->resetInteractiveTimeout();
+
+#ifdef SUNNYPILOT
+      auto *s_sp = uiStateSP();
+      bool onroadScreenControl = s_sp->scene.onroadScreenOffControl;
+      bool started = s_sp->scene.started;
+      bool timerExpired = (s_sp->scene.onroadScreenOffTimer == 0);
+      ignore |= (onroadScreenControl and started and timerExpired);
+      s_sp->reset_onroad_sleep_timer();
+#endif
+
      break;
    }
    default:
@@ -7,6 +7,10 @@
 #include "selfdrive/ui/qt/offroad/onboarding.h"
 #include "selfdrive/ui/qt/offroad/settings.h"

+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/ui.h"
+#endif
+
 class MainWindow : public QWidget {
  Q_OBJECT

@@ -4,7 +4,7 @@ import time
 import wave


-from cereal import car, messaging
+from cereal import car, messaging, custom
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import Ratekeeper
@@ -26,8 +26,15 @@ AMBIENT_DB = 30 # DB where MIN_VOLUME is applied
 DB_SCALE = 30 # AMBIENT_DB + DB_SCALE is where MAX_VOLUME is applied

 AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+AudibleAlertSP = custom.SelfdriveStateSP.AudibleAlert


+sound_list_sp: dict[int, tuple[str, int | None, float]] = {
+  # AudibleAlertSP, file name, play count (none for infinite)
+  AudibleAlertSP.promptSingleLow: ("prompt_single_low.wav", 1, MAX_VOLUME),
+  AudibleAlertSP.promptSingleHigh: ("prompt_single_high.wav", 1, MAX_VOLUME),
+}
+
 sound_list: dict[int, tuple[str, int | None, float]] = {
  # AudibleAlert, file name, play count (none for infinite)
  AudibleAlert.engage: ("engage.wav", 1, MAX_VOLUME),
@@ -40,6 +47,8 @@ sound_list: dict[int, tuple[str, int | None, float]] = {

  AudibleAlert.warningSoft: ("warning_soft.wav", None, MAX_VOLUME),
  AudibleAlert.warningImmediate: ("warning_immediate.wav", None, MAX_VOLUME),
+
+  **sound_list_sp,
 }

 def check_selfdrive_timeout_alert(sm):
@@ -83,12 +83,12 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
  connect(maxTimeOffroad, &OptionControlSP::updateLabels, maxTimeOffroad, &MaxTimeOffroad::refresh);
  addItem(maxTimeOffroad);

-    toggleDeviceBootMode = new ButtonParamControlSP("DeviceBootMode", tr("Wake-Up Behavior"), "", "", {"Default", "Offroad"}, 375, true);
+  toggleDeviceBootMode = new ButtonParamControlSP("DeviceBootMode", tr("Wake-Up Behavior"), "", "", {"Default", "Offroad"}, 375, true);
  addItem(toggleDeviceBootMode);

  connect(toggleDeviceBootMode, &ButtonParamControlSP::buttonClicked, this, [=](int index) {
    params.put("DeviceBootMode", QString::number(index).toStdString());
-    updateState();
+    updateState(offroad);
  });

  addItem(device_grid_layout);
@@ -116,14 +116,13 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
  offroadBtn->setFixedWidth(power_layout->sizeHint().width());
  QObject::connect(offroadBtn, &PushButtonSP::clicked, this, &DevicePanelSP::setOffroadMode);

-  QVBoxLayout *power_group_layout = new QVBoxLayout();
+  power_group_layout = new QVBoxLayout();
  power_group_layout->setSpacing(25);
-  power_group_layout->addWidget(offroadBtn, 0, Qt::AlignHCenter);
  power_group_layout->addLayout(power_layout);

  addItem(power_group_layout);

-  std::vector always_enabled_btns = {
+  always_enabled_btns = {
    rebootBtn,
    poweroffBtn,
    offroadBtn,
@@ -131,15 +130,7 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
    buttons["onroadUploadsBtn"],
  };

-  QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
-    for (auto btn : findChildren<PushButtonSP*>()) {
-      bool always_enabled = std::find(always_enabled_btns.begin(), always_enabled_btns.end(), btn) != always_enabled_btns.end();
-
-      if (!always_enabled) {
-        btn->setEnabled(offroad);
-      }
-    }
-  });
+  QObject::connect(uiState(), &UIState::offroadTransition, this, &DevicePanelSP::updateState);
 }

 void DevicePanelSP::setOffroadMode() {
@@ -163,7 +154,7 @@ void DevicePanelSP::setOffroadMode() {
    ConfirmationDialog::alert(tr("Disengage to Enter Always Offroad Mode"), this);
  }

-  updateState();
+  updateState(offroad);
 }

 void DevicePanelSP::resetSettings() {
@@ -180,16 +171,20 @@ void DevicePanelSP::resetSettings() {
 }

 void DevicePanelSP::showEvent(QShowEvent *event) {
-  updateState();
+  updateState(offroad);
 }

-void DevicePanelSP::updateState() {
-  if (!isVisible()) {
-    return;
+void DevicePanelSP::updateState(bool _offroad) {
+  for (auto btn : findChildren<PushButtonSP*>()) {
+    bool always_enabled = std::find(always_enabled_btns.begin(), always_enabled_btns.end(), btn) != always_enabled_btns.end();
+
+    if (!always_enabled) {
+      btn->setEnabled(_offroad);
+    }
  }

  bool offroad_mode_param = params.getBool("OffroadMode");
-  offroadBtn->setText(offroad_mode_param ? tr("Exit Always Offroad") : tr("Always Offroad"));
+  offroadBtn->setText(offroad_mode_param ? tr("Exit Always Offroad") : tr("Enable Always Offroad"));
  offroadBtn->setStyleSheet(offroad_mode_param ? alwaysOffroadStyle : autoOffroadStyle);

  DeviceSleepModeStatus currStatus = DeviceSleepModeStatus::DEFAULT;
@@ -197,4 +192,12 @@ void DevicePanelSP::updateState() {
    currStatus = DeviceSleepModeStatus::OFFROAD;
  }
  toggleDeviceBootMode->setDescription(deviceSleepModeDescription(currStatus));
+
+  if (offroad and not offroad_mode_param) {
+    power_group_layout->insertWidget(0, offroadBtn, 0, Qt::AlignHCenter);
+  } else {
+    AddWidgetAt(0, offroadBtn);
+  }
+
+  offroad = _offroad;
 }
@@ -23,7 +23,7 @@ public:
  explicit DevicePanelSP(SettingsWindowSP *parent = 0);
  void showEvent(QShowEvent *event) override;
  void setOffroadMode();
-  void updateState();
+  void updateState(bool _offroad);
  void resetSettings();

 private:
@@ -31,6 +31,10 @@ private:
  PushButtonSP *offroadBtn;
  MaxTimeOffroad *maxTimeOffroad;
  ButtonParamControlSP *toggleDeviceBootMode;
+  QVBoxLayout *power_group_layout;
+  bool offroad;
+
+  std::vector<PushButtonSP*> always_enabled_btns = {};

  const QString alwaysOffroadStyle = R"(
    PushButtonSP {
@@ -29,7 +29,7 @@ OnroadScreenBrightnessControl::OnroadScreenBrightnessControl(const QString &para
    "Onroad Brightness",
    "",
    "",
-    {0, 100}, 10, true);
+    {0, 90}, 10, true);

  connect(onroadScreenOffTimer, &OptionControlSP::updateLabels, this, &OnroadScreenBrightnessControl::refresh);
  connect(onroadScreenBrightness, &OptionControlSP::updateLabels, this, &OnroadScreenBrightnessControl::refresh);
@@ -13,9 +13,9 @@ enum class SpeedLimitOffsetType {
 };

 inline const QString SpeedLimitOffsetTypeTexts[]{
-  QObject::tr("None"),
-  QObject::tr("Fixed"),
-  QObject::tr("Percent"),
+  QT_TRANSLATE_NOOP("SpeedLimitSettings", "None"),
+  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Fixed"),
+  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Percent"),
 };

 enum class SpeedLimitSourcePolicy {
@@ -27,11 +27,11 @@ enum class SpeedLimitSourcePolicy {
 };

 inline const QString SpeedLimitSourcePolicyTexts[]{
-  QObject::tr("Car\nOnly"),
-  QObject::tr("Map\nOnly"),
-  QObject::tr("Car\nFirst"),
-  QObject::tr("Map\nFirst"),
-  QObject::tr("Combined\nData")
+  QT_TRANSLATE_NOOP("SpeedLimitPolicy", "Car\nOnly"),
+  QT_TRANSLATE_NOOP("SpeedLimitPolicy", "Map\nOnly"),
+  QT_TRANSLATE_NOOP("SpeedLimitPolicy", "Car\nFirst"),
+  QT_TRANSLATE_NOOP("SpeedLimitPolicy", "Map\nFirst"),
+  QT_TRANSLATE_NOOP("SpeedLimitPolicy", "Combined\nData")
 };

 enum class SpeedLimitMode {
@@ -42,8 +42,8 @@ enum class SpeedLimitMode {
 };

 inline const QString SpeedLimitModeTexts[]{
-  QObject::tr("Off"),
-  QObject::tr("Information"),
-  QObject::tr("Warning"),
-  QObject::tr("Assist"),
+  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Off"),
+  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Information"),
+  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Warning"),
+  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Assist"),
 };
@@ -23,11 +23,11 @@ SpeedLimitPolicy::SpeedLimitPolicy(QWidget *parent) : QWidget(parent) {
  ListWidgetSP *list = new ListWidgetSP(this);

  std::vector<QString> speed_limit_policy_texts{
-    SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::CAR_ONLY)],
-    SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::MAP_ONLY)],
-    SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::CAR_FIRST)],
-    SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::MAP_FIRST)],
-    SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::COMBINED)]
+    tr(SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::CAR_ONLY)].toStdString().c_str()),
+    tr(SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::MAP_ONLY)].toStdString().c_str()),
+    tr(SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::CAR_FIRST)].toStdString().c_str()),
+    tr(SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::MAP_FIRST)].toStdString().c_str()),
+    tr(SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::COMBINED)].toStdString().c_str())
  };
  speed_limit_policy = new ButtonParamControlSP(
    "SpeedLimitPolicy",
@@ -25,10 +25,10 @@ SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent)
  speedLimitPolicyScreen = new SpeedLimitPolicy(this);

  std::vector<QString> speed_limit_mode_texts{
-    SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::OFF)],
-    SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::INFORMATION)],
-    SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::WARNING)],
-    SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::ASSIST)],
+    tr(SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::OFF)].toStdString().c_str()),
+    tr(SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::INFORMATION)].toStdString().c_str()),
+    tr(SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::WARNING)].toStdString().c_str()),
+    tr(SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::ASSIST)].toStdString().c_str())
  };
  speed_limit_mode_settings = new ButtonParamControlSP(
    "SpeedLimitMode",
@@ -64,9 +64,9 @@ SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent)
  QVBoxLayout *offsetLayout = new QVBoxLayout(offsetFrame);

  std::vector<QString> speed_limit_offset_texts{
-    SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::NONE)],
-    SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::FIXED)],
-    SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::PERCENT)]
+    tr(SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::NONE)].toStdString().c_str()),
+    tr(SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::FIXED)].toStdString().c_str()),
+    tr(SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::PERCENT)].toStdString().c_str())
  };
  speed_limit_offset_settings = new ButtonParamControlSP(
    "SpeedLimitOffsetType",
@@ -122,6 +122,12 @@ void SpeedLimitSettings::refresh() {

    has_longitudinal_control = hasLongitudinalControl(CP);
    intelligent_cruise_button_management_available = CP_SP.getIntelligentCruiseButtonManagementAvailable();
+
+    if (!has_longitudinal_control && CP_SP.getPcmCruiseSpeed()) {
+      if (speed_limit_mode_param == SpeedLimitMode::ASSIST) {
+        params.put("SpeedLimitMode", std::to_string(static_cast<int>(SpeedLimitMode::WARNING)));
+      }
+    }
  } else {
    has_longitudinal_control = false;
    intelligent_cruise_button_management_available = false;
@@ -148,7 +154,7 @@ void SpeedLimitSettings::refresh() {
    speed_limit_mode_settings->setEnableSelectedButtons(true, convertSpeedLimitModeValues(getSpeedLimitModeValues()));
  } else {
    speed_limit_mode_settings->setEnableSelectedButtons(true, convertSpeedLimitModeValues(
-      {SpeedLimitMode::OFF,SpeedLimitMode::INFORMATION, SpeedLimitMode::WARNING}));
+      {SpeedLimitMode::OFF, SpeedLimitMode::INFORMATION, SpeedLimitMode::WARNING}));
  }

  speed_limit_mode_settings->showDescription();
@@ -158,3 +164,7 @@ void SpeedLimitSettings::refresh() {
 void SpeedLimitSettings::showEvent(QShowEvent *event) {
  refresh();
 }
+
+void SpeedLimitSettings::hideEvent(QHideEvent *event) {
+  setCurrentWidget(subPanelFrame);
+}
@@ -21,6 +21,7 @@ public:
  SpeedLimitSettings(QWidget *parent = nullptr);
  void refresh();
  void showEvent(QShowEvent *event) override;
+  void hideEvent(QHideEvent *event) override;

 signals:
  void backPress();
@@ -43,6 +43,15 @@ LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
  intelligentCruiseButtonManagement->setConfirmation(true, false);
  list->addItem(intelligentCruiseButtonManagement);

+  dynamicExperimentalControl = new ParamControlSP(
+    "DynamicExperimentalControl",
+    tr("Dynamic Experimental Control (DEC)"),
+    tr("Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal."),
+    "",
+    this
+  );
+  list->addItem(dynamicExperimentalControl);
+
  SmartCruiseControlVision = new ParamControl(
    "SmartCruiseControlVision",
    tr("Smart Cruise Control - Vision"),
@@ -86,6 +95,10 @@ void LongitudinalPanel::showEvent(QShowEvent *event) {
  refresh(offroad);
 }

+void LongitudinalPanel::hideEvent(QHideEvent *event) {
+  main_layout->setCurrentWidget(cruisePanelScreen);
+}
+
 void LongitudinalPanel::refresh(bool _offroad) {
  auto cp_bytes = params.get("CarParamsPersistent");
  auto cp_sp_bytes = params.get("CarParamsSPPersistent");
@@ -100,6 +113,17 @@ void LongitudinalPanel::refresh(bool _offroad) {
    has_longitudinal_control = hasLongitudinalControl(CP);
    is_pcm_cruise = CP.getPcmCruise();
    intelligent_cruise_button_management_available = CP_SP.getIntelligentCruiseButtonManagementAvailable();
+
+    if (!intelligent_cruise_button_management_available || has_longitudinal_control) {
+      params.remove("IntelligentCruiseButtonManagement");
+    }
+
+    if (!has_longitudinal_control && CP_SP.getPcmCruiseSpeed()) {
+      params.remove("CustomAccIncrementsEnabled");
+      params.remove("DynamicExperimentalControl");
+      params.remove("SmartCruiseControlVision");
+      params.remove("SmartCruiseControlMap");
+    }
  } else {
    has_longitudinal_control = false;
    is_pcm_cruise = false;
@@ -123,11 +147,9 @@ void LongitudinalPanel::refresh(bool _offroad) {
        customAccIncrement->setDescription(accEnabledDescription);
      }
    } else {
-      params.remove("CustomAccIncrementsEnabled");
      customAccIncrement->toggleFlipped(false);
      customAccIncrement->setDescription(accNoLongDescription);
      customAccIncrement->showDescription();
-      params.remove("IntelligentCruiseButtonManagement");
      intelligentCruiseButtonManagement->toggleFlipped(false);
    }
  }
@@ -140,6 +162,7 @@ void LongitudinalPanel::refresh(bool _offroad) {
  customAccIncrement->setEnabled(cai_allowed && !offroad);
  customAccIncrement->refresh();

+  dynamicExperimentalControl->setEnabled(has_longitudinal_control);
  SmartCruiseControlVision->setEnabled(has_longitudinal_control || icbm_allowed);
  SmartCruiseControlMap->setEnabled(has_longitudinal_control || icbm_allowed);

@@ -18,6 +18,7 @@ class LongitudinalPanel : public QWidget {
 public:
  explicit LongitudinalPanel(QWidget *parent = nullptr);
  void showEvent(QShowEvent *event) override;
+  void hideEvent(QHideEvent *event) override;
  void refresh(bool _offroad);

 private:
@@ -34,6 +35,7 @@ private:
  ParamControl *SmartCruiseControlVision;
  ParamControl *SmartCruiseControlMap;
  ParamControl *intelligentCruiseButtonManagement = nullptr;
+  ParamControl *dynamicExperimentalControl = nullptr;
  SpeedLimitSettings *speedLimitScreen;
  PushButtonSP *speedLimitSettings;
 };
@@ -21,7 +21,7 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
    paramsRefresh(param_name, param_value);
  });

-  is_sunnylink_enabled = Params().getBool("SunnylinkEnabled");
+  is_sunnylink_enabled = params.getBool("SunnylinkEnabled");
  connect(uiStateSP(), &UIStateSP::sunnylinkRolesChanged, this, &SunnylinkPanel::updatePanel);
  connect(uiStateSP(), &UIStateSP::sunnylinkDeviceUsersChanged, this, &SunnylinkPanel::updatePanel);
  connect(uiStateSP(), &UIStateSP::offroadTransition, [=](bool offroad) {
@@ -272,7 +272,7 @@ void SunnylinkPanel::updatePanel() {
  const auto sunnylinkDongleId = getSunnylinkDongleId().value_or(tr("N/A"));
  sunnylinkEnabledBtn->setEnabled(!is_onroad);

-  is_sunnylink_enabled = Params().getBool("SunnylinkEnabled");
+  is_sunnylink_enabled = params.getBool("SunnylinkEnabled");
  bool is_sub = uiStateSP()->isSunnylinkSponsor() && is_sunnylink_enabled;
  auto max_current_sponsor_rule = uiStateSP()->sunnylinkSponsorRole();
  auto role_name = max_current_sponsor_rule.getSponsorTierString();
@@ -8,7 +8,52 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h"

 SubaruSettings::SubaruSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+  stopAndGoToggle = new ParamControl("SubaruStopAndGo", tr("Stop and Go (Beta)"), "", "");
+  stopAndGoToggle->setConfirmation(true, false);
+  list->addItem(stopAndGoToggle);
+
+  stopAndGoManualParkingBrakeToggle = new ParamControl(
+    "SubaruStopAndGoManualParkingBrake",
+    tr("Stop and Go for Manual Parking Brake (Beta)"),
+    "",
+    ""
+  );
+  stopAndGoManualParkingBrakeToggle->setConfirmation(true, false);
+  list->addItem(stopAndGoManualParkingBrakeToggle);
 }

 void SubaruSettings::updateSettings() {
+  auto cp_bytes = params.get("CarParamsPersistent");
+  if (!cp_bytes.empty()) {
+    AlignedBuffer aligned_buf;
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+
+    is_subaru = CP.getBrand() == "subaru";
+
+    if (is_subaru) {
+      if (!(CP.getFlags() & (SUBARU_FLAG_GLOBAL_GEN2 | SUBARU_FLAG_HYBRID))) {
+        has_stop_and_go = true;
+      }
+    }
+  } else {
+    is_subaru = false;
+    has_stop_and_go = false;
+  }
+
+  bool stop_and_go_disabled = !offroad || !has_stop_and_go;
+  QString stop_and_go_desc = stopAndGoDescriptionBuilder(stopAndGoDesc);
+  QString stop_and_go_manual_parking_brake_desc = stopAndGoDescriptionBuilder(stopAndGoManualParkingBrakeDesc);
+  if (stop_and_go_disabled) {
+    stop_and_go_desc = stopAndGoDescriptionBuilder(stopAndGoDesc, stopAndGoDisabledMsg());
+    stop_and_go_manual_parking_brake_desc = stopAndGoDescriptionBuilder(stopAndGoManualParkingBrakeDesc, stopAndGoDisabledMsg());
+  }
+
+  stopAndGoToggle->setEnabled(has_stop_and_go);
+  stopAndGoToggle->setDescription(stop_and_go_desc);
+  stopAndGoToggle->showDescription();
+
+  stopAndGoManualParkingBrakeToggle->setEnabled(has_stop_and_go);
+  stopAndGoManualParkingBrakeToggle->setDescription(stop_and_go_manual_parking_brake_desc);
+  stopAndGoManualParkingBrakeToggle->showDescription();
 }
@@ -14,6 +14,9 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"

+const int SUBARU_FLAG_GLOBAL_GEN2 = 4;
+const int SUBARU_FLAG_HYBRID = 32;
+
 class SubaruSettings : public BrandSettingsInterface {
  Q_OBJECT

@@ -23,4 +26,32 @@ public:

 private:
  bool offroad = false;
+  bool is_subaru;
+  bool has_stop_and_go;
+
+  ParamControl* stopAndGoToggle;
+  ParamControl* stopAndGoManualParkingBrakeToggle;
+
+  QString stopAndGoDesc = tr("Experimental feature to enable auto-resume during stop-and-go for certain supported Subaru platforms.");
+  QString stopAndGoManualParkingBrakeDesc = tr("Experimental feature to enable stop and go for Subaru Global models with manual handbrake. Models with electric parking brake should keep this disabled. Thanks to martinl for this implementation!");
+
+  QString stopAndGoDisabledMsg() const {
+    if (is_subaru && !has_stop_and_go) {
+      return tr("This feature is currently not available on this platform.");
+    }
+
+    if (!is_subaru) {
+      return tr("Start the car to check car compatibility.");
+    }
+
+    if (!offroad) {
+      return tr("Enable \"Always Offroad\" in Device panel, or turn vehicle off to toggle.");
+    }
+
+    return QString();
+  }
+
+  static QString stopAndGoDescriptionBuilder(const QString &base_description, const QString &custom_description = "") {
+    return "<b>" + custom_description + "</b><br><br>" + base_description;
+  }
 };
@@ -140,6 +140,40 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
  vlayout->addWidget(sunnypilotScroller);

  main_layout->addWidget(sunnypilotScreen);
+
+  QObject::connect(uiState(), &UIState::offroadTransition, this, &VisualsPanel::refreshLongitudinalStatus);
+
+  refreshLongitudinalStatus();
+}
+
+void VisualsPanel::refreshLongitudinalStatus() {
+  auto cp_bytes = params.get("CarParamsPersistent");
+  if (!cp_bytes.empty()) {
+    AlignedBuffer aligned_buf;
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+
+    has_longitudinal_control = hasLongitudinalControl(CP);
+  } else {
+    has_longitudinal_control = false;
+  }
+
+  if (chevron_info_settings) {
+    QString chevronEnabledDescription = tr("Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).");
+    QString chevronNoLongDescription = tr("This feature requires openpilot longitudinal control to be available.");
+
+    if (has_longitudinal_control) {
+      chevron_info_settings->setDescription(chevronEnabledDescription);
+    } else {
+      // Reset to "Off" when longitudinal not available
+      params.put("ChevronInfo", "0");
+      chevron_info_settings->setDescription(chevronNoLongDescription);
+    }
+
+    // Enable only when longitudinal is available
+    chevron_info_settings->setEnabled(has_longitudinal_control);
+    chevron_info_settings->refresh();
+  }
 }

 void VisualsPanel::paramsRefresh() {
@@ -19,6 +19,7 @@ public:
 explicit VisualsPanel(QWidget *parent = nullptr);

 void paramsRefresh();
+ void refreshLongitudinalStatus();

 protected:
 QStackedLayout* main_layout = nullptr;
@@ -29,4 +30,6 @@ protected:
 ParamWatcher * param_watcher;
 ButtonParamControlSP *chevron_info_settings;
 ButtonParamControlSP *dev_ui_settings;
+
+ bool has_longitudinal_control = false;
 };
@@ -18,4 +18,10 @@ void AnnotatedCameraWidgetSP::updateState(const UIState &s) {
 void AnnotatedCameraWidgetSP::showEvent(QShowEvent *event) {
  AnnotatedCameraWidget::showEvent(event);
  ui_update_params_sp(uiState());
+  uiStateSP()->reset_onroad_sleep_timer(OnroadTimerStatusToggle::RESUME);
+}
+
+void AnnotatedCameraWidgetSP::hideEvent(QHideEvent *event) {
+  AnnotatedCameraWidget::hideEvent(event);
+  uiStateSP()->reset_onroad_sleep_timer(OnroadTimerStatusToggle::PAUSE);
 }
@@ -18,4 +18,5 @@ public:

 protected:
  void showEvent(QShowEvent *event) override;
+  void hideEvent(QHideEvent* event) override;
 };
@@ -12,43 +12,65 @@


 HudRendererSP::HudRendererSP() {
-  plus_arrow_up_img = loadPixmap("../../sunnypilot/selfdrive/assets/img_plus_arrow_up", {105, 105});
-  minus_arrow_down_img = loadPixmap("../../sunnypilot/selfdrive/assets/img_minus_arrow_down", {105, 105});
+  plus_arrow_up_img = loadPixmap("../../sunnypilot/selfdrive/assets/img_plus_arrow_up", {90, 90});
+  minus_arrow_down_img = loadPixmap("../../sunnypilot/selfdrive/assets/img_minus_arrow_down", {90, 90});

-  int small_max = e2e_alert_small * 2 - 40;
-  int large_max = e2e_alert_large * 2 - 40;
-  green_light_alert_small_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/green_light.png", {small_max, small_max});
-  green_light_alert_large_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/green_light.png", {large_max, large_max});
-  lead_depart_alert_small_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/lead_depart.png", {small_max, small_max});
-  lead_depart_alert_large_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/lead_depart.png", {large_max, large_max});
+  int size = e2e_alert_size * 2 - 40;
+  green_light_alert_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/green_light.png", {size, size});
+  lead_depart_alert_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/lead_depart.png", {size, size});
 }

 void HudRendererSP::updateState(const UIState &s) {
  HudRenderer::updateState(s);

+  float speedConv = is_metric ? MS_TO_KPH : MS_TO_MPH;
+  devUiInfo = s.scene.dev_ui_info;
+  roadName = s.scene.road_name;
+  showTurnSignals = s.scene.turn_signals;
+  speedLimitMode = static_cast<SpeedLimitMode>(s.scene.speed_limit_mode);
+  speedUnit = is_metric ? tr("km/h") : tr("mph");
+  standstillTimer = s.scene.standstill_timer;
+
  const SubMaster &sm = *(s.sm);
  const auto cs = sm["controlsState"].getControlsState();
  const auto car_state = sm["carState"].getCarState();
  const auto car_control = sm["carControl"].getCarControl();
  const auto radar_state = sm["radarState"].getRadarState();
  const auto is_gps_location_external = sm.rcv_frame("gpsLocationExternal") > 1;
-  const auto gpsLocation = is_gps_location_external ? sm["gpsLocationExternal"].getGpsLocationExternal() : sm["gpsLocation"].getGpsLocation();
+  const char *gps_source = is_gps_location_external ? "gpsLocationExternal" : "gpsLocation";
+  const auto gpsLocation = is_gps_location_external ? sm[gps_source].getGpsLocationExternal() : sm[gps_source].getGpsLocation();
  const auto ltp = sm["liveTorqueParameters"].getLiveTorqueParameters();
  const auto car_params = sm["carParams"].getCarParams();
+  const auto car_params_sp = sm["carParamsSP"].getCarParamsSP();
  const auto lp_sp = sm["longitudinalPlanSP"].getLongitudinalPlanSP();
  const auto lmd = sm["liveMapDataSP"].getLiveMapDataSP();

-  float speedConv = is_metric ? MS_TO_KPH : MS_TO_MPH;
-  speedLimit = lp_sp.getSpeedLimit().getResolver().getSpeedLimit() * speedConv;
-  speedLimitLast = lp_sp.getSpeedLimit().getResolver().getSpeedLimitLast() * speedConv;
-  speedLimitOffset = lp_sp.getSpeedLimit().getResolver().getSpeedLimitOffset() * speedConv;
-  speedLimitValid = lp_sp.getSpeedLimit().getResolver().getSpeedLimitValid();
-  speedLimitLastValid = lp_sp.getSpeedLimit().getResolver().getSpeedLimitLastValid();
-  speedLimitFinalLast = lp_sp.getSpeedLimit().getResolver().getSpeedLimitFinalLast() * speedConv;
-  speedLimitMode = static_cast<SpeedLimitMode>(s.scene.speed_limit_mode);
-  speedLimitAssistState = lp_sp.getSpeedLimit().getAssist().getState();
-  speedLimitAssistActive = lp_sp.getSpeedLimit().getAssist().getActive();
-  roadName = s.scene.road_name;
+  if (sm.updated("carParams")) {
+    steerControlType = car_params.getSteerControlType();
+  }
+
+  if (sm.updated("carParamsSP")) {
+    pcmCruiseSpeed = car_params_sp.getPcmCruiseSpeed();
+  }
+
+  if (sm.updated("longitudinalPlanSP")) {
+    speedLimit = lp_sp.getSpeedLimit().getResolver().getSpeedLimit() * speedConv;
+    speedLimitLast = lp_sp.getSpeedLimit().getResolver().getSpeedLimitLast() * speedConv;
+    speedLimitOffset = lp_sp.getSpeedLimit().getResolver().getSpeedLimitOffset() * speedConv;
+    speedLimitValid = lp_sp.getSpeedLimit().getResolver().getSpeedLimitValid();
+    speedLimitLastValid = lp_sp.getSpeedLimit().getResolver().getSpeedLimitLastValid();
+    speedLimitFinalLast = lp_sp.getSpeedLimit().getResolver().getSpeedLimitFinalLast() * speedConv;
+    speedLimitSource = lp_sp.getSpeedLimit().getResolver().getSource();
+    speedLimitAssistState = lp_sp.getSpeedLimit().getAssist().getState();
+    speedLimitAssistActive = lp_sp.getSpeedLimit().getAssist().getActive();
+    smartCruiseControlVisionEnabled = lp_sp.getSmartCruiseControl().getVision().getEnabled();
+    smartCruiseControlVisionActive = lp_sp.getSmartCruiseControl().getVision().getActive();
+    smartCruiseControlMapEnabled = lp_sp.getSmartCruiseControl().getMap().getEnabled();
+    smartCruiseControlMapActive = lp_sp.getSmartCruiseControl().getMap().getActive();
+    greenLightAlert = lp_sp.getE2eAlerts().getGreenLightAlert();
+    leadDepartAlert = lp_sp.getE2eAlerts().getLeadDepartAlert();
+  }
+
  if (sm.updated("liveMapDataSP")) {
    roadNameStr = QString::fromStdString(lmd.getRoadName());
    speedLimitAheadValid = lmd.getSpeedLimitAheadValid();
@@ -64,7 +86,7 @@ void HudRendererSP::updateState(const UIState &s) {

  static int reverse_delay = 0;
  bool reverse_allowed = false;
-  if (int(car_state.getGearShifter()) != 4) {
+  if (car_state.getGearShifter() != cereal::CarState::GearShifter::REVERSE) {
    reverse_delay = 0;
    reverse_allowed = false;
  } else {
@@ -76,46 +98,47 @@ void HudRendererSP::updateState(const UIState &s) {

  reversing = reverse_allowed;

+  if (sm.updated("liveParameters")) {
+    roll = sm["liveParameters"].getLiveParameters().getRoll();
+  }
+
+  if (sm.updated("deviceState")) {
+    memoryUsagePercent = sm["deviceState"].getDeviceState().getMemoryUsagePercent();
+  }
+
+  if (sm.updated(gps_source)) {
+    gpsAccuracy = is_gps_location_external ? gpsLocation.getHorizontalAccuracy() : 1.0;  // External reports accuracy, internal does not.
+    altitude = gpsLocation.getAltitude();
+    bearingAccuracyDeg = gpsLocation.getBearingAccuracyDeg();
+    bearingDeg = gpsLocation.getBearingDeg();
+  }
+
+  if (sm.updated("liveTorqueParameters")) {
+    torquedUseParams = ltp.getUseParams();
+    latAccelFactorFiltered = ltp.getLatAccelFactorFiltered();
+    frictionCoefficientFiltered = ltp.getFrictionCoefficientFiltered();
+    liveValid = ltp.getLiveValid();
+  }
+
  latActive = car_control.getLatActive();
+  actuators = car_control.getActuators();
+  longOverride = car_control.getCruiseControl().getOverride();
+  carControlEnabled = car_control.getEnabled();
+
  steerOverride = car_state.getSteeringPressed();
-
-  devUiInfo = s.scene.dev_ui_info;
-
-  speedUnit = is_metric ? tr("km/h") : tr("mph");
  lead_d_rel = radar_state.getLeadOne().getDRel();
  lead_v_rel = radar_state.getLeadOne().getVRel();
  lead_status = radar_state.getLeadOne().getStatus();
-  steerControlType = car_params.getSteerControlType();
-  actuators = car_control.getActuators();
  torqueLateral = steerControlType == cereal::CarParams::SteerControlType::TORQUE;
  angleSteers = car_state.getSteeringAngleDeg();
  desiredCurvature = cs.getDesiredCurvature();
  curvature = cs.getCurvature();
-  roll = sm["liveParameters"].getLiveParameters().getRoll();
-  memoryUsagePercent = sm["deviceState"].getDeviceState().getMemoryUsagePercent();
-  gpsAccuracy = is_gps_location_external ? gpsLocation.getHorizontalAccuracy() : 1.0;  // External reports accuracy, internal does not.
-  altitude = gpsLocation.getAltitude();
  vEgo = car_state.getVEgo();
  aEgo = car_state.getAEgo();
  steeringTorqueEps = car_state.getSteeringTorqueEps();
-  bearingAccuracyDeg = gpsLocation.getBearingAccuracyDeg();
-  bearingDeg = gpsLocation.getBearingDeg();
-  torquedUseParams = ltp.getUseParams();
-  latAccelFactorFiltered = ltp.getLatAccelFactorFiltered();
-  frictionCoefficientFiltered = ltp.getFrictionCoefficientFiltered();
-  liveValid = ltp.getLiveValid();

-  standstillTimer = s.scene.standstill_timer;
  isStandstill = car_state.getStandstill();
  if (not s.scene.started) standstillElapsedTime = 0.0;
-  longOverride = car_control.getCruiseControl().getOverride();
-  smartCruiseControlVisionEnabled = lp_sp.getSmartCruiseControl().getVision().getEnabled();
-  smartCruiseControlVisionActive = lp_sp.getSmartCruiseControl().getVision().getActive();
-  smartCruiseControlMapEnabled = lp_sp.getSmartCruiseControl().getMap().getEnabled();
-  smartCruiseControlMapActive = lp_sp.getSmartCruiseControl().getMap().getActive();
-
-  greenLightAlert = lp_sp.getE2eAlerts().getGreenLightAlert();
-  leadDepartAlert = lp_sp.getE2eAlerts().getLeadDepartAlert();

  // override stock current speed values
  float v_ego = (v_ego_cluster_seen && !s.scene.trueVEgoUI) ? car_state.getVEgoCluster() : car_state.getVEgo();
@@ -126,10 +149,11 @@ void HudRendererSP::updateState(const UIState &s) {
  rightBlinkerOn = car_state.getRightBlinker();
  leftBlindspot = car_state.getLeftBlindspot();
  rightBlindspot = car_state.getRightBlindspot();
-  showTurnSignals = s.scene.turn_signals;

-  carControlEnabled = car_control.getEnabled();
  speedCluster = car_state.getCruiseState().getSpeedCluster() * speedConv;
+
+  allow_e2e_alerts = sm["selfdriveState"].getSelfdriveState().getAlertSize() == cereal::SelfdriveState::AlertSize::NONE &&
+                     sm.rcv_frame("driverStateV2") > s.scene.started_frame && !reversing;
 }

 void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
@@ -232,11 +256,11 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
      e2eAlertFrame++;
      if (greenLightAlert) {
        alert_text = tr("GREEN\nLIGHT");
-        alert_img = devUiInfo > 0 ? green_light_alert_small_img : green_light_alert_large_img;
+        alert_img = green_light_alert_img;
      }
      else if (leadDepartAlert) {
        alert_text = tr("LEAD VEHICLE\nDEPARTING");
-        alert_img = devUiInfo > 0 ? lead_depart_alert_small_img : lead_depart_alert_large_img;
+        alert_img = lead_depart_alert_img;
      }
      drawE2eAlert(p, surface_rect);
    }
@@ -545,7 +569,8 @@ void HudRendererSP::drawSpeedLimitSigns(QPainter &p, QRect &sign_rect) {
 }

 void HudRendererSP::drawUpcomingSpeedLimit(QPainter &p) {
-  bool speed_limit_ahead = speedLimitAheadValid && speedLimitAhead > 0 && speedLimitAhead != speedLimit && speedLimitAheadValidFrame > 0;
+  bool speed_limit_ahead = speedLimitAheadValid && speedLimitAhead > 0 && speedLimitAhead != speedLimit && speedLimitAheadValidFrame > 0 &&
+                           speedLimitSource == cereal::LongitudinalPlanSP::SpeedLimit::Source::MAP;
  if (!speed_limit_ahead) {
    return;
  }
@@ -639,7 +664,7 @@ void HudRendererSP::drawRoadName(QPainter &p, const QRect &surface_rect) {

 void HudRendererSP::drawSpeedLimitPreActiveArrow(QPainter &p, QRect &sign_rect) {
  const int sign_margin = 12;
-  const int arrow_spacing = sign_margin * 3;
+  const int arrow_spacing = sign_margin * 1.4;
  int arrow_x = sign_rect.right() + arrow_spacing;

  int _set_speed = std::nearbyint(set_speed);
@@ -689,7 +714,7 @@ void HudRendererSP::drawSetSpeedSP(QPainter &p, const QRect &surface_rect) {
  }

  // Draw "MAX" or carState.cruiseState.speedCluster (when ICBM is active) text
-  if (carControlEnabled) {
+  if (!pcmCruiseSpeed && carControlEnabled) {
    if (std::nearbyint(set_speed) != std::nearbyint(speedCluster)) {
      icbm_active_counter = 3 * UI_FREQ;
    } else if (icbm_active_counter > 0) {
@@ -698,11 +723,13 @@ void HudRendererSP::drawSetSpeedSP(QPainter &p, const QRect &surface_rect) {
  } else {
    icbm_active_counter = 0;
  }
+  int max_str_size = (icbm_active_counter != 0) ? 60 : 40;
+  int max_str_y = (icbm_active_counter != 0) ? 15 : 27;
  QString max_str = (icbm_active_counter != 0) ? QString::number(std::nearbyint(speedCluster)) : tr("MAX");

-  p.setFont(InterFont(40, QFont::DemiBold));
+  p.setFont(InterFont(max_str_size, QFont::DemiBold));
  p.setPen(max_color);
-  p.drawText(set_speed_rect.adjusted(0, 27, 0, 0), Qt::AlignTop | Qt::AlignHCenter, max_str);
+  p.drawText(set_speed_rect.adjusted(0, max_str_y, 0, 0), Qt::AlignTop | Qt::AlignHCenter, max_str);

  // Draw set speed
  QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(set_speed)) : "–";
@@ -712,12 +739,11 @@ void HudRendererSP::drawSetSpeedSP(QPainter &p, const QRect &surface_rect) {
 }

 void HudRendererSP::drawE2eAlert(QPainter &p, const QRect &surface_rect, const QString &alert_alt_text) {
-  int size = devUiInfo > 0 ? e2e_alert_small : e2e_alert_large;
-  int x = surface_rect.center().x() + surface_rect.width() / 4;
-  int y = surface_rect.center().y() + 40;
-  x += devUiInfo > 0 ? 0 : 50;
-  y += devUiInfo > 0 ? 0 : 80;
-  QRect alertRect(x - size, y - size, size * 2, size * 2);
+  if (!allow_e2e_alerts) return;
+
+  int x = surface_rect.right() - e2e_alert_size - (devUiInfo > 0 ? 180 : 100) - (UI_BORDER_SIZE * 3);
+  int y = surface_rect.center().y() + 20;
+  QRect alertRect(x - e2e_alert_size, y - e2e_alert_size, e2e_alert_size * 2, e2e_alert_size * 2);

  // Alert Circle
  QPoint center = alertRect.center();
@@ -726,7 +752,7 @@ void HudRendererSP::drawE2eAlert(QPainter &p, const QRect &surface_rect, const Q
  else frameColor = pulseElement(e2eAlertFrame) ? QColor(255, 255, 255, 75) : QColor(0, 255, 0, 75);
  p.setPen(QPen(frameColor, 15));
  p.setBrush(QColor(0, 0, 0, 190));
-  p.drawEllipse(center, size, size);
+  p.drawEllipse(center, e2e_alert_size, e2e_alert_size);

  // Alert Text
  QColor txtColor;
@@ -777,19 +803,33 @@ void HudRendererSP::drawCurrentSpeedSP(QPainter &p, const QRect &surface_rect) {
 }

 void HudRendererSP::drawBlinker(QPainter &p, const QRect &surface_rect) {
+  const bool hazard = leftBlinkerOn && rightBlinkerOn;
+  int blinkerStatus = hazard ? 2 : (leftBlinkerOn or rightBlinkerOn) ? 1 : 0;
+
  if (!leftBlinkerOn && !rightBlinkerOn) {
    blinkerFrameCounter = 0;
+    lastBlinkerStatus = 0;
    return;
  }
+
+  if (blinkerStatus != lastBlinkerStatus) {
+    blinkerFrameCounter = 0;
+    lastBlinkerStatus = blinkerStatus;
+  }
+
  ++blinkerFrameCounter;

-  const int circleRadius = 44;
-  const int arrowLength = 44;
-  const int x_gap = 180;
+  const int BLINKER_COOLDOWN_FRAMES = UI_FREQ / 10;
+  if (blinkerFrameCounter < BLINKER_COOLDOWN_FRAMES) {
+    return;
+  }
+
+  const int circleRadius = 60;
+  const int arrowLength = 60;
+  const int x_gap = 160;
  const int y_offset = 272;

  const int centerX = surface_rect.center().x();
-  const bool hazard = leftBlinkerOn && rightBlinkerOn;

  const QPen bgBorder(Qt::white, 5);
  const QPen arrowPen(Qt::NoPen);
@@ -83,6 +83,7 @@ private:
  bool speedLimitValid;
  bool speedLimitLastValid;
  float speedLimitFinalLast;
+  cereal::LongitudinalPlanSP::SpeedLimit::Source speedLimitSource;
  bool speedLimitAheadValid;
  float speedLimitAhead;
  float speedLimitAheadDistance;
@@ -96,16 +97,14 @@ private:
  int speedLimitAssistFrame;
  QPixmap plus_arrow_up_img;
  QPixmap minus_arrow_down_img;
-  int e2e_alert_small = 250;
-  int e2e_alert_large = 300;
-  QPixmap green_light_alert_small_img;
-  QPixmap green_light_alert_large_img;
+  int e2e_alert_size = 300;
+  QPixmap green_light_alert_img;
  bool greenLightAlert;
  int e2eAlertFrame;
  int e2eAlertDisplayTimer = 0;
+  bool allow_e2e_alerts;
  bool leadDepartAlert;
-  QPixmap lead_depart_alert_small_img;
-  QPixmap lead_depart_alert_large_img;
+  QPixmap lead_depart_alert_img;
  QString alert_text;
  QPixmap alert_img;
  bool hideVEgoUI;
@@ -114,9 +113,11 @@ private:
  bool leftBlindspot;
  bool rightBlindspot;
  int blinkerFrameCounter;
+  int lastBlinkerStatus;
  bool showTurnSignals;

  bool carControlEnabled;
  float speedCluster = 0;
  int icbm_active_counter = 0;
+  bool pcmCruiseSpeed = true;
 };
@@ -21,70 +21,234 @@ void ModelRendererSP::update_model(const cereal::ModelDataV2::Reader &model, con
  mapLineToPolygon(model.getLaneLines()[2], 0.2, -0.05, &right_blindspot_vertices, max_idx_barrier);
 }

-void ModelRendererSP::drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &surface_rect) {
+void ModelRendererSP::draw(QPainter &painter, const QRect &surface_rect) {
  auto *s = uiState();
  auto &sm = *(s->sm);
-  bool blindspot = Params().getBool("BlindSpot");

-  if (blindspot) {
-    bool left_blindspot = sm["carState"].getCarState().getLeftBlindspot();
-    bool right_blindspot = sm["carState"].getCarState().getRightBlindspot();
-
-    //painter.setBrush(QColor::fromRgbF(1.0, 0.0, 0.0, 0.4));  // Red with alpha for blind spot
-
-    if (left_blindspot && !left_blindspot_vertices.isEmpty()) {
-      QLinearGradient gradient(0, 0, surface_rect.width(), 0); // Horizontal gradient from left to right
-      gradient.setColorAt(0.0, QColor(255, 165, 0, 102)); // Orange with alpha
-      gradient.setColorAt(1.0, QColor(255, 255, 0, 102)); // Yellow with alpha
-      painter.setBrush(gradient);
-      painter.drawPolygon(left_blindspot_vertices);
-    }
-
-    if (right_blindspot && !right_blindspot_vertices.isEmpty()) {
-      QLinearGradient gradient(surface_rect.width(), 0, 0, 0); // Horizontal gradient from right to left
-      gradient.setColorAt(0.0, QColor(255, 165, 0, 102)); // Orange with alpha
-      gradient.setColorAt(1.0, QColor(255, 255, 0, 102)); // Yellow with alpha
-      painter.setBrush(gradient);
-      painter.drawPolygon(right_blindspot_vertices);
-    }
+  if (sm.rcv_frame("liveCalibration") < s->scene.started_frame ||
+      sm.rcv_frame("modelV2") < s->scene.started_frame) {
+    return;
  }

-  bool rainbow = Params().getBool("RainbowMode");
-  //float v_ego = sm["carState"].getCarState().getVEgo();
+  clip_region = surface_rect.adjusted(-CLIP_MARGIN, -CLIP_MARGIN, CLIP_MARGIN, CLIP_MARGIN);
+  experimental_mode = sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
+  longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
+  path_offset_z = sm["liveCalibration"].getLiveCalibration().getHeight()[0];

-  if (rainbow) {
-    // Simple time-based animation
-    float time_offset = std::chrono::duration_cast<std::chrono::milliseconds>(
-        std::chrono::steady_clock::now().time_since_epoch()).count() / 1000.0f;
+  painter.save();

-    // simple linear gradient from bottom to top
-    QLinearGradient bg(0, surface_rect.height(), 0, 0);
+  const auto &model = sm["modelV2"].getModelV2();
+  const auto &radar_state = sm["radarState"].getRadarState();
+  const auto &lead_one = radar_state.getLeadOne();
+  const auto &car_state = sm["carState"].getCarState();

-    // evenly spaced colors across the spectrum
-    // The animation shifts the entire spectrum smoothly
-    float animation_speed = 40.0f; // speed vroom vroom
-    float hue_offset = fmod(time_offset * animation_speed, 360.0f);
+  update_model(model, lead_one);
+  drawLaneLines(painter);

-    // 6-8 color stops for smooth transitions more color makes it laggy
-    const int num_stops = 7;
-    for (int i = 0; i < num_stops; i++) {
-      float position = static_cast<float>(i) / (num_stops - 1);
-
-      float hue = fmod(hue_offset + position * 360.0f, 360.0f);
-      float saturation = 0.9f;
-      float lightness = 0.6f;
-
-      // Alpha fades out towards the far end of the path
-      float alpha = 0.8f * (1.0f - position * 0.3f);
-
-      QColor color = QColor::fromHslF(hue / 360.0f, saturation, lightness, alpha);
-      bg.setColorAt(position, color);
-    }
-
-    painter.setBrush(bg);
-    painter.drawPolygon(track_vertices);
+  if (s->scene.rainbow_mode) {
+    drawRainbowPath(painter, surface_rect);
  } else {
-    // Normal path rendering
    ModelRenderer::drawPath(painter, model, surface_rect.height());
  }
+
+  if (longitudinal_control && sm.alive("radarState")) {
+    update_leads(radar_state, model.getPosition());
+    const auto &lead_two = radar_state.getLeadTwo();
+    if (lead_one.getStatus()) {
+      drawLead(painter, lead_one, lead_vertices[0], surface_rect);
+    }
+    if (lead_two.getStatus() && (std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0)) {
+      drawLead(painter, lead_two, lead_vertices[1], surface_rect);
+    }
+  }
+
+  if (s->scene.blindspot_ui) {
+    const bool left_blindspot = car_state.getLeftBlindspot();
+    const bool right_blindspot = car_state.getRightBlindspot();
+    drawBlindspot(painter, surface_rect, left_blindspot, right_blindspot);
+  }
+  drawLeadStatus(painter, surface_rect.height(), surface_rect.width());
+
+  painter.restore();
+}
+
+void ModelRendererSP::drawBlindspot(QPainter &painter, const QRect &surface_rect, bool left_blindspot, bool right_blindspot) {
+  if (left_blindspot && !left_blindspot_vertices.isEmpty()) {
+    QLinearGradient gradient(0, 0, surface_rect.width(), 0); // Horizontal gradient from left to right
+    gradient.setColorAt(0.0, QColor(255, 165, 0, 102)); // Orange with alpha
+    gradient.setColorAt(1.0, QColor(255, 255, 0, 102)); // Yellow with alpha
+    painter.setBrush(gradient);
+    painter.drawPolygon(left_blindspot_vertices);
+  }
+
+  if (right_blindspot && !right_blindspot_vertices.isEmpty()) {
+    QLinearGradient gradient(surface_rect.width(), 0, 0, 0); // Horizontal gradient from right to left
+    gradient.setColorAt(0.0, QColor(255, 165, 0, 102)); // Orange with alpha
+    gradient.setColorAt(1.0, QColor(255, 255, 0, 102)); // Yellow with alpha
+    painter.setBrush(gradient);
+    painter.drawPolygon(right_blindspot_vertices);
+  }
+}
+
+void ModelRendererSP::drawLeadStatus(QPainter &painter, int height, int width) {
+  auto *s = uiState();
+  auto &sm = *(s->sm);
+
+  bool longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
+  if (!longitudinal_control) {
+    lead_status_alpha = std::max(0.0f, lead_status_alpha - 0.05f);
+    return;
+  }
+
+  if (!sm.alive("radarState")) {
+    lead_status_alpha = std::max(0.0f, lead_status_alpha - 0.05f);
+    return;
+  }
+
+  const auto &radar_state = sm["radarState"].getRadarState();
+  const auto &lead_one = radar_state.getLeadOne();
+  const auto &lead_two = radar_state.getLeadTwo();
+
+  bool has_lead_one = lead_one.getStatus();
+  bool has_lead_two = lead_two.getStatus();
+
+  if (!has_lead_one && !has_lead_two) {
+    lead_status_alpha = std::max(0.0f, lead_status_alpha - 0.05f);
+    if (lead_status_alpha <= 0.0f) return;
+  } else {
+    lead_status_alpha = std::min(1.0f, lead_status_alpha + 0.1f);
+  }
+
+  if (has_lead_one) {
+    drawLeadStatusPosition(painter, lead_one, lead_vertices[0], height, width);
+  }
+
+  if (has_lead_two && std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0) {
+    drawLeadStatusPosition(painter, lead_two, lead_vertices[1], height, width);
+  }
+}
+
+void ModelRendererSP::drawLeadStatusPosition(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
+                                             const QPointF &chevron_pos, int height, int width) {
+  float d_rel = lead_data.getDRel();
+  float v_rel = lead_data.getVRel();
+  auto *s = uiState();
+  auto &sm = *(s->sm);
+  float v_ego = sm["carState"].getCarState().getVEgo();
+
+  int chevron_data = s->scene.chevron_info;
+  float sz = std::clamp((25 * 30) / (d_rel / 3 + 30), 15.0f, 30.0f) * 2.35;
+
+  QFont content_font = painter.font();
+  content_font.setPixelSize(50);
+  content_font.setBold(true);
+  painter.setFont(content_font);
+
+  bool is_metric = s->scene.is_metric;
+  QStringList text_lines;
+  const int chevron_all = 4;
+  QStringList chevron_text[3];
+
+  // Distance display
+  if (chevron_data == 1 || chevron_data == chevron_all) {
+    int pos = 0;
+    float val = std::max(0.0f, d_rel);
+    QString unit = is_metric ? "m" : "ft";
+    if (!is_metric) val *= 3.28084f;
+    chevron_text[pos].append(QString::number(val, 'f', 0) + " " + unit);
+  }
+
+  // Speed display
+  if (chevron_data == 2 || chevron_data == chevron_all) {
+    int pos = (chevron_data == 2) ? 0 : 1;
+    float multiplier = is_metric ? static_cast<float>(MS_TO_KPH) : static_cast<float>(MS_TO_MPH);
+    float val = std::max(0.0f, (v_rel + v_ego) * multiplier);
+    QString unit = is_metric ? "km/h" : "mph";
+    chevron_text[pos].append(QString::number(val, 'f', 0) + " " + unit);
+  }
+
+  // Time to contact
+  if (chevron_data == 3 || chevron_data == chevron_all) {
+    int pos = (chevron_data == 3) ? 0 : 2;
+    float val = (d_rel > 0 && v_ego > 0) ? std::max(0.0f, d_rel / v_ego) : 0.0f;
+    QString ttc = (val > 0 && val < 200) ? QString::number(val, 'f', 1) + "s" : "---";
+    chevron_text[pos].append(ttc);
+  }
+
+  for (int i = 0; i < 3; ++i) {
+    if (!chevron_text[i].isEmpty()) text_lines.append(chevron_text[i]);
+  }
+
+  if (text_lines.isEmpty()) return;
+
+  QFontMetrics fm(content_font);
+  float text_width = 120.0f;
+  for (const QString &line : text_lines) {
+    text_width = std::max(text_width, fm.horizontalAdvance(line) + 20.0f);
+  }
+  text_width = std::min(text_width, 250.0f);
+
+  float line_height = 50.0f;
+  float total_height = text_lines.size() * line_height;
+  float margin = 20.0f;
+
+  float text_y = chevron_pos.y() + sz + 15;
+  if (text_y + total_height > height - margin) {
+    float y_max = chevron_pos.y() > (height - margin) ? (height - margin) : chevron_pos.y();
+    text_y = y_max - 15 - total_height;
+    text_y = std::max(margin, text_y);
+  }
+
+  float text_x = chevron_pos.x() - text_width / 2;
+  text_x = std::clamp(text_x, margin, (float)width - text_width - margin);
+
+  QPoint shadow_offset(2, 2);
+  QColor text_color = QColor(255, 255, 255, (int)(255 * lead_status_alpha));
+  for (int i = 0; i < text_lines.size(); ++i) {
+    float y = text_y + (i * line_height);
+    if (y + line_height > height - margin) break;
+
+    QRect rect(text_x, y, text_width, line_height);
+
+    // Draw shadow
+    painter.setPen(QColor(0, 0, 0, (int)(200 * lead_status_alpha)));
+    painter.drawText(rect.translated(shadow_offset), Qt::AlignCenter, text_lines[i]);
+    painter.setPen(text_color);
+    painter.drawText(rect, Qt::AlignCenter, text_lines[i]);
+  }
+
+  painter.setPen(Qt::NoPen);
+}
+
+void ModelRendererSP::drawRainbowPath(QPainter &painter, const QRect &surface_rect) {
+  // Simple time-based animation
+  float time_offset = std::chrono::duration_cast<std::chrono::milliseconds>(
+      std::chrono::steady_clock::now().time_since_epoch()).count() / 1000.0f;
+
+  // simple linear gradient from bottom to top
+  QLinearGradient bg(0, surface_rect.height(), 0, 0);
+
+  // evenly spaced colors across the spectrum
+  // The animation shifts the entire spectrum smoothly
+  float animation_speed = 40.0f; // speed vroom vroom
+  float hue_offset = fmod(time_offset * animation_speed, 360.0f);
+
+  // 6-8 color stops for smooth transitions more color makes it laggy
+  const int num_stops = 7;
+  for (int i = 0; i < num_stops; i++) {
+    float position = static_cast<float>(i) / (num_stops - 1);
+
+    float hue = fmod(hue_offset + position * 360.0f, 360.0f);
+    float saturation = 0.9f;
+    float lightness = 0.6f;
+
+    // Alpha fades out towards the far end of the path
+    float alpha = 0.8f * (1.0f - position * 0.3f);
+
+    QColor color = QColor::fromHslF(hue / 360.0f, saturation, lightness, alpha);
+    bg.setColorAt(position, color);
+  }
+
+  painter.setBrush(bg);
+  painter.drawPolygon(track_vertices);
 }
@@ -13,10 +13,19 @@ class ModelRendererSP : public ModelRenderer {
 public:
  ModelRendererSP() = default;

+  void draw(QPainter &painter, const QRect &surface_rect);
+
 private:
  void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead) override;
-  void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &rect) override;
+  void drawLeadStatus(QPainter &painter, int height, int width);
+  void drawLeadStatusPosition(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
+                              const QPointF &chevron_pos, int height, int width);
+  void drawBlindspot(QPainter &painter, const QRect &surface_rect, bool left_blindspot, bool right_blindspot);
+  void drawRainbowPath(QPainter &painter, const QRect &surface_rect);

  QPolygonF left_blindspot_vertices;
  QPolygonF right_blindspot_vertices;
+
+  // Lead status animation
+  float lead_status_alpha = 0.0f;
 };
@@ -25,10 +25,8 @@ void OnroadWindowSP::updateState(const UIStateSP &s) {

 void OnroadWindowSP::mousePressEvent(QMouseEvent *e) {
  OnroadWindow::mousePressEvent(e);
-  uiStateSP()->reset_onroad_sleep_timer();
 }

 void OnroadWindowSP::offroadTransition(bool offroad) {
  OnroadWindow::offroadTransition(offroad);
-  uiStateSP()->reset_onroad_sleep_timer();
 }
@@ -29,7 +29,7 @@ UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
    "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
    "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP",
    "carControl", "gpsLocationExternal", "gpsLocation", "liveTorqueParameters",
-    "carStateSP", "liveParameters", "liveMapDataSP"
+    "carStateSP", "liveParameters", "liveMapDataSP", "carParamsSP"
  });

  // update timer
@@ -71,17 +71,22 @@ void ui_update_params_sp(UIStateSP *s) {
  s->scene.onroadScreenOffBrightness = std::atoi(params.get("OnroadScreenOffBrightness").c_str());
  s->scene.onroadScreenOffControl = params.getBool("OnroadScreenOffControl");
  s->scene.onroadScreenOffTimerParam = std::atoi(params.get("OnroadScreenOffTimer").c_str());
-  s->reset_onroad_sleep_timer();

  s->scene.turn_signals = params.getBool("ShowTurnSignals");
+  s->scene.chevron_info = std::atoi(params.get("ChevronInfo").c_str());
+  s->scene.blindspot_ui = params.getBool("BlindSpot");
+  s->scene.rainbow_mode = params.getBool("RainbowMode");
 }

-void UIStateSP::reset_onroad_sleep_timer() {
-  if (scene.onroadScreenOffTimerParam >= 0 and scene.onroadScreenOffControl) {
-    scene.onroadScreenOffTimer = scene.onroadScreenOffTimerParam * UI_FREQ;
-  } else {
+void UIStateSP::reset_onroad_sleep_timer(OnroadTimerStatusToggle toggleTimerStatus) {
+  // Toggling from active state to inactive
+  if (toggleTimerStatus == OnroadTimerStatusToggle::PAUSE and scene.onroadScreenOffTimer != -1) {
    scene.onroadScreenOffTimer = -1;
  }
+  // Toggling from a previously inactive state or resetting an active timer
+  else if ((scene.onroadScreenOffTimerParam >= 0 and scene.onroadScreenOffControl and scene.onroadScreenOffTimer != -1) or toggleTimerStatus == OnroadTimerStatusToggle::RESUME) {
+    scene.onroadScreenOffTimer = scene.onroadScreenOffTimerParam * UI_FREQ;
+  }
 }

 DeviceSP::DeviceSP(QObject *parent) : Device(parent) {
@@ -15,6 +15,12 @@
 #include "selfdrive/ui/ui.h"
 #include "selfdrive/ui/qt/util.h"

+enum OnroadTimerStatusToggle {
+  NONE,
+  PAUSE,
+  RESUME
+};
+
 class UIStateSP : public UIState {
  Q_OBJECT

@@ -61,7 +67,7 @@ public:
      return user.user_id.toLower() != "unregisteredsponsor" && user.user_id.toLower() != "temporarysponsor";
    });
  }
-  void reset_onroad_sleep_timer();
+  void reset_onroad_sleep_timer(OnroadTimerStatusToggle toggleTimerStatus = OnroadTimerStatusToggle::NONE);

 signals:
  void sunnylinkRoleChanged(bool subscriber);
@@ -18,4 +18,7 @@ typedef struct UISceneSP : UIScene {
  bool trueVEgoUI;
  bool hideVEgoUI;
  bool turn_signals = false;
+  int chevron_info;
+  bool blindspot_ui;
+  bool rainbow_mode;
 } UISceneSP;
@@ -144,11 +144,11 @@ Please use caution when using this feature. Only use the blinker when traffic an
    </message>
    <message>
        <source>Global Brightness</source>
-        <translation type="unfinished"></translation>
+        <translation>전역 밝기</translation>
    </message>
    <message>
        <source>Overrides the brightness of the device. This applies to both onroad and offroad screens. </source>
-        <translation type="unfinished"></translation>
+        <translation>기기의 밝기를 강제로 설정합니다. 이 설정은 주행 중 화면과 비주행 화면(설정 등) 모두에 적용됩니다. </translation>
    </message>
 </context>
 <context>
@@ -256,11 +256,11 @@ This only toggles the visibility of the controls; it does not toggle the actual
    </message>
    <message>
        <source>Enable Copyparty service</source>
-        <translation type="unfinished"></translation>
+        <translation>Copyparty 서비스 사용</translation>
    </message>
    <message>
        <source>Copyparty is a very capable file server, you can use it to download your routes, view your logs and even make some edits on some files from your browser. Requires you to connect to your comma locally via it&apos;s IP.</source>
-        <translation type="unfinished"></translation>
+        <translation>Copyparty는 매우 유능한 파일 서버로, 이를 통해 주행 기록을 다운로드하고, 로그 파일을 확인하며, 심지어 브라우저에서 일부 파일을 편집할 수도 있습니다. 이 기능을 사용하려면 comma 기기의 로컬 IP를 통해 접속해야 합니다.</translation>
    </message>
 </context>
 <context>
@@ -538,32 +538,32 @@ Steering lag calibration is complete.</source>
    </message>
    <message>
        <source>Onroad Uploads</source>
-        <translation type="unfinished"></translation>
+        <translation>주행 중 업로드</translation>
    </message>
    <message>
        <source>Enable Always Offroad</source>
-        <translation type="unfinished"></translation>
+        <translation>항상 오프로드 사용</translation>
    </message>
 </context>
 <context>
    <name>DisplayPanel</name>
    <message>
        <source>Onroad Screen: Reduced Brightness</source>
-        <translation type="unfinished"></translation>
+        <translation>주행 중 화면: 밝기 감소</translation>
    </message>
    <message>
        <source>Turn off device screen or reduce brightness after driving starts. It automatically brightens again when screen is touched or a visible alert is displayed.</source>
-        <translation type="unfinished"></translation>
+        <translation>운전이 시작된 후 기기 화면을 끄거나 밝기를 줄입니다. 화면을 터치하거나 시각적 알림이 표시되면 자동으로 다시 밝아집니다.</translation>
    </message>
    <message>
        <source>Interactivity Timeout</source>
-        <translation type="unfinished">상호작용 타임아웃</translation>
+        <translation>상호작용 타임아웃</translation>
    </message>
    <message>
        <source>Apply a custom timeout for settings UI.
 This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
-        <translation type="unfinished">설정 화면에 사용자 지정 타임아웃을 적용하세요.
-사용자가 화면과 상호작용하지 않으면 설정 화면이 자동으로 닫히는 시간입니다.</translation>
+        <translation>설정 UI에 사용자 지정 타임아웃을 적용하세요.
+이는 사용자가 화면과 상호 작용하지 않으면 설정 UI가 자동으로 닫히는 시간입니다.</translation>
    </message>
 </context>
 <context>
@@ -630,55 +630,55 @@ This is the time after which settings UI closes automatically if user is not int
    <name>ExternalStorageControl</name>
    <message>
        <source>External Storage</source>
-        <translation type="unfinished"></translation>
+        <translation>외부 저장소</translation>
    </message>
    <message>
        <source>Extend your comma device&apos;s storage by inserting a USB drive into the aux port.</source>
-        <translation type="unfinished"></translation>
+        <translation>USB 드라이브를 AUX 포트에 삽입하여 comma 기기의 저장 공간을 확장합니다.</translation>
    </message>
    <message>
        <source>CHECK</source>
-        <translation type="unfinished">확인</translation>
+        <translation>확인</translation>
    </message>
    <message>
        <source>MOUNT</source>
-        <translation type="unfinished"></translation>
+        <translation>마운트</translation>
    </message>
    <message>
        <source>UNMOUNT</source>
-        <translation type="unfinished"></translation>
+        <translation>마운트 해제</translation>
    </message>
    <message>
        <source>FORMAT</source>
-        <translation type="unfinished"></translation>
+        <translation>포맷</translation>
    </message>
    <message>
        <source>Are you sure you want to format this drive? This will erase all data.</source>
-        <translation type="unfinished"></translation>
+        <translation>이 드라이브를 포맷하시겠습니까? 이 작업은 모든 데이터를 지웁니다.</translation>
    </message>
    <message>
        <source>Format</source>
-        <translation type="unfinished"></translation>
+        <translation>포맷</translation>
    </message>
    <message>
        <source>formatting</source>
-        <translation type="unfinished"></translation>
+        <translation>포맷 중</translation>
    </message>
    <message>
        <source>insert drive</source>
-        <translation type="unfinished"></translation>
+        <translation>드라이브 삽입</translation>
    </message>
    <message>
        <source>needs format</source>
-        <translation type="unfinished"></translation>
+        <translation>포맷 필요</translation>
    </message>
    <message>
        <source>mounting</source>
-        <translation type="unfinished"></translation>
+        <translation>마운트 중</translation>
    </message>
    <message>
        <source>unmounting</source>
-        <translation type="unfinished"></translation>
+        <translation>마운트 해제 중</translation>
    </message>
 </context>
 <context>
@@ -737,57 +737,58 @@ Firehose 모드를 사용하면 훈련 데이터 업로드를 극대화하여 op
    <name>HudRendererSP</name>
    <message>
        <source>km/h</source>
-        <translation type="unfinished">km/h</translation>
+        <translation>km/h</translation>
    </message>
    <message>
        <source>mph</source>
-        <translation type="unfinished">mph</translation>
+        <translation>mph</translation>
    </message>
    <message>
        <source>GREEN
 LIGHT</source>
-        <translation type="unfinished"></translation>
+        <translation>녹색 신호</translation>
    </message>
    <message>
        <source>LEAD VEHICLE
 DEPARTING</source>
-        <translation type="unfinished"></translation>
+        <translation>전방 차량이
+출발하였습니다</translation>
    </message>
    <message>
        <source>SPEED</source>
-        <translation type="unfinished"></translation>
+        <translation>SPEED</translation>
    </message>
    <message>
        <source>LIMIT</source>
-        <translation type="unfinished"></translation>
+        <translation>LIMIT</translation>
    </message>
    <message>
        <source>Near</source>
-        <translation type="unfinished"></translation>
+        <translation>근처</translation>
    </message>
    <message>
        <source>km</source>
-        <translation type="unfinished"></translation>
+        <translation>km</translation>
    </message>
    <message>
        <source>m</source>
-        <translation type="unfinished">분</translation>
+        <translation>m</translation>
    </message>
    <message>
        <source>mi</source>
-        <translation type="unfinished"></translation>
+        <translation>mi</translation>
    </message>
    <message>
        <source>ft</source>
-        <translation type="unfinished"></translation>
+        <translation>ft</translation>
    </message>
    <message>
        <source>AHEAD</source>
-        <translation type="unfinished"></translation>
+        <translation>전방</translation>
    </message>
    <message>
        <source>MAX</source>
-        <translation type="unfinished">최대</translation>
+        <translation>최대</translation>
    </message>
 </context>
 <context>
@@ -905,15 +906,15 @@ DEPARTING</source>
    </message>
    <message>
        <source>Enforce Torque Lateral Control</source>
-        <translation type="unfinished"></translation>
+        <translation>토크 조향 제어 강제 적용</translation>
    </message>
    <message>
        <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
-        <translation type="unfinished"></translation>
+        <translation>sunnypilot이 토크 조향 제어를 통해 조향하도록 강제하려면 이 기능을 활성화하세요.</translation>
    </message>
    <message>
        <source>Customize Params</source>
-        <translation type="unfinished"></translation>
+        <translation>매개변수 사용자 지정</translation>
    </message>
 </context>
 <context>
@@ -940,31 +941,31 @@ DEPARTING</source>
    </message>
    <message>
        <source>Intelligent Cruise Button Management (ICBM) (Alpha)</source>
-        <translation type="unfinished"></translation>
+        <translation>지능형 크루즈 버튼 관리 (ICBM) (알파)</translation>
    </message>
    <message>
        <source>When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control.</source>
-        <translation type="unfinished"></translation>
+        <translation>활성화하면, sunnypilot은 제한적인 가감속 제어를 위해 버튼 조작을 재현하여 내장 크루즈 컨트롤 버튼을 관리하려고 시도합니다.</translation>
    </message>
    <message>
        <source>Smart Cruise Control - Vision</source>
-        <translation type="unfinished"></translation>
+        <translation>스마트 크루즈 컨트롤 - 비전</translation>
    </message>
    <message>
        <source>Use vision path predictions to estimate the appropriate speed to drive through turns ahead.</source>
-        <translation type="unfinished"></translation>
+        <translation>전방 커브 구간을 통과하기 위한 적절한 속도를 예측하기 위해 시각 경로 예측 기능을 사용합니다.</translation>
    </message>
    <message>
        <source>Smart Cruise Control - Map</source>
-        <translation type="unfinished"></translation>
+        <translation>스마트 크루즈 컨트롤 - 지도</translation>
    </message>
    <message>
        <source>Use map data to estimate the appropriate speed to drive through turns ahead.</source>
-        <translation type="unfinished"></translation>
+        <translation>전방 커브 구간을 통과하기 위한 적절한 속도를 예측하기 위해 지도 데이터를 사용합니다.</translation>
    </message>
    <message>
        <source>Speed Limit</source>
-        <translation type="unfinished"></translation>
+        <translation>속도 제한</translation>
    </message>
 </context>
 <context>
@@ -1195,47 +1196,47 @@ The default software delay value is 0.2</source>
    </message>
    <message>
        <source>Refresh Model List</source>
-        <translation type="unfinished"></translation>
+        <translation>모델 목록 새로고침</translation>
    </message>
    <message>
        <source>REFRESH</source>
-        <translation type="unfinished">새로 고침</translation>
+        <translation>새로고침</translation>
    </message>
    <message>
        <source>Fetching Latest Models</source>
-        <translation type="unfinished"></translation>
+        <translation>최신 모델 불러오는 중</translation>
    </message>
    <message>
        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
-        <translation type="unfinished"></translation>
+        <translation>이 기능을 켜면 차량이 스스로 조향 응답 속도를 학습하고 맞춥니다. 끄면 고정된 조향 응답 속도를 사용합니다. 이 기능을 켜두는 것이 기본 openpilot 경험을 제공합니다.</translation>
    </message>
    <message>
        <source>Live Steer Delay:</source>
-        <translation type="unfinished"></translation>
+        <translation>실시간 조향 지연 시간:</translation>
    </message>
    <message>
        <source>Actuator Delay:</source>
-        <translation type="unfinished"></translation>
+        <translation>액츄에이터 지연 시간:</translation>
    </message>
    <message>
        <source>Software Delay:</source>
-        <translation type="unfinished"></translation>
+        <translation>소프트웨어 지연 시간:</translation>
    </message>
    <message>
        <source>Total Delay:</source>
-        <translation type="unfinished"></translation>
+        <translation>전체 지연 시간:</translation>
    </message>
    <message>
        <source>Use Lane Turn Desires</source>
-        <translation type="unfinished"></translation>
+        <translation>차로 회전 의도 사용</translation>
    </message>
    <message>
        <source>Adjust Lane Turn Speed</source>
-        <translation type="unfinished"></translation>
+        <translation>차로 회전 속도 조정</translation>
    </message>
    <message>
        <source>Set the maximum speed for lane turn desires. Default is 19 %1.</source>
-        <translation type="unfinished"></translation>
+        <translation>차로 회전 의도의 최대 속도를 설정합니다. 기본값은 19 %1 입니다.</translation>
    </message>
 </context>
 <context>
@@ -1400,7 +1401,7 @@ The default software delay value is 0.2</source>
    </message>
    <message>
        <source>&lt;b&gt;Unsupported branch detected&lt;/b&gt; - The current version of &lt;b&gt;&lt;u&gt;%1&lt;/u&gt;&lt;/b&gt; branch is no longer supported on the comma three. Please go to &lt;b&gt;[Device &gt; Software]&lt;/b&gt; and install a supported branch with &lt;b&gt;&lt;u&gt;-tici&lt;/u&gt;&lt;/b&gt; in the branch name for the comma three.</source>
-        <translation type="unfinished"></translation>
+        <translation>&lt;b&gt;지원되지 않는 브랜치 감지&lt;/b&gt; - 현재 사용 중인 &lt;b&gt;&lt;u&gt;%1&lt;/u&gt;&lt;/b&gt; 브랜치는 comma three 기기에서 더 이상 지원되지 않습니다. &lt;b&gt;[기기 &gt; 소프트웨어]&lt;/b&gt;로 이동하여 브랜치 이름에 &lt;b&gt;&lt;u&gt;-tici&lt;/u&gt;&lt;/b&gt; 가 포함된 comma three용 브랜치로 설치하세요.</translation>
    </message>
 </context>
 <context>
@@ -1777,59 +1778,6 @@ Warning: You are on a metered connection!</source>
        <source>sunnypilot</source>
        <translation>sunnypilot</translation>
    </message>
-    <message>
-        <source>None</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fixed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Percent</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Car
-Only</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Map
-Only</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Car
-First</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Map
-First</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Combined
-Data</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Off</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Information</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Warning</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Assist</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
    <name>SettingsWindow</name>
@@ -1926,7 +1874,7 @@ Data</source>
    </message>
    <message>
        <source>Display</source>
-        <translation type="unfinished"></translation>
+        <translation>화면</translation>
    </message>
 </context>
 <context>
@@ -2168,78 +2116,134 @@ Data</source>
    <name>SpeedLimitPolicy</name>
    <message>
        <source>Back</source>
-        <translation type="unfinished">뒤로</translation>
+        <translation>뒤로</translation>
    </message>
    <message>
        <source>Speed Limit Source</source>
-        <translation type="unfinished"></translation>
+        <translation>속도 제한 출처</translation>
    </message>
    <message>
        <source>⦿ Car Only: Use Speed Limit data only from Car</source>
-        <translation type="unfinished"></translation>
+        <translation>⦿ 차량만: 차량에서 제공되는 속도 제한 데이터만 사용</translation>
    </message>
    <message>
        <source>⦿ Map Only: Use Speed Limit data only from OpenStreetMaps</source>
-        <translation type="unfinished"></translation>
+        <translation>⦿ 지도만: OpenStreetMaps에서 제공되는 속도 제한 데이터만 사용</translation>
    </message>
    <message>
        <source>⦿ Car First: Use Speed Limit data from Car if available, else use from OpenStreetMaps</source>
-        <translation type="unfinished"></translation>
+        <translation>⦿ 차량 우선: 사용 가능한 경우 차량의 속도 제한 데이터를 사용하고, 그렇지 않은 경우 OpenStreetMaps의 데이터 사용</translation>
    </message>
    <message>
        <source>⦿ Map First: Use Speed Limit data from OpenStreetMaps if available, else use from Car</source>
-        <translation type="unfinished"></translation>
+        <translation>⦿ 지도 우선: 사용 가능한 경우 OpenStreetMaps의 속도 제한 데이터를 사용하고, 그렇지 않은 경우 차량의 데이터 사용</translation>
    </message>
    <message>
        <source>⦿ Combined: Use combined Speed Limit data from Car &amp; OpenStreetMaps</source>
-        <translation type="unfinished"></translation>
+        <translation>⦿ 결합: 차량 및 OpenStreetMaps의 속도 제한 결합 데이터 사용</translation>
+    </message>
+    <message>
+        <source>Car
+Only</source>
+        <translation>차량만</translation>
+    </message>
+    <message>
+        <source>Map
+Only</source>
+        <translation>지도만</translation>
+    </message>
+    <message>
+        <source>Car
+First</source>
+        <translation>차량
+우선</translation>
+    </message>
+    <message>
+        <source>Map
+First</source>
+        <translation>지도
+우선</translation>
+    </message>
+    <message>
+        <source>Combined
+Data</source>
+        <translation>결합
+데이터</translation>
    </message>
 </context>
 <context>
    <name>SpeedLimitSettings</name>
    <message>
        <source>Back</source>
-        <translation type="unfinished">뒤로</translation>
+        <translation>뒤로</translation>
    </message>
    <message>
        <source>Speed Limit</source>
-        <translation type="unfinished"></translation>
+        <translation>속도 제한</translation>
    </message>
    <message>
        <source>Customize Source</source>
-        <translation type="unfinished"></translation>
+        <translation>출처 사용자 지정</translation>
    </message>
    <message>
        <source>Speed Limit Offset</source>
-        <translation type="unfinished"></translation>
+        <translation>속도 제한 오프셋</translation>
    </message>
    <message>
        <source>⦿ None: No Offset</source>
-        <translation type="unfinished"></translation>
+        <translation>⦿ 없음: 오프셋 없음</translation>
    </message>
    <message>
        <source>⦿ Fixed: Adds a fixed offset [Speed Limit + Offset]</source>
-        <translation type="unfinished"></translation>
+        <translation>⦿ 고정: 고정 오프셋을 추가합니다. [제한 속도 + 오프셋]</translation>
    </message>
    <message>
        <source>⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)]</source>
-        <translation type="unfinished"></translation>
+        <translation>⦿ 비율: 백분율 오프셋을 추가합니다. [제한 속도 + (오프셋 % 제한 속도)]</translation>
    </message>
    <message>
        <source>⦿ Off: Disables the Speed Limit functions.</source>
-        <translation type="unfinished"></translation>
+        <translation>⦿ 끄기: 속도 제한 기능을 비활성화합니다.</translation>
    </message>
    <message>
        <source>⦿ Information: Displays the current road&apos;s speed limit.</source>
-        <translation type="unfinished"></translation>
+        <translation>⦿ 정보: 현재 도로의 제한 속도를 표시합니다.</translation>
    </message>
    <message>
        <source>⦿ Warning: Provides a warning when exceeding the current road&apos;s speed limit.</source>
-        <translation type="unfinished"></translation>
+        <translation>⦿ 경고: 현재 도로의 제한 속도를 초과할 경우 경고합니다.</translation>
    </message>
    <message>
        <source>⦿ Assist: Adjusts the vehicle&apos;s cruise speed based on the current road&apos;s speed limit when operating the +/- buttons.</source>
-        <translation type="unfinished"></translation>
+        <translation>⦿ 보조: +/- 버튼을 조작할 때 현재 도로의 제한 속도를 기준으로 차량의 크루즈 속도를 조정합니다.</translation>
+    </message>
+    <message>
+        <source>None</source>
+        <translation>없음</translation>
+    </message>
+    <message>
+        <source>Fixed</source>
+        <translation>고정</translation>
+    </message>
+    <message>
+        <source>Percent</source>
+        <translation>비율</translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation>끄기</translation>
+    </message>
+    <message>
+        <source>Information</source>
+        <translation>정보</translation>
+    </message>
+    <message>
+        <source>Warning</source>
+        <translation>경고</translation>
+    </message>
+    <message>
+        <source>Assist</source>
+        <translation>보조</translation>
    </message>
 </context>
 <context>
@@ -2412,27 +2416,27 @@ Data</source>
    </message>
    <message>
        <source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
-        <translation type="unfinished"></translation>
+        <translation>sunnylink 업로더를 활성화하여 sunnypilot이 귀하의 주행 데이터를 sunnypilot 서버로 업로드하도록 허용합니다. (가장 높은 등급에서만 해당하며, 사용자에게는 어떠한 이점도 제공하지 않습니다. 저희는 그냥 데이터 용량을 테스트하는 중입니다.)</translation>
    </message>
    <message>
        <source>[Don&apos;t use] Enable sunnylink uploader</source>
-        <translation type="unfinished"></translation>
+        <translation>[사용하지 마세요] sunnylink 업로더 사용</translation>
    </message>
    <message>
        <source>🚀 sunnylink 🚀</source>
-        <translation type="unfinished"></translation>
+        <translation>🚀 sunnylink 🚀</translation>
    </message>
    <message>
        <source>For secure backup, restore, and remote configuration</source>
-        <translation type="unfinished"></translation>
+        <translation>안전한 백업, 복원 및 원격 설정을 위해</translation>
    </message>
    <message>
        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
-        <translation type="unfinished"></translation>
+        <translation>기본적인 백업/복원은 후원이 필요하지 않습니다</translation>
    </message>
    <message>
        <source>Click the sponsor button for more details</source>
-        <translation type="unfinished"></translation>
+        <translation>후원 버튼을 눌러 더 자세한 정보를 확인하세요</translation>
    </message>
 </context>
 <context>
@@ -2628,54 +2632,54 @@ Data</source>
    <name>TorqueLateralControlCustomParams</name>
    <message>
        <source>Manual Real-Time Tuning</source>
-        <translation type="unfinished"></translation>
+        <translation>실시간 수동 튜닝</translation>
    </message>
    <message>
        <source>Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune. Enabling this toggle overrides Self-Tune values.</source>
-        <translation type="unfinished"></translation>
+        <translation>토크 조향 제어기가 셀프 튜닝에서 학습된 값 대신 고정된 값을 사용하도록 강제합니다. 이 토글을 활성화하면 셀프 튜닝 값이 무시됩니다.</translation>
    </message>
    <message>
        <source>Lateral Acceleration Factor</source>
-        <translation type="unfinished"></translation>
+        <translation>조향 가속 계수</translation>
    </message>
    <message>
        <source>Friction</source>
-        <translation type="unfinished"></translation>
+        <translation>마찰</translation>
    </message>
    <message>
        <source>Real-time and Offline</source>
-        <translation type="unfinished"></translation>
+        <translation>실시간 및 오프라인</translation>
    </message>
    <message>
        <source>Offline Only</source>
-        <translation type="unfinished"></translation>
+        <translation>오프라인만</translation>
    </message>
 </context>
 <context>
    <name>TorqueLateralControlSettings</name>
    <message>
        <source>Self-Tune</source>
-        <translation type="unfinished"></translation>
+        <translation>셀프 튜닝</translation>
    </message>
    <message>
        <source>Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default.</source>
-        <translation type="unfinished"></translation>
+        <translation>기본적으로 토크 조향 제어를 사용하지 않는 플랫폼에 대해 토크 조향 제어의 셀프 튜닝 기능을 활성화합니다.</translation>
    </message>
    <message>
        <source>Less Restrict Settings for Self-Tune (Beta)</source>
-        <translation type="unfinished"></translation>
+        <translation>셀프 튜닝 제한 완화 설정 (베타)</translation>
    </message>
    <message>
        <source>Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values.</source>
-        <translation type="unfinished"></translation>
+        <translation>셀프 튜닝 사용 시 덜 엄격한 설정을 사용합니다. 이는 학습 값에 대해 torqued가 더 관대하도록 허용합니다.</translation>
    </message>
    <message>
        <source>Enable Custom Tuning</source>
-        <translation type="unfinished"></translation>
+        <translation>사용자 지정 튜닝 사용</translation>
    </message>
    <message>
        <source>Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below will override the offline values indicated in the YAML files within &quot;opendbc/car/torque_data&quot;. The values will also be used live when &quot;Manual Real-Time Tuning&quot; toggle is enabled.</source>
-        <translation type="unfinished"></translation>
+        <translation>토크 조향 제어에 대한 사용자 지정 튜닝을 활성화합니다. 아래에서 조향 가속 계수 및 마찰을 수정하면 &quot;opendbc/car/torque_data&quot; 내의 YAML 파일에 명시된 오프라인 값이 무시됩니다. 이 값들은 &quot;실시간 수동 튜닝&quot; 토글이 활성화되면 실시간으로도 사용됩니다.</translation>
    </message>
 </context>
 <context>
@@ -2690,7 +2694,7 @@ Data</source>
    </message>
    <message>
        <source>Favorites</source>
-        <translation type="unfinished"></translation>
+        <translation>즐겨찾기</translation>
    </message>
 </context>
 <context>
@@ -2737,88 +2741,89 @@ Data</source>
    </message>
    <message>
        <source>Enable Tesla Rainbow Mode</source>
-        <translation type="unfinished"></translation>
+        <translation>테슬라 무지개 모드 사용</translation>
    </message>
    <message>
        <source>A beautiful rainbow effect on the path the model wants to take.</source>
-        <translation type="unfinished"></translation>
+        <translation>모델이 가고자 하는 경로에 아름다운 무지개 효과를 추가합니다.</translation>
    </message>
    <message>
        <source>It</source>
-        <translation type="unfinished"></translation>
+        <translation>이는 운전에</translation>
    </message>
    <message>
        <source>does not</source>
-        <translation type="unfinished"></translation>
+        <translation>어떠한</translation>
    </message>
    <message>
        <source>affect driving in any way.</source>
-        <translation type="unfinished"></translation>
+        <translation>영향도 미치지 않습니다.</translation>
    </message>
    <message>
        <source>Enable Standstill Timer</source>
-        <translation type="unfinished"></translation>
+        <translation>정차 타이머 사용</translation>
    </message>
    <message>
        <source>Show a timer on the HUD when the car is at a standstill.</source>
-        <translation type="unfinished"></translation>
+        <translation>차량이 정차 상태일 때 HUD에 타이머를 표시합니다.</translation>
    </message>
    <message>
        <source>Display Road Name</source>
-        <translation type="unfinished"></translation>
+        <translation>도로 이름 표시</translation>
    </message>
    <message>
        <source>Displays the name of the road the car is traveling on. The OpenStreetMap database of the location must be downloaded from the OSM panel to fetch the road name.</source>
-        <translation type="unfinished"></translation>
+        <translation>차량이 주행 중인 도로의 이름을 표시합니다. 도로 이름을 가져오려면 OSM 패널에서 해당 위치의 OpenStreetMap 데이터베이스를 다운로드해야 합니다.</translation>
    </message>
    <message>
        <source>Green Traffic Light Alert (Beta)</source>
-        <translation type="unfinished"></translation>
+        <translation>녹색 신호 감지 알림 (베타)</translation>
    </message>
    <message>
        <source>A chime and on-screen alert will play when the traffic light you are waiting for turns green and you have no vehicle in front of you.</source>
-        <translation type="unfinished"></translation>
+        <translation>앞 신호등이 초록 신호로 바뀌고 전방에 차량이 없을 때, 알림음과 화면 경고가 표시됩니다.</translation>
    </message>
    <message>
        <source>Note: This chime is only designed as a notification. It is the driver&apos;s responsibility to observe their environment and make decisions accordingly.</source>
-        <translation type="unfinished"></translation>
+        <translation>참고: 이 알림음은 단순한 알림 목적으로만 설계되었습니다. 주변 환경을 살피고 그에 따라 결정하는 것은 운전자의 책임입니다.</translation>
    </message>
    <message>
        <source>Lead Departure Alert (Beta)</source>
-        <translation type="unfinished"></translation>
+        <translation>전방 차량 출발 알림 (베타)</translation>
    </message>
    <message>
        <source>A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving.</source>
-        <translation type="unfinished"></translation>
+        <translation>당신이 정차 중이고 전방 차량이 움직이기 시작할 때, 알림음과 화면 경고가 표시됩니다.</translation>
    </message>
    <message>
        <source>Speedometer: Always Display True Speed</source>
-        <translation type="unfinished"></translation>
+        <translation>속도계: 항상 실제 속도 표시</translation>
    </message>
    <message>
        <source>Always display the true vehicle current speed from wheel speed sensors.</source>
-        <translation type="unfinished"></translation>
+        <translation>항상 휠 스피드 센서에서 얻은 실제 차량 속도를 표시합니다.</translation>
    </message>
    <message>
        <source>Speedometer: Hide from Onroad Screen</source>
-        <translation type="unfinished"></translation>
+        <translation>속도계: 주행 화면에서 숨기기</translation>
    </message>
    <message>
        <source>Right</source>
-        <translation type="unfinished"></translation>
+        <translation>오른쪽</translation>
    </message>
    <message>
        <source>Right &amp;&amp;
 Bottom</source>
-        <translation type="unfinished"></translation>
+        <translation>오른쪽 &amp;&amp;
+아래</translation>
    </message>
    <message>
        <source>Developer UI</source>
-        <translation type="unfinished"></translation>
+        <translation>개발자 UI</translation>
    </message>
    <message>
        <source>Display real-time parameters and metrics from various sources.</source>
-        <translation type="unfinished"></translation>
+        <translation>다양한 출처의 실시간 매개변수 및 측정 지표를 표시합니다.</translation>
    </message>
 </context>
 <context>
@@ -5,6 +5,7 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """

+from enum import IntEnum
 import hashlib

 PARAMS_UPDATE_PERIOD = 3  # seconds
@@ -16,3 +17,23 @@ def get_file_hash(path: str) -> str:
    for byte_block in iter(lambda: f.read(4096), b""):
      sha256_hash.update(byte_block)
  return sha256_hash.hexdigest()
+
+
+class IntEnumBase(IntEnum):
+  @classmethod
+  def min(cls):
+    return min(cls)
+
+  @classmethod
+  def max(cls):
+    return max(cls)
+
+
+def get_sanitize_int_param(key: str, min_val: int, max_val: int, params) -> int:
+  val: int = params.get(key, return_default=True)
+  clipped_val = max(min_val, min(max_val, val))
+
+  if clipped_val != val:
+    params.put(key, clipped_val)
+
+  return clipped_val
@@ -8,8 +8,12 @@ from abc import abstractmethod, ABC

 import cereal.messaging as messaging
 from openpilot.common.params import Params
+from openpilot.common.constants import CV
+from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
 from openpilot.sunnypilot.navd.helpers import coordinate_from_param

+MAX_SPEED_LIMIT = V_CRUISE_UNSET * CV.KPH_TO_MS
+

 class BaseMapData(ABC):
  def __init__(self):
@@ -46,9 +50,9 @@ class BaseMapData(ABC):
    mapd_sp_send.valid = self.sm['liveLocationKalman'].gpsOK
    live_map_data = mapd_sp_send.liveMapDataSP

-    live_map_data.speedLimitValid = bool(speed_limit > 0)
+    live_map_data.speedLimitValid = bool(MAX_SPEED_LIMIT > speed_limit > 0)
    live_map_data.speedLimit = speed_limit
-    live_map_data.speedLimitAheadValid = bool(next_speed_limit > 0)
+    live_map_data.speedLimitAheadValid = bool(MAX_SPEED_LIMIT > next_speed_limit > 0)
    live_map_data.speedLimitAhead = next_speed_limit
    live_map_data.speedLimitAheadDistance = next_speed_limit_distance
    live_map_data.roadName = self.get_current_road_name()
@@ -11,6 +11,7 @@ from opendbc.car.interfaces import CarInterfaceBase
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.helpers import get_nn_model_path
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode as SpeedLimitMode

 import openpilot.system.sentry as sentry

@@ -66,6 +67,30 @@ def _initialize_torque_lateral_control(CI: CarInterfaceBase, CP: structs.CarPara
    CI.configure_torque_tune(CP.carFingerprint, CP.lateralTuning)


+def _cleanup_unsupported_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None) -> None:
+  if params is None:
+    params = Params()
+
+  if CP.steerControlType == structs.CarParams.SteerControlType.angle:
+    cloudlog.warning("SteerControlType is angle, cleaning up params")
+    params.remove("NeuralNetworkLateralControl")
+    params.remove("EnforceTorqueControl")
+
+  if not CP_SP.intelligentCruiseButtonManagementAvailable or CP.openpilotLongitudinalControl:
+    cloudlog.warning("ICBM not available or openpilot Longitudinal Control enabled, cleaning up params")
+    params.remove("IntelligentCruiseButtonManagement")
+
+  if not CP.openpilotLongitudinalControl and CP_SP.pcmCruiseSpeed:
+    cloudlog.warning("openpilot Longitudinal Control and ICBM not available, cleaning up params")
+    params.remove("DynamicExperimentalControl")
+    params.remove("CustomAccIncrementsEnabled")
+    params.remove("SmartCruiseControlVision")
+    params.remove("SmartCruiseControlMap")
+
+    if params.get("SpeedLimitMode", return_default=True) == SpeedLimitMode.assist:
+      params.put("SpeedLimitMode", int(SpeedLimitMode.warning))
+
+
 def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
  CP = CI.CP
  CP_SP = CI.CP_SP
@@ -74,6 +99,7 @@ def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
  nnlc_enabled = _initialize_neural_network_lateral_control(CP, CP_SP, params)
  _initialize_intelligent_cruise_button_management(CP, CP_SP, params)
  _initialize_torque_lateral_control(CI, CP, enforce_torque, nnlc_enabled)
+  _cleanup_unsupported_params(CP, CP_SP)


 def initialize_params(params) -> list[dict[str, Any]]:
@@ -84,4 +110,10 @@ def initialize_params(params) -> list[dict[str, Any]]:
    "HyundaiLongitudinalTuning"
  ])

+  # subaru
+  keys.extend([
+    "SubaruStopAndGo",
+    "SubaruStopAndGoManualParkingBrake",
+  ])
+
  return [{k: params.get(k, return_default=True)} for k in keys]
@@ -12,47 +12,83 @@ from openpilot.common.realtime import DT_MDL
 from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP

-TRIGGER_THRESHOLD = 30
+GREEN_LIGHT_X_THRESHOLD = 30


 class E2EAlertsHelper:
  def __init__(self):
    self._params = Params()
-    self._frame = -1
+    self.frame = -1

    self.green_light_alert = False
    self.green_light_alert_enabled = self._params.get_bool("GreenLightAlert")
    self.lead_depart_alert = False
    self.lead_depart_alert_enabled = self._params.get_bool("LeadDepartAlert")

+    self.alert_allowed = False
+    self.green_light_alert_count = 0
+    self.last_lead_distance = -1
+    self.last_moving_frame = -1
+
  def _read_params(self) -> None:
-    if self._frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
+    if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
      self.green_light_alert_enabled = self._params.get_bool("GreenLightAlert")
      self.lead_depart_alert_enabled = self._params.get_bool("LeadDepartAlert")

-    self._frame += 1
-
  def update(self, sm: messaging.SubMaster, events_sp: EventsSP) -> None:
    self._read_params()

-    if not (self.green_light_alert_enabled or self.lead_depart_alert_enabled):
-      return
-
    CS = sm['carState']
    CC = sm['carControl']

    model_x = sm['modelV2'].position.x
    max_idx = len(model_x) - 1
    has_lead = sm['radarState'].leadOne.status
-    lead_vRel: float = sm['radarState'].leadOne.vRel
+    lead_dRel = sm['radarState'].leadOne.dRel
+    standstill = CS.standstill
+    moving = not standstill and CS.vEgo > 0.1
+    _allowed = standstill and not CS.gasPressed and not CC.enabled

-    # Green light alert
-    self.green_light_alert = (self.green_light_alert_enabled and model_x[max_idx] > TRIGGER_THRESHOLD
-                              and not has_lead and CS.standstill and not CS.gasPressed and not CC.enabled)
+    if moving:
+      self.last_moving_frame = self.frame
+    recent_moving = self.last_moving_frame == -1 or (self.frame - self.last_moving_frame) * DT_MDL < 2.0
+
+    if standstill and not recent_moving:
+      self.alert_allowed = True
+    elif not standstill:
+      self.alert_allowed = False
+      self.green_light_alert_count = 0
+      self.last_lead_distance = -1
+
+    # Green Light Alert
+    _green_light_alert = False
+    if self.green_light_alert_enabled and _allowed and not has_lead and model_x[max_idx] > GREEN_LIGHT_X_THRESHOLD:
+      if self.alert_allowed:
+        self.green_light_alert_count += 1
+      else:
+        self.green_light_alert_count = 0
+
+      if self.green_light_alert_count > 2 and self.alert_allowed:
+        _green_light_alert = True
+        self.alert_allowed = False
+    else:
+      self.green_light_alert_count = 0
+
+    self.green_light_alert = _green_light_alert

    # Lead Departure Alert
-    self.lead_depart_alert = (self.lead_depart_alert_enabled and CS.standstill and model_x[max_idx] > 30
-                              and has_lead and lead_vRel > 1 and not CS.gasPressed)
+    _lead_depart_alert = False
+    if self.lead_depart_alert_enabled and _allowed and has_lead:
+      if self.last_lead_distance == -1 or lead_dRel < self.last_lead_distance:
+        self.last_lead_distance = lead_dRel
+
+      if self.last_lead_distance != -1 and (lead_dRel - self.last_lead_distance > 1.0) and self.alert_allowed:
+        _lead_depart_alert = True
+        self.alert_allowed = False
+
+    self.lead_depart_alert = _lead_depart_alert

    if self.green_light_alert or self.lead_depart_alert:
      events_sp.add(custom.OnroadEventSP.EventName.e2eChime)
+
+    self.frame += 1
@@ -9,13 +9,15 @@ from cereal import custom
 from openpilot.common.constants import CV
 from openpilot.common.params import Params

+TurnDirection = custom.ModelDataV2SP.TurnDirection
+
 LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS


 class LaneTurnController:
  def __init__(self, desire_helper):
    self.DH = desire_helper
-    self.turn_direction = custom.TurnDirection.none
+    self.turn_direction = TurnDirection.none
    self.params = Params()
    self.lane_turn_value = float(self.params.get("LaneTurnValue", return_default=True)) * CV.MPH_TO_MS
    self.param_read_counter = 0
@@ -33,13 +35,13 @@ class LaneTurnController:

  def update_lane_turn(self, blindspot_left: bool, blindspot_right: bool, left_blinker: bool, right_blinker: bool, v_ego: float) -> None:
    if left_blinker and not right_blinker and v_ego < self.lane_turn_value and not blindspot_left:
-      self.turn_direction = custom.TurnDirection.turnLeft
+      self.turn_direction = TurnDirection.turnLeft
    elif right_blinker and not left_blinker and v_ego < self.lane_turn_value and not blindspot_right:
-      self.turn_direction = custom.TurnDirection.turnRight
+      self.turn_direction = TurnDirection.turnRight
    else:
-      self.turn_direction = custom.TurnDirection.none
+      self.turn_direction = TurnDirection.none

  def get_turn_direction(self):
    if not self.enabled:
-      return custom.TurnDirection.none
+      return TurnDirection.none
    return self.turn_direction
@@ -4,10 +4,11 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from enum import IntEnum
+
+from openpilot.sunnypilot import IntEnumBase


-class Policy(IntEnum):
+class Policy(IntEnumBase):
  car_state_only = 0
  map_data_only = 1
  car_state_priority = 2
@@ -15,13 +16,13 @@ class Policy(IntEnum):
  combined = 4


-class OffsetType(IntEnum):
+class OffsetType(IntEnumBase):
  off = 0
  fixed = 1
  percentage = 2


-class Mode(IntEnum):
+class Mode(IntEnumBase):
  off = 0
  information = 1
  warning = 2
@@ -12,7 +12,7 @@ from openpilot.common.constants import CV
 from openpilot.common.gps import get_gps_location_service
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
-from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
+from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD, get_sanitize_int_param
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import LIMIT_MAX_MAP_DATA_AGE, LIMIT_ADAPT_ACC
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Policy, OffsetType

@@ -42,6 +42,12 @@ class SpeedLimitResolver:
    self.distance_solutions = {}  # Store for distance to current speed limit start for different sources

    self.policy = self.params.get("SpeedLimitPolicy", return_default=True)
+    self.policy = get_sanitize_int_param(
+      "SpeedLimitPolicy",
+      Policy.min().value,
+      Policy.max().value,
+      self.params
+    )
    self._policy_to_sources_map = {
      Policy.car_state_only: [SpeedLimitSource.car],
      Policy.map_data_only: [SpeedLimitSource.map],
@@ -54,7 +60,12 @@ class SpeedLimitResolver:
      self._reset_limit_sources(source)

    self.is_metric = self.params.get_bool("IsMetric")
-    self.offset_type = self.params.get("SpeedLimitOffsetType", return_default=True)
+    self.offset_type = get_sanitize_int_param(
+      "SpeedLimitOffsetType",
+      OffsetType.min().value,
+      OffsetType.max().value,
+      self.params
+    )
    self.offset_value = self.params.get("SpeedLimitValueOffset", return_default=True)

    self.speed_limit = 0.
@@ -131,6 +142,7 @@ class SpeedLimitResolver:
    self.limit_solutions[SpeedLimitSource.map] = speed_limit
    self.distance_solutions[SpeedLimitSource.map] = 0.

+    # FIXME-SP: this is not working as expected
    if 0. < next_speed_limit < self.v_ego:
      adapt_time = (next_speed_limit - self.v_ego) / LIMIT_ADAPT_ACC
      adapt_distance = self.v_ego * adapt_time + 0.5 * LIMIT_ADAPT_ACC * adapt_time ** 2
@@ -1,113 +1,113 @@
 import pytest
-from cereal import log
+from cereal import log, custom
 from openpilot.common.params import Params

 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTurnController, LANE_CHANGE_SPEED_MIN
 from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeMode

-
-class TurnDirection:
-    none = 0
-    turnLeft = 1
-    turnRight = 2
+TurnDirection = custom.ModelDataV2SP.TurnDirection


@pytest.mark.parametrize("left_blinker,right_blinker,v_ego,blindspot_left,blindspot_right,expected", [
-    (True, False, 5, False, False, TurnDirection.turnLeft),
-    (False, True, 6, False, False, TurnDirection.turnRight),
-    (True, False, 9, False, False, TurnDirection.none),
-    (True, False, 7, True, False, TurnDirection.none),
-    (False, True, 6, False, True, TurnDirection.none),
-    (False, False, 5, False, False, TurnDirection.none),
-    (True, True, 5, False, False, TurnDirection.none),
+  (True, False, 5, False, False, TurnDirection.turnLeft),
+  (False, True, 6, False, False, TurnDirection.turnRight),
+  (True, False, 9, False, False, TurnDirection.none),
+  (True, False, 7, True, False, TurnDirection.none),
+  (False, True, 6, False, True, TurnDirection.none),
+  (False, False, 5, False, False, TurnDirection.none),
+  (True, True, 5, False, False, TurnDirection.none),
 ])
 def test_lane_turn_desire_conditions(left_blinker, right_blinker, v_ego, blindspot_left, blindspot_right, expected):
-    dh = DesireHelper()
-    controller = LaneTurnController(dh)
-    controller.enabled = True
-    controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
-    controller.turn_direction = TurnDirection.none
-    controller.update_lane_turn(blindspot_left, blindspot_right, left_blinker, right_blinker, v_ego)
-    assert controller.get_turn_direction() == expected
+  dh = DesireHelper()
+  controller = LaneTurnController(dh)
+  controller.enabled = True
+  controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+  controller.turn_direction = TurnDirection.none
+  controller.update_lane_turn(blindspot_left, blindspot_right, left_blinker, right_blinker, v_ego)
+  assert controller.get_turn_direction() == expected


 def test_lane_turn_desire_disabled():
-    dh = DesireHelper()
-    controller = LaneTurnController(dh)
-    controller.enabled = False
-    controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
-    controller.turn_direction = TurnDirection.none
-    controller.update_lane_turn(False, False, True, False, 7)
-    assert controller.get_turn_direction() == TurnDirection.none
+  dh = DesireHelper()
+  controller = LaneTurnController(dh)
+  controller.enabled = False
+  controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+  controller.turn_direction = TurnDirection.none
+  controller.update_lane_turn(False, False, True, False, 7)
+  assert controller.get_turn_direction() == TurnDirection.none


 def test_lane_turn_overrides_lane_change():
-    dh = DesireHelper()
-    controller = LaneTurnController(dh)
-    controller.enabled = True
-    controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
-    controller.turn_direction = TurnDirection.none
-    # left turn desire
-    controller.update_lane_turn(False, False, True, False, 5)
-    assert controller.get_turn_direction() == TurnDirection.turnLeft
-    # right turn desire
-    controller.update_lane_turn(False, False, False, True, 6)
-    assert controller.get_turn_direction() == TurnDirection.turnRight
-    # no turn
-    controller.update_lane_turn(False, False, False, False, 7)
-    assert controller.get_turn_direction() == TurnDirection.none
+  dh = DesireHelper()
+  controller = LaneTurnController(dh)
+  controller.enabled = True
+  controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+  controller.turn_direction = TurnDirection.none
+  # left turn desire
+  controller.update_lane_turn(False, False, True, False, 5)
+  assert controller.get_turn_direction() == TurnDirection.turnLeft
+  # right turn desire
+  controller.update_lane_turn(False, False, False, True, 6)
+  assert controller.get_turn_direction() == TurnDirection.turnRight
+  # no turn
+  controller.update_lane_turn(False, False, False, False, 7)
+  assert controller.get_turn_direction() == TurnDirection.none


@pytest.mark.parametrize("v_ego,expected", [
-    (8.93, TurnDirection.turnLeft),   # just below threshold
-    (8.96, TurnDirection.none),       # above threshold
-    (8.95, TurnDirection.none),       # just above threshold
+  (8.93, TurnDirection.turnLeft),  # just below threshold
+  (8.96, TurnDirection.none),  # above threshold
+  (8.95, TurnDirection.none),  # just above threshold
 ])
 def test_lane_turn_desire_speed_boundary(v_ego, expected):
-    dh = DesireHelper()
-    controller = LaneTurnController(dh)
-    controller.enabled = True
-    controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
-    controller.turn_direction = TurnDirection.none
-    controller.update_lane_turn(False, True, True, False, v_ego)
-    assert controller.get_turn_direction() == expected
+  dh = DesireHelper()
+  controller = LaneTurnController(dh)
+  controller.enabled = True
+  controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+  controller.turn_direction = TurnDirection.none
+  controller.update_lane_turn(False, True, True, False, v_ego)
+  assert controller.get_turn_direction() == expected


 class DummyCarState:
-    def __init__(self, vEgo=0, leftBlinker=False, rightBlinker=False, leftBlindspot=False, rightBlindspot=False,
-                 steeringPressed=False, steeringTorque=0, brakePressed=False):
-        self.vEgo = vEgo
-        self.leftBlinker = leftBlinker
-        self.rightBlinker = rightBlinker
-        self.leftBlindspot = leftBlindspot
-        self.rightBlindspot = rightBlindspot
-        self.steeringPressed = steeringPressed
-        self.steeringTorque = steeringTorque
-        self.brakePressed = brakePressed
+  def __init__(self, vEgo=0, leftBlinker=False, rightBlinker=False, leftBlindspot=False, rightBlindspot=False,
+               steeringPressed=False, steeringTorque=0, brakePressed=False):
+    self.vEgo = vEgo
+    self.leftBlinker = leftBlinker
+    self.rightBlinker = rightBlinker
+    self.leftBlindspot = leftBlindspot
+    self.rightBlindspot = rightBlindspot
+    self.steeringPressed = steeringPressed
+    self.steeringTorque = steeringTorque
+    self.brakePressed = brakePressed
+

@pytest.fixture
 def set_lane_turn_params():
-    params = Params()
-    params.put("LaneTurnDesire", True)
-    params.put("LaneTurnValue", 20.0)
+  params = Params()
+  params.put("LaneTurnDesire", True)
+  params.put("LaneTurnValue", 20.0)
+

@pytest.mark.parametrize("carstate, lateral_active, lane_change_prob, expected_desire", [
-    # Lane turn desire overrides lane change desire
-    (DummyCarState(vEgo=5, leftBlinker=True, rightBlinker=False, leftBlindspot=False, rightBlindspot=False), True, 1.0, log.Desire.turnLeft),
-    (DummyCarState(vEgo=7, leftBlinker=False, rightBlinker=True, leftBlindspot=False, rightBlindspot=False), True, 1.0, log.Desire.turnRight),
-    # Lane change desire only (no turn desires)
-    (DummyCarState(vEgo=9, leftBlinker=True, rightBlinker=False, leftBlindspot=False, rightBlindspot=False,
-                   steeringPressed=True, steeringTorque=1), True, 1.0, log.Desire.laneChangeLeft),
-    (DummyCarState(vEgo=9, leftBlinker=False, rightBlinker=True, leftBlindspot=False, rightBlindspot=False,
-                   steeringPressed=True, steeringTorque=-1), True, 1.0, log.Desire.laneChangeRight),
-    # No desire (inactive)
-    (DummyCarState(vEgo=9, leftBlinker=False, rightBlinker=False), False, 1.0, log.Desire.none),
-    (DummyCarState(vEgo=4, leftBlinker=False, rightBlinker=False), True, 1.0, log.Desire.none),  # No blinkers? no desire!
+  # Lane turn desire overrides lane change desire
+  (DummyCarState(vEgo=5, leftBlinker=True, rightBlinker=False, leftBlindspot=False, rightBlindspot=False), True, 1.0,
+   log.Desire.turnLeft),
+  (DummyCarState(vEgo=7, leftBlinker=False, rightBlinker=True, leftBlindspot=False, rightBlindspot=False), True, 1.0,
+   log.Desire.turnRight),
+  # Lane change desire only (no turn desires)
+  (DummyCarState(vEgo=9, leftBlinker=True, rightBlinker=False, leftBlindspot=False, rightBlindspot=False,
+                 steeringPressed=True, steeringTorque=1), True, 1.0, log.Desire.laneChangeLeft),
+  (DummyCarState(vEgo=9, leftBlinker=False, rightBlinker=True, leftBlindspot=False, rightBlindspot=False,
+                 steeringPressed=True, steeringTorque=-1), True, 1.0, log.Desire.laneChangeRight),
+  # No desire (inactive)
+  (DummyCarState(vEgo=9, leftBlinker=False, rightBlinker=False), False, 1.0, log.Desire.none),
+  (DummyCarState(vEgo=4, leftBlinker=False, rightBlinker=False), True, 1.0, log.Desire.none),  # No blinkers? no desire!
 ])
 def test_desire_helper_integration(carstate, lateral_active, lane_change_prob, expected_desire, set_lane_turn_params):
-    dh = DesireHelper()
-    dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
-    for _ in range(10):
-        dh.update(carstate, lateral_active, lane_change_prob)
-    assert dh.desire == expected_desire  # The first four tests were unit tests to test the controller, where this tests the integration in desire helpers
+  dh = DesireHelper()
+  dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
+  for _ in range(10):
+    dh.update(carstate, lateral_active, lane_change_prob)
+  assert dh.desire == expected_desire  # The first four tests were unit tests to test the controller, where this tests the integration in desire helpers
@@ -11,6 +11,7 @@ AlertSize = log.SelfdriveState.AlertSize
 AlertStatus = log.SelfdriveState.AlertStatus
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+AudibleAlertSP = custom.SelfdriveStateSP.AudibleAlert
 EventNameSP = custom.OnroadEventSP.EventName


@@ -58,7 +59,7 @@ def speed_limit_pre_active_alert(CP: car.CarParams, CS: car.CarState, sm: messag
    "Speed Limit Assist: Activation Required",
    alert_2_str,
    AlertStatus.normal, AlertSize.mid,
-    Priority.LOW, VisualAlert.none, AudibleAlert.none, .1)
+    Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleLow, .1)


 class EventsSP(EventsBase):
@@ -202,7 +203,7 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
      "Automatically adjusting to the posted speed limit",
      "",
      AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, 5.),
+      Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleHigh, 5.),
  },

  EventNameSP.speedLimitChanged: {
@@ -210,7 +211,7 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
      "Set speed changed",
      "",
      AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, 5.),
+      Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleHigh, 5.),
  },

  EventNameSP.speedLimitPreActive: {
@@ -222,7 +223,7 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
      "Automatically adjusting to the last speed limit",
      "",
      AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, 5.),
+      Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleHigh, 5.),
  },

  EventNameSP.e2eChime: {
@@ -230,6 +231,6 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
      "",
      "",
      AlertStatus.normal, AlertSize.none,
-      Priority.MID, VisualAlert.none, AudibleAlert.prompt, 0.1),
+      Priority.MID, VisualAlert.none, AudibleAlert.prompt, 3.),
  },
 }