Merge branch 'ui-models-current-top' into hkg-angle-steering-2025-software

# Conflicts: # system/ui/sunnypilot/widgets/tree_dialog.py
ui: improve TreeOptionDialog node selection and item handling
2026-07-24 14:12:05 +08:00 · 2025-12-07 01:23:31 -05:00 · 2025-12-07 01:23:07 -05:00 · 2025-12-07 00:56:23 -05:00 · 2025-12-07 00:50:38 -05:00 · 2025-12-07 00:39:04 -05:00
143 changed files with 4759 additions and 3759 deletions
@@ -2,5 +2,6 @@ Wen
 REGIST
 PullRequest
 cancelled
+indeces
 FOF
 NoO
@@ -38,7 +38,7 @@ jobs:
  report:
    needs: [ci_matrix_run]
    runs-on: ubuntu-latest
-    if: always() && github.repository == 'commaai/openpilot'
+    if: always()
    steps:
      - name: Get job results
        uses: actions/github-script@v7
@@ -1,151 +0,0 @@
-name: "mici raylib ui preview"
-on:
-  push:
-    branches:
-      - master
-  pull_request_target:
-    types: [assigned, opened, synchronize, reopened, edited]
-    branches:
-      - 'master'
-    paths:
-      - 'selfdrive/assets/**'
-      - 'selfdrive/ui/**'
-      - 'system/ui/**'
-  workflow_dispatch:
-
-env:
-  UI_JOB_NAME: "Create mici raylib UI Report"
-  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
-  BRANCH_NAME: "openpilot/pr-${{ github.event.number }}-mici-raylib-ui"
-  MASTER_BRANCH_NAME: "openpilot_master_ui_mici_raylib"
-  # All report files are pushed here
-  REPORT_FILES_BRANCH_NAME: "mici-raylib-ui-reports"
-
-jobs:
-  preview:
-    if: github.repository == 'commaai/openpilot'
-    name: preview
-    runs-on: ubuntu-latest
-    timeout-minutes: 20
-    permissions:
-      contents: read
-      pull-requests: write
-      actions: read
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-
-      - name: Waiting for ui generation to end
-        uses: lewagon/wait-on-check-action@v1.3.4
-        with:
-          ref: ${{ env.SHA }}
-          check-name: ${{ env.UI_JOB_NAME }}
-          repo-token: ${{ secrets.GITHUB_TOKEN }}
-          allowed-conclusions: success
-          wait-interval: 20
-
-      - name: Getting workflow run ID
-        id: get_run_id
-        run: |
-          echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
-
-      - name: Getting proposed ui  # filename: pr_ui/mici_ui_replay.mp4
-        id: download-artifact
-        uses: dawidd6/action-download-artifact@v6
-        with:
-          github_token: ${{ secrets.GITHUB_TOKEN }}
-          run_id: ${{ steps.get_run_id.outputs.run_id }}
-          search_artifacts: true
-          name: mici-raylib-report-1-${{ env.REPORT_NAME }}
-          path: ${{ github.workspace }}/pr_ui
-
-      - name: Getting master ui  # filename: master_ui_raylib/mici_ui_replay.mp4
-        uses: actions/checkout@v4
-        with:
-          repository: commaai/ci-artifacts
-          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
-          path: ${{ github.workspace }}/master_ui_raylib
-          ref: ${{ env.MASTER_BRANCH_NAME }}
-
-      - name: Saving new master ui
-        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
-        working-directory: ${{ github.workspace }}/master_ui_raylib
-        run: |
-          git checkout --orphan=new_master_ui_mici_raylib
-          git rm -rf *
-          git branch -D ${{ env.MASTER_BRANCH_NAME }}
-          git branch -m ${{ env.MASTER_BRANCH_NAME }}
-          git config user.name "GitHub Actions Bot"
-          git config user.email "<>"
-          mv ${{ github.workspace }}/pr_ui/* .
-          git add .
-          git commit -m "mici raylib video for commit ${{ env.SHA }}"
-          git push origin ${{ env.MASTER_BRANCH_NAME }} --force
-
-      - name: Setup FFmpeg
-        uses: AnimMouse/setup-ffmpeg@ae28d57dabbb148eff63170b6bf7f2b60062cbae
-
-      - name: Finding diff
-        if: github.event_name == 'pull_request_target'
-        id: find_diff
-        run: |
-          # Find the video file from PR
-          pr_video="${{ github.workspace }}/pr_ui/mici_ui_replay_proposed.mp4"
-          mv "${{ github.workspace }}/pr_ui/mici_ui_replay.mp4" "$pr_video"
-
-          master_video="${{ github.workspace }}/pr_ui/mici_ui_replay_master.mp4"
-          mv "${{ github.workspace }}/master_ui_raylib/mici_ui_replay.mp4" "$master_video"
-
-          # Run report
-          export PYTHONPATH=${{ github.workspace }}
-          baseurl="https://github.com/commaai/ci-artifacts/raw/refs/heads/${{ env.BRANCH_NAME }}"
-          diff_exit_code=0
-          python3 ${{ github.workspace }}/selfdrive/ui/tests/diff/diff.py "${{ github.workspace }}/pr_ui/mici_ui_replay_master.mp4" "${{ github.workspace }}/pr_ui/mici_ui_replay_proposed.mp4" "diff.html" --basedir "$baseurl" --no-open || diff_exit_code=$?
-
-          # Copy diff report files
-          cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.html ${{ github.workspace }}/pr_ui/
-          cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.mp4 ${{ github.workspace }}/pr_ui/
-
-          REPORT_URL="https://commaai.github.io/ci-artifacts/diff_pr_${{ github.event.number }}.html"
-          if [ $diff_exit_code -eq 0 ]; then
-            DIFF="✅ Videos are identical! [View Diff Report]($REPORT_URL)"
-          else
-            DIFF="❌ <strong>Videos differ!</strong> [View Diff Report]($REPORT_URL)"
-          fi
-          echo "DIFF=$DIFF" >> "$GITHUB_OUTPUT"
-
-      - name: Saving proposed ui
-        if: github.event_name == 'pull_request_target'
-        working-directory: ${{ github.workspace }}/master_ui_raylib
-        run: |
-          # Overwrite PR branch w/ proposed ui, and master ui at this point in time for future reference
-          git config user.name "GitHub Actions Bot"
-          git config user.email "<>"
-          git checkout --orphan=${{ env.BRANCH_NAME }}
-          git rm -rf *
-          mv ${{ github.workspace }}/pr_ui/* .
-          git add .
-          git commit -m "mici raylib video for PR #${{ github.event.number }}"
-          git push origin ${{ env.BRANCH_NAME }} --force
-
-          # Append diff report to report files branch
-          git fetch origin ${{ env.REPORT_FILES_BRANCH_NAME }}
-          git checkout ${{ env.REPORT_FILES_BRANCH_NAME }}
-          cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.html diff_pr_${{ github.event.number }}.html
-          git add diff_pr_${{ github.event.number }}.html
-          git commit -m "mici raylib ui diff report for PR #${{ github.event.number }}" || echo "No changes to commit"
-          git push origin ${{ env.REPORT_FILES_BRANCH_NAME }}
-
-      - name: Comment Video on PR
-        if: github.event_name == 'pull_request_target'
-        uses: thollander/actions-comment-pull-request@v2
-        with:
-          message: |
-            <!-- _(run_id_video_mici_raylib **${{ github.run_id }}**)_ -->
-            ## mici raylib UI Preview
-            ${{ steps.find_diff.outputs.DIFF }}
-          comment_tag: run_id_video_mici_raylib
-          pr_number: ${{ github.event.number }}
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
@@ -200,28 +200,37 @@ jobs:
          sudo rm -rf ${OUTPUT_DIR}
          mkdir -p ${OUTPUT_DIR}
          rsync -am${RUNNER_DEBUG:+v} \
+            --include='**/panda/board/' \
+            --include='**/panda/board/obj' \
+            --include='**/panda/board/obj/panda.bin.signed' \
+            --include='**/panda/board/obj/panda_h7.bin.signed' \
+            --include='**/panda/board/obj/bootstub.panda.bin' \
+            --include='**/panda/board/obj/bootstub.panda_h7.bin' \
            --exclude='.sconsign.dblite' \
            --exclude='*.a' \
            --exclude='*.o' \
            --exclude='*.os' \
            --exclude='*.pyc' \
            --exclude='moc_*' \
-            --exclude='__pycache__' \
+            --exclude='*.cc' \
            --exclude='Jenkinsfile' \
+            --exclude='supercombo.onnx' \
+            --exclude='**/panda/board/*' \
+            --exclude='**/panda/board/obj/**' \
+            --exclude='**/panda/certs/' \
+            --exclude='**/panda/crypto/' \
            --exclude='**/release/' \
            --exclude='**/.github/' \
            --exclude='**/selfdrive/ui/replay/' \
            --exclude='**/__pycache__/' \
+            --exclude='**/selfdrive/ui/*.h' \
+            --exclude='**/selfdrive/ui/**/*.h' \
+            --exclude='**/selfdrive/ui/qt/offroad/sunnypilot/' \
            --exclude='${{env.SCONS_CACHE_DIR}}' \
            --exclude='**/.git/' \
            --exclude='**/SConstruct' \
            --exclude='**/SConscript' \
            --exclude='**/.venv/' \
-            --exclude='selfdrive/modeld/models/driving_vision.onnx' \
-            --exclude='selfdrive/modeld/models/driving_policy.onnx' \
-            --exclude='sunnypilot/modeld*/models/supercombo.onnx' \
-            --exclude='third_party/*x86*' \
-            --exclude='third_party/*Darwin*' \
            --delete-excluded \
            --chown=comma:comma \
            ${BUILD_DIR}/ ${OUTPUT_DIR}/
@@ -297,29 +297,3 @@ jobs:
        with:
          name: raylib-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
          path: selfdrive/ui/tests/test_ui/raylib_report/screenshots
-
-  create_mici_raylib_ui_report:
-    name: Create mici raylib UI Report
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-      - uses: ./.github/workflows/setup-with-retry
-      - name: Build openpilot
-        run: ${{ env.RUN }} "scons -j$(nproc)"
-      - name: Create mici raylib UI Report
-        run: >
-          ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
-                          source selfdrive/test/setup_xvfb.sh &&
-                          WINDOWED=1 python3 selfdrive/ui/tests/diff/replay.py"
-      - name: Upload Raylib UI Report
-        uses: actions/upload-artifact@v4
-        with:
-          name: mici-raylib-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-          path: selfdrive/ui/tests/diff/report
@@ -21,5 +21,12 @@
        </clean>
      </configuration>
    </target>
+    <target id="f2590b2b-9b93-49f9-8510-da3f3724a2ae" name="replay" defaultType="TOOL">
+      <configuration id="d475264f-6f4c-4092-9b4e-6773309f38b7" name="replay" toolchainName="Default">
+        <build type="TOOL">
+          <tool actionId="Tool_External Tools_uv build tools replay" />
+        </build>
+      </configuration>
+    </target>
  </component>
 </project>
@@ -20,4 +20,11 @@
      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
    </exec>
  </tool>
+  <tool name="uv build tools replay" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
+    <exec>
+      <option name="COMMAND" value="bash" />
+      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) tools/replay/&quot;" />
+      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
+    </exec>
+  </tool>
 </toolSet>
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
+  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
    <envs>
      <env name="QT_DBL_CLICK_DIST" value="150" />
    </envs>
@@ -0,0 +1,27 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Debug Route Controls" type="PythonConfigurationType" factoryName="Python">
+    <module name="openpilot-special" />
+    <option name="ENV_FILES" value="" />
+    <option name="INTERPRETER_OPTIONS" value="" />
+    <option name="PARENT_ENVS" value="true" />
+    <envs>
+      <env name="PYTHONUNBUFFERED" value="1" />
+      <env name="FINGERPRINT" value="KIA_EV9" />
+      <env name="SKIP_FW_QUERY" value="1" />
+    </envs>
+    <option name="SDK_HOME" value="" />
+    <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$/selfdrive/car" />
+    <option name="IS_MODULE_SDK" value="true" />
+    <option name="ADD_CONTENT_ROOTS" value="true" />
+    <option name="ADD_SOURCE_ROOTS" value="true" />
+    <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
+    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/selfdrive/car/card.py" />
+    <option name="PARAMETERS" value="" />
+    <option name="SHOW_COMMAND_LINE" value="false" />
+    <option name="EMULATE_TERMINAL" value="true" />
+    <option name="MODULE_MODE" value="false" />
+    <option name="REDIRECT_INPUT" value="false" />
+    <option name="INPUT_FILE" value="" />
+    <method v="2" />
+  </configuration>
+</component>
@@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Replay for controls + ui" type="Multirun" separateTabs="false" reuseTabsWithFailures="false" startOneByOne="true" markFailedProcess="true" hideSuccessProcess="false" delayTime="0.0">
+    <runConfiguration name="replay for controls" type="Native Application" />
+    <runConfiguration name="Build Debug" type="Custom Build Application" />
+    <method v="2" />
+  </configuration>
+</component>
@@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="replay for controls" type="CLionNativeAppRunConfigurationType" focusToolWindowBeforeRun="true" PROGRAM_PARAMS="&quot;$Prompt$&quot; --block &quot;sendcan,carState,carParams,carOutput,liveTracks,carParamsSP,carStateSP,bookmarkButton&quot;" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="true" WORKING_DIR="file://$ProjectFileDir$/tools/replay" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="replay" CONFIG_NAME="replay" version="1" RUN_PATH="replay">
+    <method v="2">
+      <option name="CLION.COMPOUND.BUILD" enabled="true" />
+    </method>
+  </configuration>
+</component>
@@ -1,6 +1,3 @@
-Version 0.10.3 (2025-12-10)
-========================
-
 Version 0.10.2 (2025-11-19)
 ========================
 * comma four support
@@ -192,7 +192,6 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
  aTarget @5 :Float32;
  events @6 :List(OnroadEventSP.Event);
  e2eAlerts @7 :E2eAlerts;
-  accelPersonality @8 :AccelerationPersonality;

  struct DynamicExperimentalControl {
    state @0 :DynamicExperimentalControlState;
@@ -204,11 +203,7 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
      blended @1;
    }
  }
-  enum AccelerationPersonality {
-    sport @0;
-    normal @1;
-    eco @2;
-  }
+
  struct SmartCruiseControl {
    vision @0 :Vision;
    map @1 :Map;
@@ -22,5 +22,5 @@ def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
  return CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, **params)


-def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:
+def get_key_pair():
  return CommaConnectApi(None).get_key_pair()
@@ -6,9 +6,9 @@ from datetime import datetime, timedelta, UTC
 from openpilot.system.hardware.hw import Paths
 from openpilot.system.version import get_version

-# name: jwt signature algorithm
-KEYS = {"id_rsa": "RS256",
-        "id_ecdsa": "ES256"}
+       # name : jwt signature algorithm
+KEYS = {"id_rsa" : "RS256",
+        "id_ecdsa" : "ES256"}


 class BaseApi:
@@ -62,7 +62,7 @@ class BaseApi:
    return requests.request(method, f"{self.api_host}/{endpoint}", timeout=timeout, headers=headers, json=json, params=params)

  @staticmethod
-  def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:
+  def get_key_pair():
    for key in KEYS:
      if os.path.isfile(Paths.persist_root() + f'/comma/{key}') and os.path.isfile(Paths.persist_root() + f'/comma/{key}.pub'):
        with open(Paths.persist_root() + f'/comma/{key}') as private, open(Paths.persist_root() + f'/comma/{key}.pub') as public:
@@ -1 +1 @@
-#define DEFAULT_MODEL "Dark Souls 2 (Default)"
+#define DEFAULT_MODEL "The Cool People (Default)"
@@ -71,7 +71,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"LastGPSPosition", {PERSISTENT, STRING}},
    {"LastManagerExitReason", {CLEAR_ON_MANAGER_START, STRING}},
    {"LastOffroadStatusPacket", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, JSON}},
-    {"LastAgnosPowerMonitorShutdown", {CLEAR_ON_MANAGER_START, STRING}},
    {"LastPowerDropDetected", {CLEAR_ON_MANAGER_START, STRING}},
    {"LastUpdateException", {CLEAR_ON_MANAGER_START, STRING}},
    {"LastUpdateRouteCount", {PERSISTENT, INT, "0"}},
@@ -133,8 +132,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"Version", {PERSISTENT, STRING}},

    // --- sunnypilot params --- //
-    {"AccelPersonality", {PERSISTENT | BACKUP, INT, std::to_string(static_cast<int>(cereal::LongitudinalPlanSP::AccelerationPersonality::NORMAL))}},
-    {"AccelPersonalityEnabled", {PERSISTENT | BACKUP, BOOL, "1"}},
    {"ApiCache_DriveStats", {PERSISTENT, JSON}},
    {"AutoLaneChangeBsmDelay", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"AutoLaneChangeTimer", {PERSISTENT | BACKUP, INT, "0"}},
@@ -265,4 +262,11 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"TorqueParamsOverrideEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"TorqueParamsOverrideFriction", {PERSISTENT | BACKUP, FLOAT, "0.1"}},
    {"TorqueParamsOverrideLatAccelFactor", {PERSISTENT | BACKUP, FLOAT, "2.5"}},
+
+    // Tuning keys
+    {"EnableHkgTuningAngleSmoothingFactor", {PERSISTENT | BACKUP, BOOL, "1"}},
+    {"HkgTuningAngleMinTorqueReductionGain", {PERSISTENT | BACKUP, INT, "10"}},
+    {"HkgTuningAngleMaxTorqueReductionGain", {PERSISTENT | BACKUP, INT, "100"}},
+    {"HkgTuningAngleActiveTorqueReductionGain", {PERSISTENT | BACKUP, INT, "100"}},
+    {"HkgTuningOverridingCycles", {PERSISTENT | BACKUP, INT, "17"}},
 };
@@ -1,7 +1,7 @@
 import os
 from uuid import uuid4

-from openpilot.common.utils import atomic_write
+from openpilot.common.utils import atomic_write_in_dir


 class TestFileHelpers:
@@ -15,5 +15,5 @@ class TestFileHelpers:
      assert f.read() == "test"
    os.remove(path)

-  def test_atomic_write(self):
-    self.run_atomic_write_func(atomic_write)
+  def test_atomic_write_in_dir(self):
+    self.run_atomic_write_func(atomic_write_in_dir)
@@ -32,8 +32,8 @@ class CallbackReader:


@contextlib.contextmanager
-def atomic_write(path: str, mode: str = 'w', buffering: int = -1, encoding: str | None = None, newline: str | None = None,
-                 overwrite: bool = False):
+def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: str | None = None, newline: str | None = None,
+                        overwrite: bool = False):
  """Write to a file atomically using a temporary file in the same directory as the destination file."""
  dir_name = os.path.dirname(path)

@@ -1 +1 @@
-#define COMMA_VERSION "0.10.3"
+#define COMMA_VERSION "0.10.2"
@@ -20,7 +20,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
 |Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
 |Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
-|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
 |Chevrolet|Bolt EV Non-ACC 2017|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2017">Buy Here</a></sub></details>|||
 |Chevrolet|Bolt EV Non-ACC 2018-21|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2018-21">Buy Here</a></sub></details>|||
@@ -384,7 +384,7 @@ If your car has the following packages or features, then it's a good candidate f

 | Make | Required Package/Features |
 | ---- | ------------------------- |
-| Acura | Any car with AcuraWatch will work. AcuraWatch comes standard on many newer models. |
+| Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. |
 | Ford | Any car with Lane Centering will likely work. |
 | Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. |
 | Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. |
@@ -31,7 +31,7 @@ We'll run the `replay` tool with the demo route to get data streaming for testin
 tools/replay/replay --demo

 # in terminal 2
-./selfdrive/ui/ui.py
+selfdrive/ui/ui
 ```

 The openpilot UI should launch and show a replay of the demo route.
@@ -43,36 +43,39 @@ If you have your own comma device, you can replace `--demo` with one of your own

 Now let’s update the speed display color in the UI.

-Search for the function responsible for rendering the current speed:
+Search for the function responsible for rendering UI text:
 ```bash
-git grep "_draw_current_speed" selfdrive/ui/onroad/hud_renderer.py
+git grep "drawText" selfdrive/ui/qt/onroad/hud.cc
 ```

-You'll find the relevant code inside `selfdrive/ui/onroad/hud_renderer.py`, in this function:
+You’ll find the relevant code inside `selfdrive/ui/qt/onroad/hud.cc`, in this function:

-```python
-def _draw_current_speed(self, rect: rl.Rectangle) -> None:
-  """Draw the current vehicle speed and unit."""
-  speed_text = str(round(self.speed))
-  speed_text_size = measure_text_cached(self._font_bold, speed_text, FONT_SIZES.current_speed)
-  speed_pos = rl.Vector2(rect.x + rect.width / 2 - speed_text_size.x / 2, 180 - speed_text_size.y / 2)
-  rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white)  # <- this sets the speed text color
+```cpp
+void HudRenderer::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
+  QRect real_rect = p.fontMetrics().boundingRect(text);
+  real_rect.moveCenter({x, y - real_rect.height() / 2});
+
+  p.setPen(QColor(0xff, 0xff, 0xff, alpha));  // <- this sets the speed text color
+  p.drawText(real_rect.x(), real_rect.bottom(), text);
+}
 ```

-Change `COLORS.white` to make it **blue** instead of white. A nice soft blue is `#8080FF`, which you can change inline:
+Change the `QColor(...)` line to make it **blue** instead of white. A nice soft blue is `#8080FF`, which translates to:

 ```diff
- rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white)
-+ rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, rl.Color(0x80, 0x80, 0xFF, 255))
+- p.setPen(QColor(0xff, 0xff, 0xff, alpha));
+ p.setPen(QColor(0x80, 0x80, 0xFF, alpha));
 ```

+This change will tint all speed-related UI text to blue with the same transparency (`alpha`).
+
 ---

-## 4. Re-run the UI
+## 4. Rebuild the UI

-After making changes, re-run the UI to see your new UI:
+After making changes, rebuild Openpilot so your new UI is compiled:
 ```bash
-./selfdrive/ui/ui.py
+scons -j$(nproc) && selfdrive/ui/ui
 ```
 ![](https://blog.comma.ai/img/blue_speed_ui.png)

@@ -85,7 +85,6 @@ docs = [
 ]

 testing = [
-  "coverage",
  "hypothesis ==6.47.*",
  "mypy",
  "pytest",
@@ -116,7 +115,7 @@ dev = [
  "pyautogui",
  "pygame",
  "pyopencl; platform_machine != 'aarch64'", # broken on arm64
-  "pytools>=2025.1.6; platform_machine != 'aarch64'",
+  "pytools < 2024.1.11; platform_machine != 'aarch64'", # pyopencl use a broken version
  "pywinctl",
  "pyprof2calltree",
  "tabulate",
@@ -126,7 +125,7 @@ dev = [

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

 [project.urls]
@@ -227,7 +226,7 @@ lint.select = [
  "TRY203", "TRY400", "TRY401", # try/excepts
  "RUF008", "RUF100",
  "TID251",
-  "PLE", "PLR1704",
+  "PLR1704",
 ]
 lint.ignore = [
  "E741",
@@ -13,7 +13,7 @@ cd $ROOT

 FAILED=0

-IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md"
+IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md|layouts\/.*\.xml|.*\.ipynb"
 IGNORED_DIRS="^third_party.*|^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^cereal.*|^panda.*|^rednose.*|^rednose_repo.*|^tinygrad.*|^tinygrad_repo.*|^teleoprtc.*|^teleoprtc_repo.*"

 function run() {
@@ -1,26 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-cd $DIR/../../tinygrad_repo
-
-GREEN='\033[0;32m'
-NC='\033[0m'
-
-
-#export DEBUG=2
-export PYTHONPATH=.
-export AM_RESET=1
-export AMD=1
-export AMD_IFACE=USB
-export AMD_LLVM=1
-
-python3 -m unittest -q --buffer test.test_tiny.TestTiny.test_plus \
-  > /tmp/test_tiny.log 2>&1 || (cat /tmp/test_tiny.log; exit 1)
-printf "${GREEN}Booted in ${SECONDS}s${NC}\n"
-printf "${GREEN}=============${NC}\n"
-
-printf "\n\n"
-printf "${GREEN}Transfer speeds:${NC}\n"
-printf "${GREEN}================${NC}\n"
-python3 test/external/external_test_usb_asm24.py TestDevCopySpeeds
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:42bd04a57b527c787a0555503e02a203f7d672c12d448769a3f41f17befbf013
-size 48044
+oid sha256:c94582be9d921146b3c356e08a7352700c309cb407877c1180542811b2d637fa
+size 48078
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b1e177499d9439367179cc57a6301b6162393972e3a136cc35c5fdac026bf10a
-size 48044
+oid sha256:bc2b12bfe816a79307660b6b3d2de87a7643c6ccbfc9d1b33804645ad717682a
+size 48078
@@ -1,19 +0,0 @@
-import numpy as np
-from scipy.io import wavfile
-
-
-sr = 48000
-max_int16 = 2**15 - 1
-
-def harmonic_beep(freq, duration_seconds):
-    n_total = int(sr * duration_seconds)
-
-    signal = np.sin(2 * np.pi * freq * np.arange(n_total) / sr)
-    x = np.arange(n_total)
-    exp_scale = np.exp(-x/5.5e3)
-    return max_int16 * signal * exp_scale
-
-engage_beep = harmonic_beep(1661.219, 0.5)
-wavfile.write("engage.wav", sr, engage_beep.astype(np.int16))
-disengage_beep = harmonic_beep(1318.51, 0.5)
-wavfile.write("disengage.wav", sr, disengage_beep.astype(np.int16))
@@ -42,7 +42,7 @@ If your car has the following packages or features, then it's a good candidate f

 | Make | Required Package/Features |
 | ---- | ------------------------- |
-| Acura | Any car with AcuraWatch will work. AcuraWatch comes standard on many newer models. |
+| Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. |
 | Ford | Any car with Lane Centering will likely work. |
 | Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. |
 | Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. |
@@ -26,18 +26,6 @@ class MockCarState:
    return CS, CS_SP


-BRAND_EXTRA_GEARS = {
-  'ford': [GearShifter.low, GearShifter.manumatic],
-  'nissan': [GearShifter.brake],
-  'chrysler': [GearShifter.low],
-  'honda': [GearShifter.sport],
-  'toyota': [GearShifter.sport],
-  'gm': [GearShifter.sport, GearShifter.low, GearShifter.eco, GearShifter.manumatic],
-  'volkswagen': [GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
-  'hyundai': [GearShifter.sport, GearShifter.manumatic]
-}
-
-
 class CarSpecificEvents:
  def __init__(self, CP: structs.CarParams):
    self.CP = CP
@@ -48,13 +36,17 @@ class CarSpecificEvents:
    self.silent_steer_warning = True

  def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
-    extra_gears = BRAND_EXTRA_GEARS.get(self.CP.brand, None)
-
    if self.CP.brand in ('body', 'mock'):
      events = Events()

+    elif self.CP.brand == 'ford':
+      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.low, GearShifter.manumatic])
+
+    elif self.CP.brand == 'nissan':
+      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.brake])
+
    elif self.CP.brand == 'chrysler':
-      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears)
+      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.low])

      # Low speed steer alert hysteresis logic
      if self.CP.minSteerSpeed > 0. and CS.vEgo < (self.CP.minSteerSpeed + 0.5):
@@ -65,7 +57,7 @@ class CarSpecificEvents:
        events.add(EventName.belowSteerSpeed)

    elif self.CP.brand == 'honda':
-      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=False)
+      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport], pcm_enable=False)

      if self.CP.pcmCruise and CS.vEgo < self.CP.minEnableSpeed:
        events.add(EventName.belowEngageSpeed)
@@ -87,7 +79,7 @@ class CarSpecificEvents:

    elif self.CP.brand == 'toyota':
      # TODO: when we check for unexpected disengagement, check gear not S1, S2, S3
-      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears)
+      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport])

      if self.CP.openpilotLongitudinalControl:
        if CS.cruiseState.standstill and not CS.brakePressed:
@@ -102,7 +94,9 @@ class CarSpecificEvents:
            events.add(EventName.manualRestart)

    elif self.CP.brand == 'gm':
-      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise)
+      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport, GearShifter.low,
+                                                                   GearShifter.eco, GearShifter.manumatic],
+                                         pcm_enable=self.CP.pcmCruise)

      # Enabling at a standstill with brake is allowed
      # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
@@ -113,7 +107,8 @@ class CarSpecificEvents:
        events.add(EventName.resumeRequired)

    elif self.CP.brand == 'volkswagen':
-      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise)
+      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
+                                         pcm_enable=self.CP.pcmCruise)

      if self.CP.openpilotLongitudinalControl:
        if CS.vEgo < self.CP.minEnableSpeed + 0.5:
@@ -126,14 +121,15 @@ class CarSpecificEvents:
      #   events.add(EventName.steerTimeLimit)

    elif self.CP.brand == 'hyundai':
-      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise, allow_button_cancel=False)
+      events = self.create_common_events(CS, CS_prev, extra_gears=(GearShifter.sport, GearShifter.manumatic),
+                                         pcm_enable=self.CP.pcmCruise, allow_button_cancel=False)

    else:
-      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears)
+      events = self.create_common_events(CS, CS_prev)

    return events

-  def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears: list | None = None, pcm_enable=True,
+  def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears=None, pcm_enable=True,
                           allow_button_cancel=True):
    events = Events()

@@ -22,17 +22,15 @@ from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext import La
 # Additionally, there is friction in the steering wheel that needs
 # to be overcome to move it at all, this is compensated for too.

-KP = 0.8
-KI = 0.15
-
+KP = 1.0
+KI = 0.3
+KD = 0.0
 INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30]
 KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP]

 LP_FILTER_CUTOFF_HZ = 1.2
-JERK_LOOKAHEAD_SECONDS = 0.19
-JERK_GAIN = 0.3
 LAT_ACCEL_REQUEST_BUFFER_SECONDS = 1.0
-VERSION = 1
+VERSION = 0

 class LatControlTorque(LatControl):
  def __init__(self, CP, CP_SP, CI, dt):
@@ -40,13 +38,13 @@ class LatControlTorque(LatControl):
    self.torque_params = CP.lateralTuning.torque.as_builder()
    self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
    self.lateral_accel_from_torque = CI.lateral_accel_from_torque()
-    self.pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, rate=1/self.dt)
+    self.pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, KD, rate=1/self.dt)
    self.update_limits()
    self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
    self.lat_accel_request_buffer_len = int(LAT_ACCEL_REQUEST_BUFFER_SECONDS / self.dt)
    self.lat_accel_request_buffer = deque([0.] * self.lat_accel_request_buffer_len , maxlen=self.lat_accel_request_buffer_len)
-    self.lookahead_frames = int(JERK_LOOKAHEAD_SECONDS / self.dt)
-    self.jerk_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt)
+    self.previous_measurement = 0.0
+    self.measurement_rate_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt)

    self.extension = LatControlTorqueExt(self, CP, CP_SP, CI)

@@ -78,15 +76,17 @@ class LatControlTorque(LatControl):

      delay_frames = int(np.clip(lat_delay / self.dt, 1, self.lat_accel_request_buffer_len))
      expected_lateral_accel = self.lat_accel_request_buffer[-delay_frames]
-      lookahead_idx = int(np.clip(-delay_frames + self.lookahead_frames, -self.lat_accel_request_buffer_len+1, -2))
-      raw_lateral_jerk = (self.lat_accel_request_buffer[lookahead_idx+1] - self.lat_accel_request_buffer[lookahead_idx-1]) / (2 * self.dt)
-      desired_lateral_jerk = self.jerk_filter.update(raw_lateral_jerk)
+      # TODO factor out lateral jerk from error to later replace it with delay independent alternative
      future_desired_lateral_accel = desired_curvature * CS.vEgo ** 2
      self.lat_accel_request_buffer.append(future_desired_lateral_accel)
      gravity_adjusted_future_lateral_accel = future_desired_lateral_accel - roll_compensation
-      setpoint = expected_lateral_accel
+      desired_lateral_jerk = (future_desired_lateral_accel - expected_lateral_accel) / lat_delay

      measurement = measured_curvature * CS.vEgo ** 2
+      measurement_rate = self.measurement_rate_filter.update((measurement - self.previous_measurement) / self.dt)
+      self.previous_measurement = measurement
+
+      setpoint = lat_delay * desired_lateral_jerk + expected_lateral_accel
      error = setpoint - measurement

      # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
@@ -94,10 +94,15 @@ class LatControlTorque(LatControl):
      ff = gravity_adjusted_future_lateral_accel
      # latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll
      ff -= self.torque_params.latAccelOffset
-      ff += get_friction(error + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
+      # TODO jerk is weighted by lat_delay for legacy reasons, but should be made independent of it
+      ff += get_friction(error, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)

      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
-      output_lataccel = self.pid.update(pid_log.error, speed=CS.vEgo, feedforward=ff, freeze_integrator=freeze_integrator)
+      output_lataccel = self.pid.update(pid_log.error,
+                                       -measurement_rate,
+                                        feedforward=ff,
+                                        speed=CS.vEgo,
+                                        freeze_integrator=freeze_integrator)
      output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params)

      # Lateral acceleration torque controller extension updates
@@ -10,8 +10,6 @@ from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.modeld.constants import index_function
 from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU

-from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality.accel_controller import AccelPersonalityController
-
 if __name__ == '__main__':  # generating code
  from openpilot.third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
 else:
@@ -230,7 +228,6 @@ class LongitudinalMpc:
    self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
    self.reset()
    self.source = SOURCES[2]
-    self.accel_controller = AccelPersonalityController()

  def reset(self):
    # self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
@@ -335,13 +332,6 @@ class LongitudinalMpc:
    v_ego = self.x0[1]
    self.status = radarstate.leadOne.status or radarstate.leadTwo.status

-
-    if self.accel_controller.is_enabled():
-      min_accel = self.accel_controller.get_min_accel(v_ego)
-    else:
-      min_accel = CRUISE_MIN_ACCEL
-    a_cruise_min = min_accel
-
    lead_xv_0 = self.process_lead(radarstate.leadOne)
    lead_xv_1 = self.process_lead(radarstate.leadTwo)

@@ -360,7 +350,7 @@ class LongitudinalMpc:

      # Fake an obstacle for cruise, this ensures smooth acceleration to set speed
      # when the leads are no factor.
-      v_lower = v_ego + (T_IDXS * a_cruise_min * 1.05)
+      v_lower = v_ego + (T_IDXS * CRUISE_MIN_ACCEL * 1.05)
      # TODO does this make sense when max_a is negative?
      v_upper = v_ego + (T_IDXS * CRUISE_MAX_ACCEL * 1.05)
      v_cruise_clipped = np.clip(v_cruise * np.ones(N+1),
@@ -124,11 +124,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    prev_accel_constraint = not (reset_state or sm['carState'].standstill)

    if mode == 'acc':
-      if self.accel_controller.is_enabled():
-        max_accel = self.accel_controller.get_max_accel(v_ego)
-        accel_clip = [ACCEL_MIN, max_accel]
-      else:
-        accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
+      accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
      steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
      accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
    else:
@@ -172,7 +172,7 @@ class PoseCalibrator:
    ned_from_calib_euler = self._ned_from_calib(pose.orientation)
    angular_velocity_calib = self._transform_calib_from_device(pose.angular_velocity)
    acceleration_calib = self._transform_calib_from_device(pose.acceleration)
-    velocity_calib = self._transform_calib_from_device(pose.velocity)
+    velocity_calib = self._transform_calib_from_device(pose.angular_velocity)

    return Pose(ned_from_calib_euler, velocity_calib, acceleration_calib, angular_velocity_calib)

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f8fe9a71b0fd428a045a82ed50790179f77aa664391198f078e11e7b2cb2c2d7
+oid sha256:c5a1f0655ddf266ed42ad1980389d96f47cc5e756da1fa3ca1477a920bb9b157
 size 13926324
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1dc66bc06f250b577653ccbeaa2c6521b3d46749f601d0a1a366419e929ca438
+oid sha256:8f16d548ea4eb5d01518a9e90d4527cd97c31a84bcaf6f695dead8f0015fecc4
 size 46271942
@@ -0,0 +1,102 @@
+import numpy as np
+import random
+
+import cereal.messaging as messaging
+from msgq.visionipc import VisionIpcServer, VisionStreamType
+from opendbc.car.car_helpers import get_demo_car_params
+from openpilot.common.params import Params
+from openpilot.common.transformations.camera import DEVICE_CAMERAS
+from openpilot.common.realtime import DT_MDL
+from openpilot.system.manager.process_config import managed_processes
+from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state
+
+CAM = DEVICE_CAMERAS[("tici", "ar0231")].fcam
+IMG = np.zeros(int(CAM.width*CAM.height*(3/2)), dtype=np.uint8)
+IMG_BYTES = IMG.flatten().tobytes()
+
+
+class TestModeld:
+
+  def setup_method(self):
+    self.vipc_server = VisionIpcServer("camerad")
+    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, CAM.width, CAM.height)
+    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, CAM.width, CAM.height)
+    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, CAM.width, CAM.height)
+    self.vipc_server.start_listener()
+    Params().put("CarParams", get_demo_car_params().to_bytes())
+
+    self.sm = messaging.SubMaster(['modelV2', 'cameraOdometry'])
+    self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'liveCalibration'])
+
+    managed_processes['modeld'].start()
+    self.pm.wait_for_readers_to_update("roadCameraState", 10)
+
+  def teardown_method(self):
+    managed_processes['modeld'].stop()
+    del self.vipc_server
+
+  def _send_frames(self, frame_id, cams=None):
+    if cams is None:
+      cams = ('roadCameraState', 'wideRoadCameraState')
+
+    cs = None
+    for cam in cams:
+      msg = messaging.new_message(cam)
+      cs = getattr(msg, cam)
+      cs.frameId = frame_id
+      cs.timestampSof = int((frame_id * DT_MDL) * 1e9)
+      cs.timestampEof = int(cs.timestampSof + (DT_MDL * 1e9))
+      cam_meta = meta_from_camera_state(cam)
+
+      self.pm.send(msg.which(), msg)
+      self.vipc_server.send(cam_meta.stream, IMG_BYTES, cs.frameId,
+                            cs.timestampSof, cs.timestampEof)
+    return cs
+
+  def _wait(self):
+    self.sm.update(5000)
+    if self.sm['modelV2'].frameId != self.sm['cameraOdometry'].frameId:
+      self.sm.update(1000)
+
+  def test_modeld(self):
+    for n in range(1, 500):
+      cs = self._send_frames(n)
+      self._wait()
+
+      mdl = self.sm['modelV2']
+      assert mdl.frameId == n
+      assert mdl.frameIdExtra == n
+      assert mdl.timestampEof == cs.timestampEof
+      assert mdl.frameAge == 0
+      assert mdl.frameDropPerc == 0
+
+      odo = self.sm['cameraOdometry']
+      assert odo.frameId == n
+      assert odo.timestampEof == cs.timestampEof
+
+  def test_dropped_frames(self):
+    """
+      modeld should only run on consecutive road frames
+    """
+    frame_id = -1
+    road_frames = list()
+    for n in range(1, 50):
+      if (random.random() < 0.1) and n > 3:
+        cams = random.choice([(), ('wideRoadCameraState', )])
+        self._send_frames(n, cams)
+      else:
+        self._send_frames(n)
+        road_frames.append(n)
+      self._wait()
+
+      if len(road_frames) < 3 or road_frames[-1] - road_frames[-2] == 1:
+        frame_id = road_frames[-1]
+
+      mdl = self.sm['modelV2']
+      odo = self.sm['cameraOdometry']
+      assert mdl.frameId == frame_id
+      assert mdl.frameIdExtra == frame_id
+      assert odo.frameId == frame_id
+      if n != frame_id:
+        assert not self.sm.updated['modelV2']
+        assert not self.sm.updated['cameraOdometry']
@@ -40,8 +40,8 @@ def dmonitoringd_thread():

    # save rhd virtual toggle every 5 mins
    if (sm['driverStateV2'].frameId % 6000 == 0 and not demo_mode and
-     DM.wheelpos.prob_offseter.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
-     DM.wheel_on_right == (DM.wheelpos.prob_offseter.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
+     DM.wheelpos_learner.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
+     DM.wheel_on_right == (DM.wheelpos_learner.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
      params.put_bool_nonblocking("IsRhdDetected", DM.wheel_on_right)

 def main():
@@ -40,9 +40,6 @@ class DRIVER_MONITOR_SETTINGS:
    self._PHONE_THRESH2 = 15.0
    self._PHONE_MAX_OFFSET = 0.06
    self._PHONE_MIN_OFFSET = 0.025
-    self._PHONE_DATA_AVG = 0.05
-    self._PHONE_DATA_VAR = 3*0.005
-    self._PHONE_MAX_COUNT = int(360 / self._DT_DMON)

    self._POSE_PITCH_THRESHOLD = 0.3133
    self._POSE_PITCH_THRESHOLD_SLACK = 0.3237
@@ -50,11 +47,9 @@ class DRIVER_MONITOR_SETTINGS:
    self._POSE_YAW_THRESHOLD = 0.4020
    self._POSE_YAW_THRESHOLD_SLACK = 0.5042
    self._POSE_YAW_THRESHOLD_STRICT = self._POSE_YAW_THRESHOLD
-    self._PITCH_NATURAL_OFFSET = 0.011 # initial value before offset is learned
+    self._PITCH_NATURAL_OFFSET = 0.029 # initial value before offset is learned
    self._PITCH_NATURAL_THRESHOLD = 0.449
-    self._YAW_NATURAL_OFFSET = 0.075 # initial value before offset is learned
-    self._PITCH_NATURAL_VAR = 3*0.01
-    self._YAW_NATURAL_VAR = 3*0.05
+    self._YAW_NATURAL_OFFSET = 0.097 # initial value before offset is learned
    self._PITCH_MAX_OFFSET = 0.124
    self._PITCH_MIN_OFFSET = -0.0881
    self._YAW_MAX_OFFSET = 0.289
@@ -75,9 +70,6 @@ class DRIVER_MONITOR_SETTINGS:
    self._WHEELPOS_CALIB_MIN_SPEED = 11
    self._WHEELPOS_THRESHOLD = 0.5
    self._WHEELPOS_FILTER_MIN_COUNT = int(15 / self._DT_DMON) # allow 15 seconds to converge wheel side
-    self._WHEELPOS_DATA_AVG = 0.03
-    self._WHEELPOS_DATA_VAR = 3*5.5e-5
-    self._WHEELPOS_MAX_COUNT = -1

    self._RECOVERY_FACTOR_MAX = 5.  # relative to minus step change
    self._RECOVERY_FACTOR_MIN = 1.25  # relative to minus step change
@@ -86,33 +78,30 @@ class DRIVER_MONITOR_SETTINGS:
    self._MAX_TERMINAL_DURATION = int(30 / self._DT_DMON)  # not allowed to engage after 30s of terminal alerts

 class DistractedType:
-
  NOT_DISTRACTED = 0
  DISTRACTED_POSE = 1 << 0
  DISTRACTED_BLINK = 1 << 1
  DISTRACTED_PHONE = 1 << 2

 class DriverPose:
-  def __init__(self, settings):
-    pitch_filter_raw_priors = (settings._PITCH_NATURAL_OFFSET, settings._PITCH_NATURAL_VAR, 2)
-    yaw_filter_raw_priors = (settings._YAW_NATURAL_OFFSET, settings._YAW_NATURAL_VAR, 2)
+  def __init__(self, max_trackable):
    self.yaw = 0.
    self.pitch = 0.
    self.roll = 0.
    self.yaw_std = 0.
    self.pitch_std = 0.
    self.roll_std = 0.
-    self.pitch_offseter = RunningStatFilter(raw_priors=pitch_filter_raw_priors, max_trackable=settings._POSE_OFFSET_MAX_COUNT)
-    self.yaw_offseter = RunningStatFilter(raw_priors=yaw_filter_raw_priors, max_trackable=settings._POSE_OFFSET_MAX_COUNT)
+    self.pitch_offseter = RunningStatFilter(max_trackable=max_trackable)
+    self.yaw_offseter = RunningStatFilter(max_trackable=max_trackable)
    self.calibrated = False
    self.low_std = True
    self.cfactor_pitch = 1.
    self.cfactor_yaw = 1.

-class DriverProb:
-  def __init__(self, raw_priors, max_trackable):
+class DriverPhone:
+  def __init__(self, max_trackable):
    self.prob = 0.
-    self.prob_offseter = RunningStatFilter(raw_priors=raw_priors, max_trackable=max_trackable)
+    self.prob_offseter = RunningStatFilter(max_trackable=max_trackable)
    self.prob_calibrated = False

 class DriverBlink:
@@ -151,11 +140,9 @@ class DriverMonitoring:
    self.settings = settings if settings is not None else DRIVER_MONITOR_SETTINGS(device_type=HARDWARE.get_device_type())

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

    self.always_on = always_on
@@ -247,11 +234,8 @@ class DriverMonitoring:
                                                    self.settings._YAW_MIN_OFFSET), self.settings._YAW_MAX_OFFSET)
    pitch_error = 0 if pitch_error > 0 else abs(pitch_error) # no positive pitch limit
    yaw_error = abs(yaw_error)
-
-    pitch_threshold = self.settings._POSE_PITCH_THRESHOLD * self.pose.cfactor_pitch if self.pose.calibrated else self.settings._PITCH_NATURAL_THRESHOLD
-    yaw_threshold = self.settings._POSE_YAW_THRESHOLD * self.pose.cfactor_yaw
-
-    if pitch_error > pitch_threshold or yaw_error > yaw_threshold:
+    if pitch_error > (self.settings._POSE_PITCH_THRESHOLD*self.pose.cfactor_pitch if self.pose.calibrated else self.settings._PITCH_NATURAL_THRESHOLD) or \
+       yaw_error > self.settings._POSE_YAW_THRESHOLD*self.pose.cfactor_yaw:
      distracted_types.append(DistractedType.DISTRACTED_POSE)

    if (self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD:
@@ -272,12 +256,9 @@ class DriverMonitoring:
    # calibrates only when there's movement and either face detected
    if car_speed > self.settings._WHEELPOS_CALIB_MIN_SPEED and (driver_state.leftDriverData.faceProb > self.settings._FACE_THRESHOLD or
                                          driver_state.rightDriverData.faceProb > self.settings._FACE_THRESHOLD):
-      self.wheelpos.prob_offseter.push_and_update(rhd_pred)
-
-    self.wheelpos.prob_calibrated = self.wheelpos.prob_offseter.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT
-
-    if self.wheelpos.prob_calibrated or demo_mode:
-      self.wheel_on_right = self.wheelpos.prob_offseter.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
+      self.wheelpos_learner.push_and_update(rhd_pred)
+    if self.wheelpos_learner.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT or demo_mode:
+      self.wheel_on_right = self.wheelpos_learner.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
    else:
      self.wheel_on_right = self.wheel_on_right_default # use default/saved if calibration is unfinished
    # make sure no switching when engaged
@@ -1 +1 @@
-e0ad86508edb61b3eaa1b84662c515d2c3368295
+b508f43fb0481bce0859c9b6ab4f45ee690b8dab
@@ -206,9 +206,8 @@ class TestOnroad:
    result += "-------------- UI Draw Timing ------------------\n"
    result += "------------------------------------------------\n"

-    # other processes preempt ui while starting up
-    offset = int(20 * LOG_OFFSET)
-    ts = self.ts['uiDebug']['drawTimeMillis'][offset:]
+    # skip first few frames -- connecting to vipc
+    ts = self.ts['uiDebug']['drawTimeMillis'][15:]
    result += f"min  {min(ts):.2f}ms\n"
    result += f"max  {max(ts):.2f}ms\n"
    result += f"std  {np.std(ts):.2f}ms\n"
@@ -1,11 +1,19 @@
 import pyray as rl
+import time
+import threading

+from openpilot.common.api import api_get
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
 from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
 from openpilot.system.ui.lib.multilang import tr, trn, tr_noop
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.lib.wrap_text import wrap_text
-from openpilot.selfdrive.ui.mici.layouts.settings.firehose import FirehoseLayoutBase
+from openpilot.system.ui.widgets import Widget
+from openpilot.selfdrive.ui.lib.api_helpers import get_token

 TITLE = tr_noop("Firehose Mode")
 DESCRIPTION = tr_noop(
@@ -24,17 +32,50 @@ INSTRUCTIONS = tr_noop(
 )


-class FirehoseLayout(FirehoseLayoutBase):
+class FirehoseLayout(Widget):
+  PARAM_KEY = "ApiCache_FirehoseStats"
+  GREEN = rl.Color(46, 204, 113, 255)
+  RED = rl.Color(231, 76, 60, 255)
+  GRAY = rl.Color(68, 68, 68, 255)
+  LIGHT_GRAY = rl.Color(228, 228, 228, 255)
+  UPDATE_INTERVAL = 30  # seconds
+
  def __init__(self):
    super().__init__()
-    self._scroll_panel = GuiScrollPanel()
+    self.params = Params()
+    self.segment_count = self._get_segment_count()
+    self.scroll_panel = GuiScrollPanel()
+    self._content_height = 0
+
+    self.running = True
+    self.update_thread = threading.Thread(target=self._update_loop, daemon=True)
+    self.update_thread.start()
+    self.last_update_time = 0
+
+  def show_event(self):
+    self.scroll_panel.set_offset(0)
+
+  def _get_segment_count(self) -> int:
+    stats = self.params.get(self.PARAM_KEY)
+    if not stats:
+      return 0
+    try:
+      return int(stats.get("firehose", 0))
+    except Exception:
+      cloudlog.exception(f"Failed to decode firehose stats: {stats}")
+      return 0
+
+  def __del__(self):
+    self.running = False
+    if self.update_thread and self.update_thread.is_alive():
+      self.update_thread.join(timeout=1.0)

  def _render(self, rect: rl.Rectangle):
    # Calculate content dimensions
    content_rect = rl.Rectangle(rect.x, rect.y, rect.width, self._content_height)

    # Handle scrolling and render with clipping
-    scroll_offset = self._scroll_panel.update(rect, content_rect)
+    scroll_offset = self.scroll_panel.update(rect, content_rect)
    rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height))
    self._content_height = self._render_content(rect, scroll_offset)
    rl.end_scissor_mode()
@@ -66,9 +107,9 @@ class FirehoseLayout(FirehoseLayoutBase):
    y += 20 + 20

    # Contribution count (if available)
-    if self._segment_count > 0:
+    if self.segment_count > 0:
      contrib_text = trn("{} segment of your driving is in the training dataset so far.",
-                         "{} segments of your driving is in the training dataset so far.", self._segment_count).format(self._segment_count)
+                         "{} segments of your driving is in the training dataset so far.", self.segment_count).format(self.segment_count)
      y = self._draw_wrapped_text(x, y, w, contrib_text, gui_app.font(FontWeight.BOLD), 52, rl.WHITE)
      y += 20 + 20

@@ -80,7 +121,7 @@ class FirehoseLayout(FirehoseLayoutBase):
    y = self._draw_wrapped_text(x, y, w, tr(INSTRUCTIONS), gui_app.font(FontWeight.NORMAL), 40, self.LIGHT_GRAY)

    # bottom margin + remove effect of scroll offset
-    return int(round(y - self._scroll_panel.offset + 40))
+    return int(round(y - self.scroll_panel.offset + 40))

  def _draw_wrapped_text(self, x, y, width, text, font, font_size, color):
    wrapped = wrap_text(font, text, font_size, width)
@@ -88,3 +129,32 @@ class FirehoseLayout(FirehoseLayoutBase):
      rl.draw_text_ex(font, line, rl.Vector2(x, y), font_size, 0, color)
      y += font_size * FONT_SCALE
    return round(y)
+
+  def _get_status(self) -> tuple[str, rl.Color]:
+    network_type = ui_state.sm["deviceState"].networkType
+    network_metered = ui_state.sm["deviceState"].networkMetered
+
+    if not network_metered and network_type != 0:  # Not metered and connected
+      return tr("ACTIVE"), self.GREEN
+    else:
+      return tr("INACTIVE: connect to an unmetered network"), self.RED
+
+  def _fetch_firehose_stats(self):
+    try:
+      dongle_id = self.params.get("DongleId")
+      if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID:
+        return
+      identity_token = get_token(dongle_id)
+      response = api_get(f"v1/devices/{dongle_id}/firehose_stats", access_token=identity_token)
+      if response.status_code == 200:
+        data = response.json()
+        self.segment_count = data.get("firehose", 0)
+        self.params.put(self.PARAM_KEY, data)
+    except Exception as e:
+      cloudlog.error(f"Failed to fetch firehose stats: {e}")
+
+  def _update_loop(self):
+    while self.running:
+      if not ui_state.started:
+        self._fetch_firehose_stats()
+      time.sleep(self.UPDATE_INTERVAL)
@@ -17,13 +17,6 @@ if gui_app.sunnypilot_ui():
 # TODO: remove this. updater fails to respond on startup if time is not correct
 UPDATED_TIMEOUT = 10  # seconds to wait for updated to respond

-# Mapping updater internal states to translated display strings
-STATE_TO_DISPLAY_TEXT = {
-  "checking...": tr("checking..."),
-  "downloading...": tr("downloading..."),
-  "finalizing update...": tr("finalizing update..."),
-}
-

 def time_ago(date: datetime.datetime | None) -> str:
  if not date:
@@ -110,9 +103,7 @@ class SoftwareLayout(Widget):
      # Updater responded
      self._waiting_for_updater = False
      self._download_btn.action_item.set_enabled(False)
-      # Use the mapping, with a fallback to the original state string
-      display_text = STATE_TO_DISPLAY_TEXT.get(updater_state, updater_state)
-      self._download_btn.action_item.set_value(display_text)
+      self._download_btn.action_item.set_value(updater_state)
    else:
      if failed_count > 0:
        self._download_btn.action_item.set_value(tr("failed to check for update"))
@@ -67,10 +67,8 @@ class PrimeState:
        cloudlog.info(f"Prime type updated to {prime_type}")

  def _worker_thread(self) -> None:
-    from openpilot.selfdrive.ui.ui_state import ui_state, device
    while self._running:
-      if not ui_state.started and device._awake:
-        self._fetch_prime_status()
+      self._fetch_prime_status()

      for _ in range(int(self.FETCH_INTERVAL / self.SLEEP_INTERVAL)):
        if not self._running:
@@ -3,16 +3,18 @@ import time
 from cereal import log
 import pyray as rl
 from collections.abc import Callable
-from openpilot.system.ui.widgets.label import gui_label, MiciLabel, UnifiedLabel
+from openpilot.system.ui.widgets.label import gui_label, MiciLabel
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.lib.application import gui_app, FontWeight, DEFAULT_TEXT_COLOR, MousePos
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.ui.text import wrap_text
-from openpilot.system.version import training_version, RELEASE_BRANCHES
+from openpilot.system.version import training_version

 HEAD_BUTTON_FONT_SIZE = 40
 HOME_PADDING = 8

+RELEASE_BRANCH = "release3"
+
 NetworkType = log.DeviceState.NetworkType

 NETWORK_TYPES = {
@@ -113,7 +115,7 @@ class MiciHomeLayout(Widget):
    self._version_label = MiciLabel("", font_size=36, font_weight=FontWeight.ROMAN)
    self._large_version_label = MiciLabel("", font_size=64, color=rl.GRAY, font_weight=FontWeight.ROMAN)
    self._date_label = MiciLabel("", font_size=36, color=rl.GRAY, font_weight=FontWeight.ROMAN)
-    self._branch_label = UnifiedLabel("", font_size=36, text_color=rl.GRAY, font_weight=FontWeight.ROMAN, scroll=True)
+    self._branch_label = MiciLabel("", font_size=36, color=rl.GRAY, font_weight=FontWeight.ROMAN, elide_right=False, scroll=True)
    self._version_commit_label = MiciLabel("", font_size=36, color=rl.GRAY, font_weight=FontWeight.ROMAN)

  def show_event(self):
@@ -185,22 +187,27 @@ class MiciHomeLayout(Widget):

    if self._version_text is not None:
      # release branch
-      release_branch = self._version_text[1] in RELEASE_BRANCHES
-      version_pos = rl.Rectangle(text_pos.x, text_pos.y + self._openpilot_label.font_size + 16, 100, 44)
-      self._version_label.set_text(self._version_text[0])
-      self._version_label.set_position(version_pos.x, version_pos.y)
-      self._version_label.render()
+      if self._version_text[0] == RELEASE_BRANCH:
+        version_pos = rl.Vector2(text_pos.x, text_pos.y + self._openpilot_label.font_size + 16)
+        self._large_version_label.set_text(self._version_text[0])
+        self._large_version_label.set_position(version_pos.x, version_pos.y)
+        self._large_version_label.render()

-      self._date_label.set_text(" " + self._version_text[3])
-      self._date_label.set_position(version_pos.x + self._version_label.rect.width + 10, version_pos.y)
-      self._date_label.render()
+      else:
+        version_pos = rl.Rectangle(text_pos.x, text_pos.y + self._openpilot_label.font_size + 16, 100, 44)
+        self._version_label.set_text(self._version_text[0])
+        self._version_label.set_position(version_pos.x, version_pos.y)
+        self._version_label.render()

-      self._branch_label.set_max_width(gui_app.width - self._version_label.rect.width - self._date_label.rect.width - 32)
-      self._branch_label.set_text(" " + ("release" if release_branch else self._version_text[1]))
-      self._branch_label.set_position(version_pos.x + self._version_label.rect.width + self._date_label.rect.width + 20, version_pos.y)
-      self._branch_label.render()
+        self._date_label.set_text(" " + self._version_text[3])
+        self._date_label.set_position(version_pos.x + self._version_label.rect.width + 10, version_pos.y)
+        self._date_label.render()
+
+        self._branch_label.set_width(gui_app.width - self._version_label.rect.width - self._date_label.rect.width - 32)
+        self._branch_label.set_text(" " + self._version_text[1])
+        self._branch_label.set_position(version_pos.x + self._version_label.rect.width + self._date_label.rect.width + 20, version_pos.y)
+        self._branch_label.render()

-      if not release_branch:
        # 2nd line
        self._version_commit_label.set_text(self._version_text[2])
        self._version_commit_label.set_position(version_pos.x, version_pos.y + self._date_label.font_size + 7)
@@ -5,7 +5,6 @@ from dataclasses import dataclass
 from enum import IntEnum
 from openpilot.common.params import Params
 from openpilot.selfdrive.selfdrived.alertmanager import OFFROAD_ALERTS
-from openpilot.system.hardware import HARDWARE
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets.scroller import Scroller
@@ -221,7 +220,6 @@ class MiciOffroadAlerts(Widget):
    update_alert_data = AlertData(key="UpdateAvailable", text="", severity=-1)
    self.sorted_alerts.append(update_alert_data)
    update_alert_item = AlertItem(update_alert_data)
-    update_alert_item.set_click_callback(lambda: HARDWARE.reboot())
    self.alert_items.append(update_alert_item)
    self._scroller.add_widget(update_alert_item)

@@ -246,18 +244,18 @@ class MiciOffroadAlerts(Widget):

    if update_alert_data:
      if update_available:
-        version_string = ""
+        # Default text
+        update_alert_data.text = "update available. go to comma.ai/blog to read the release notes."

        # Get new version description and parse version and date
        new_desc = self.params.get("UpdaterNewDescription") or ""
        if new_desc:
-          # format: "version / branch / commit / date"
+          # Parse description (format: "version / branch / commit / date")
          parts = new_desc.split(" / ")
          if len(parts) > 3:
            version, date = parts[0], parts[3]
-            version_string = f"\nsunnypilot {version}, {date}\n"
+            update_alert_data.text = f"update available\n sunnypilot {version}, {date}. go to comma.ai/blog to read the release notes."

-        update_alert_data.text = f"Update available {version_string}. Click to update. Read the release notes at blog.comma.ai."
        update_alert_data.visible = True
        active_count += 1
      else:
@@ -1,7 +1,6 @@
 from enum import IntEnum
 from collections.abc import Callable

-import weakref
 import pyray as rl
 from openpilot.system.ui.lib.application import FontWeight, gui_app
 from openpilot.system.ui.widgets import Widget
@@ -93,10 +92,11 @@ class TrainingGuideDMTutorial(Widget):
    super().__init__()
    self._title_header = TermsHeader("fill the circle to continue", gui_app.texture("icons_mici/setup/green_dm.png", 60, 60))

+    self._original_continue_callback = continue_callback
+
    # Wrap the continue callback to restore settings
    def wrapped_continue_callback():
-      device.set_offroad_brightness(None)
-      device.reset_interactive_timeout()
+      self._restore_settings()
      continue_callback()

    self._dialog = DriverCameraSetupDialog(wrapped_continue_callback)
@@ -114,6 +114,10 @@ class TrainingGuideDMTutorial(Widget):
    device.set_offroad_brightness(100)
    device.reset_interactive_timeout(300)  # 5 minutes

+  def _restore_settings(self):
+    device.set_offroad_brightness(None)
+    device.reset_interactive_timeout()
+
  def _update_state(self):
    super()._update_state()
    if device.awake:
@@ -146,7 +150,7 @@ class TrainingGuideRecordFront(SetupTermsPage):
    super().__init__(on_continue, back_callback=on_back, back_text="no", continue_text="yes")
    self._title_header = TermsHeader("improve driver monitoring", gui_app.texture("icons_mici/setup/green_dm.png", 60, 60))

-    self._dm_label = UnifiedLabel("Do you want to upload driver camera data?", 42,
+    self._dm_label = UnifiedLabel("Do you want to upload driver camera data to improve driver monitoring?", 42,
                                  FontWeight.ROMAN)

  def show_event(self):
@@ -210,17 +214,11 @@ class TrainingGuide(Widget):
    self._completed_callback = completed_callback
    self._step = 0

-    self_ref = weakref.ref(self)
-
-    def on_continue():
-      if obj := self_ref():
-        obj._advance_step()
-
    self._steps = [
-      TrainingGuideAttentionNotice(continue_callback=on_continue),
-      TrainingGuidePreDMTutorial(continue_callback=on_continue),
-      TrainingGuideDMTutorial(continue_callback=on_continue),
-      TrainingGuideRecordFront(continue_callback=on_continue),
+      TrainingGuideAttentionNotice(continue_callback=self._advance_step),
+      TrainingGuidePreDMTutorial(continue_callback=self._advance_step),
+      TrainingGuideDMTutorial(continue_callback=self._advance_step),
+      TrainingGuideRecordFront(continue_callback=self._advance_step),
    ]

  def _advance_step(self):
@@ -39,7 +39,7 @@ class MiciFccModal(NavWidget):
    content_height += self._fcc_logo.height + 20

    scroll_content_rect = rl.Rectangle(rect.x, rect.y, rect.width, content_height)
-    scroll_offset = round(self._scroll_panel.update(rect, scroll_content_rect.height))
+    scroll_offset = self._scroll_panel.update(rect, scroll_content_rect.height)

    fcc_pos = rl.Vector2(rect.x + 20, rect.y + 20 + scroll_offset)

@@ -6,13 +6,14 @@ from openpilot.common.api import api_get
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.ui.lib.api_helpers import get_token
-from openpilot.selfdrive.ui.ui_state import ui_state, device
+from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
 from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
 from openpilot.system.ui.lib.wrap_text import wrap_text
 from openpilot.system.ui.lib.scroll_panel2 import GuiScrollPanel2
 from openpilot.system.ui.lib.multilang import tr, trn, tr_noop
-from openpilot.system.ui.widgets import Widget, NavWidget
+from openpilot.system.ui.widgets import NavWidget
+

 TITLE = tr_noop("Firehose Mode")
 DESCRIPTION = tr_noop(
@@ -33,7 +34,9 @@ FAQ_ITEMS = [
 ]


-class FirehoseLayoutBase(Widget):
+class FirehoseLayoutMici(NavWidget):
+  BACK_TOUCH_AREA_PERCENTAGE = 0.1
+
  PARAM_KEY = "ApiCache_FirehoseStats"
  GREEN = rl.Color(46, 204, 113, 255)
  RED = rl.Color(231, 76, 60, 255)
@@ -41,10 +44,12 @@ class FirehoseLayoutBase(Widget):
  LIGHT_GRAY = rl.Color(228, 228, 228, 255)
  UPDATE_INTERVAL = 30  # seconds

-  def __init__(self):
+  def __init__(self, back_callback):
    super().__init__()
-    self._params = Params()
-    self._segment_count = self._get_segment_count()
+    self.set_back_callback(back_callback)
+
+    self.params = Params()
+    self.segment_count = self._get_segment_count()

    self._scroll_panel = GuiScrollPanel2(horizontal=False)
    self._content_height = 0
@@ -66,7 +71,7 @@ class FirehoseLayoutBase(Widget):
    self._scroll_panel.set_offset(0)

  def _get_segment_count(self) -> int:
-    stats = self._params.get(self.PARAM_KEY)
+    stats = self.params.get(self.PARAM_KEY)
    if not stats:
      return 0
    try:
@@ -78,7 +83,7 @@ class FirehoseLayoutBase(Widget):
  def _render(self, rect: rl.Rectangle):
    # compute total content height for scrolling
    content_height = self._measure_content_height(rect)
-    scroll_offset = round(self._scroll_panel.update(rect, content_height))
+    scroll_offset = self._scroll_panel.update(rect, content_height)

    # start drawing with offset
    x = int(rect.x + 40)
@@ -106,9 +111,9 @@ class FirehoseLayoutBase(Widget):
    y += 20

    # Contribution count (if available)
-    if self._segment_count > 0:
+    if self.segment_count > 0:
      contrib_text = trn("{} segment of your driving is in the training dataset so far.",
-                         "{} segments of your driving is in the training dataset so far.", self._segment_count).format(self._segment_count)
+                         "{} segments of your driving is in the training dataset so far.", self.segment_count).format(self.segment_count)
      y = self._draw_wrapped_text(x, y, w, contrib_text, gui_app.font(FontWeight.BOLD), 42, rl.WHITE)
      y += 20

@@ -160,9 +165,9 @@ class FirehoseLayoutBase(Widget):
    y += int(len(status_lines) * 48 * FONT_SCALE) + 20

    # Contribution count
-    if self._segment_count > 0:
+    if self.segment_count > 0:
      contrib_text = trn("{} segment of your driving is in the training dataset so far.",
-                         "{} segments of your driving is in the training dataset so far.", self._segment_count).format(self._segment_count)
+                         "{} segments of your driving is in the training dataset so far.", self.segment_count).format(self.segment_count)
      contrib_lines = wrap_text(gui_app.font(FontWeight.BOLD), contrib_text, 42, w)
      y += int(len(contrib_lines) * 42 * FONT_SCALE) + 20

@@ -199,28 +204,20 @@ class FirehoseLayoutBase(Widget):

  def _fetch_firehose_stats(self):
    try:
-      dongle_id = self._params.get("DongleId")
+      dongle_id = self.params.get("DongleId")
      if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID:
        return
      identity_token = get_token(dongle_id)
      response = api_get(f"v1/devices/{dongle_id}/firehose_stats", access_token=identity_token)
      if response.status_code == 200:
        data = response.json()
-        self._segment_count = data.get("firehose", 0)
-        self._params.put(self.PARAM_KEY, data)
+        self.segment_count = data.get("firehose", 0)
+        self.params.put(self.PARAM_KEY, data)
    except Exception as e:
      cloudlog.error(f"Failed to fetch firehose stats: {e}")

  def _update_loop(self):
    while self._running:
-      if not ui_state.started and device._awake:
+      if not ui_state.started:
        self._fetch_firehose_stats()
      time.sleep(self.UPDATE_INTERVAL)
-
-
-class FirehoseLayout(FirehoseLayoutBase, NavWidget):
-  BACK_TOUCH_AREA_PERCENTAGE = 0.1
-
-  def __init__(self, back_callback):
-    super().__init__()
-    self.set_back_callback(back_callback)
@@ -1,20 +1,28 @@
 import math
 import numpy as np
 import pyray as rl
+from enum import IntEnum
 from collections.abc import Callable

 from openpilot.common.swaglog import cloudlog
+from openpilot.system.ui.widgets.scroller import Scroller
 from openpilot.system.ui.widgets.label import UnifiedLabel
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigMultiToggle, BigToggle
 from openpilot.selfdrive.ui.mici.widgets.dialog import BigMultiOptionDialog, BigInputDialog, BigDialogOptionButton, BigConfirmationDialogV2
 from openpilot.system.ui.lib.application import gui_app, MousePos, FontWeight
 from openpilot.system.ui.widgets import Widget, NavWidget
-from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, SecurityType
+from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, SecurityType, MeteredType


 def normalize_ssid(ssid: str) -> str:
  return ssid.replace("’", "'")  # for iPhone hotspots


+class NetworkPanelType(IntEnum):
+  NONE = 0
+  WIFI = 1
+
+
 class LoadingAnimation(Widget):
  def _render(self, _):
    cx = int(self._rect.x + 70)
@@ -83,13 +91,11 @@ class WifiIcon(Widget):

 class WifiItem(BigDialogOptionButton):
  LEFT_MARGIN = 20
-  HEIGHT = 54
-  SELECTED_HEIGHT = 74

  def __init__(self, network: Network):
    super().__init__(network.ssid)

-    self.set_rect(rl.Rectangle(0, 0, gui_app.width, self.HEIGHT))
+    self.set_rect(rl.Rectangle(0, 0, gui_app.width, 64))

    self._selected_txt = gui_app.texture("icons_mici/settings/network/new/wifi_selected.png", 48, 96)

@@ -97,10 +103,6 @@ class WifiItem(BigDialogOptionButton):
    self._wifi_icon = WifiIcon()
    self._wifi_icon.set_current_network(network)

-  def set_selected(self, selected: bool):
-    super().set_selected(selected)
-    self._rect.height = self.SELECTED_HEIGHT if selected else self.HEIGHT
-
  def set_current_network(self, network: Network):
    self._network = network
    self._wifi_icon.set_current_network(network)
@@ -115,7 +117,7 @@ class WifiItem(BigDialogOptionButton):
    self._wifi_icon.render(rl.Rectangle(
      self._rect.x + self.LEFT_MARGIN,
      self._rect.y,
-      self.SELECTED_HEIGHT,
+      self._rect.height,
      self._rect.height
    ))

@@ -124,7 +126,7 @@ class WifiItem(BigDialogOptionButton):
      self._label.set_color(rl.Color(255, 255, 255, int(255 * 0.9)))
      self._label.set_font_weight(FontWeight.DISPLAY)
    else:
-      self._label.set_font_size(54)
+      self._label.set_font_size(70)
      self._label.set_color(rl.Color(255, 255, 255, int(255 * 0.58)))
      self._label.set_font_weight(FontWeight.DISPLAY_REGULAR)

@@ -213,7 +215,7 @@ class NetworkInfoPage(NavWidget):
    self._connect_btn.set_click_callback(lambda: connect_callback(self._network.ssid) if self._network is not None else None)

    self._title = UnifiedLabel("", 64, FontWeight.DISPLAY, rl.Color(255, 255, 255, int(255 * 0.9)),
-                               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE, scroll=True)
+                               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
    self._subtitle = UnifiedLabel("", 36, FontWeight.ROMAN, rl.Color(255, 255, 255, int(255 * 0.9 * 0.65)),
                                  alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)

@@ -223,10 +225,6 @@ class NetworkInfoPage(NavWidget):
    self._network: Network | None = None
    self._connecting: Callable[[], str | None] | None = None

-  def show_event(self):
-    super().show_event()
-    self._title.reset_scroll()
-
  def update_networks(self, networks: dict[str, Network]):
    # update current network from latest scan results
    for ssid, network in networks.items():
@@ -394,7 +392,7 @@ class WifiUIMici(BigMultiOptionDialog):
          self._network_info_page.set_current_network(_network)
          self._should_open_network_info_page = True

-        network_button.set_click_callback(lambda _net=network, _button=network_button: _button._selected and show_network_info_page(_net))
+        network_button.set_click_callback(lambda _net=network,_button=network_button: _button._selected and show_network_info_page(_net))

      self.add_button(network_button)

@@ -445,3 +443,116 @@ class WifiUIMici(BigMultiOptionDialog):

    if not self._networks:
      self._loading_animation.render(self._rect)
+
+
+class NetworkLayoutMici(NavWidget):
+  def __init__(self, back_callback: Callable):
+    super().__init__()
+
+    self._current_panel = NetworkPanelType.WIFI
+    self.set_back_enabled(lambda: self._current_panel == NetworkPanelType.NONE)
+
+    self._wifi_manager = WifiManager()
+    self._wifi_manager.set_active(False)
+    self._wifi_ui = WifiUIMici(self._wifi_manager, back_callback=lambda: self._switch_to_panel(NetworkPanelType.NONE))
+
+    self._wifi_manager.add_callbacks(
+      networks_updated=self._on_network_updated,
+    )
+
+    _tethering_icon = "icons_mici/settings/network/tethering.png"
+
+    # ******** Tethering ********
+    def tethering_toggle_callback(checked: bool):
+      self._tethering_toggle_btn.set_enabled(False)
+      self._network_metered_btn.set_enabled(False)
+      self._wifi_manager.set_tethering_active(checked)
+
+    self._tethering_toggle_btn = BigToggle("enable tethering", "", toggle_callback=tethering_toggle_callback)
+
+    def tethering_password_callback(password: str):
+      if password:
+        self._wifi_manager.set_tethering_password(password)
+
+    def tethering_password_clicked():
+      tethering_password = self._wifi_manager.tethering_password
+      dlg = BigInputDialog("enter password...", tethering_password, minimum_length=8,
+                           confirm_callback=tethering_password_callback)
+      gui_app.set_modal_overlay(dlg)
+
+    txt_tethering = gui_app.texture(_tethering_icon, 64, 53)
+    self._tethering_password_btn = BigButton("tethering password", "", txt_tethering)
+    self._tethering_password_btn.set_click_callback(tethering_password_clicked)
+
+    # ******** IP Address ********
+    self._ip_address_btn = BigButton("IP Address", "Not connected")
+
+    # ******** Network Metered ********
+    def network_metered_callback(value: str):
+      self._network_metered_btn.set_enabled(False)
+      metered = {
+        'default': MeteredType.UNKNOWN,
+        'metered': MeteredType.YES,
+        'unmetered': MeteredType.NO
+      }.get(value, MeteredType.UNKNOWN)
+      self._wifi_manager.set_current_network_metered(metered)
+
+    # TODO: signal for current network metered type when changing networks, this is wrong until you press it once
+    # TODO: disable when not connected
+    self._network_metered_btn = BigMultiToggle("network usage", ["default", "metered", "unmetered"], select_callback=network_metered_callback)
+    self._network_metered_btn.set_enabled(False)
+
+    wifi_button = BigButton("wi-fi")
+    wifi_button.set_click_callback(lambda: self._switch_to_panel(NetworkPanelType.WIFI))
+
+    # Main scroller ----------------------------------
+    self._scroller = Scroller([
+      wifi_button,
+      self._network_metered_btn,
+      self._tethering_toggle_btn,
+      self._tethering_password_btn,
+      self._ip_address_btn,
+    ], snap_items=False)
+
+    # Set up back navigation
+    self.set_back_callback(back_callback)
+
+  def show_event(self):
+    super().show_event()
+    self._current_panel = NetworkPanelType.NONE
+    self._wifi_ui.show_event()
+    self._scroller.show_event()
+
+  def hide_event(self):
+    super().hide_event()
+    self._wifi_ui.hide_event()
+
+  def _on_network_updated(self, networks: list[Network]):
+    # Update tethering state
+    tethering_active = self._wifi_manager.is_tethering_active()
+    # TODO: use real signals (like activated/settings changed, etc.) to speed up re-enabling buttons
+    self._tethering_toggle_btn.set_enabled(True)
+    self._network_metered_btn.set_enabled(lambda: not tethering_active and bool(self._wifi_manager.ipv4_address))
+    self._tethering_toggle_btn.set_checked(tethering_active)
+
+    # Update IP address
+    self._ip_address_btn.set_value(self._wifi_manager.ipv4_address or "Not connected")
+
+    # Update network metered
+    self._network_metered_btn.set_value(
+      {
+        MeteredType.UNKNOWN: 'default',
+        MeteredType.YES: 'metered',
+        MeteredType.NO: 'unmetered'
+      }.get(self._wifi_manager.current_network_metered, 'default'))
+
+  def _switch_to_panel(self, panel_type: NetworkPanelType):
+    self._current_panel = panel_type
+
+  def _render(self, rect: rl.Rectangle):
+    self._wifi_manager.process_callbacks()
+
+    if self._current_panel == NetworkPanelType.WIFI:
+      self._wifi_ui.render(rect)
+    else:
+      self._scroller.render(rect)
@@ -1,182 +0,0 @@
-import pyray as rl
-from enum import IntEnum
-from collections.abc import Callable
-
-from openpilot.system.ui.widgets.scroller import Scroller
-from openpilot.selfdrive.ui.mici.layouts.settings.network.wifi_ui import WifiUIMici
-from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigMultiToggle, BigToggle, BigParamControl
-from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog
-from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.selfdrive.ui.lib.prime_state import PrimeType
-from openpilot.system.ui.lib.application import gui_app
-from openpilot.system.ui.widgets import NavWidget
-from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, MeteredType
-
-
-class NetworkPanelType(IntEnum):
-  NONE = 0
-  WIFI = 1
-
-
-class NetworkLayoutMici(NavWidget):
-  def __init__(self, back_callback: Callable):
-    super().__init__()
-
-    self._current_panel = NetworkPanelType.WIFI
-    self.set_back_enabled(lambda: self._current_panel == NetworkPanelType.NONE)
-
-    self._wifi_manager = WifiManager()
-    self._wifi_manager.set_active(False)
-    self._wifi_ui = WifiUIMici(self._wifi_manager, back_callback=lambda: self._switch_to_panel(NetworkPanelType.NONE))
-
-    self._wifi_manager.add_callbacks(
-      networks_updated=self._on_network_updated,
-    )
-
-    _tethering_icon = "icons_mici/settings/network/tethering.png"
-
-    # ******** Tethering ********
-    def tethering_toggle_callback(checked: bool):
-      self._tethering_toggle_btn.set_enabled(False)
-      self._network_metered_btn.set_enabled(False)
-      self._wifi_manager.set_tethering_active(checked)
-
-    self._tethering_toggle_btn = BigToggle("enable tethering", "", toggle_callback=tethering_toggle_callback)
-
-    def tethering_password_callback(password: str):
-      if password:
-        self._wifi_manager.set_tethering_password(password)
-
-    def tethering_password_clicked():
-      tethering_password = self._wifi_manager.tethering_password
-      dlg = BigInputDialog("enter password...", tethering_password, minimum_length=8,
-                           confirm_callback=tethering_password_callback)
-      gui_app.set_modal_overlay(dlg)
-
-    txt_tethering = gui_app.texture(_tethering_icon, 64, 53)
-    self._tethering_password_btn = BigButton("tethering password", "", txt_tethering)
-    self._tethering_password_btn.set_click_callback(tethering_password_clicked)
-
-    # ******** IP Address ********
-    self._ip_address_btn = BigButton("IP Address", "Not connected")
-
-    # ******** Network Metered ********
-    def network_metered_callback(value: str):
-      self._network_metered_btn.set_enabled(False)
-      metered = {
-        'default': MeteredType.UNKNOWN,
-        'metered': MeteredType.YES,
-        'unmetered': MeteredType.NO
-      }.get(value, MeteredType.UNKNOWN)
-      self._wifi_manager.set_current_network_metered(metered)
-
-    # TODO: signal for current network metered type when changing networks, this is wrong until you press it once
-    # TODO: disable when not connected
-    self._network_metered_btn = BigMultiToggle("network usage", ["default", "metered", "unmetered"], select_callback=network_metered_callback)
-    self._network_metered_btn.set_enabled(False)
-
-    wifi_button = BigButton("wi-fi")
-    wifi_button.set_click_callback(lambda: self._switch_to_panel(NetworkPanelType.WIFI))
-
-    # ******** Advanced settings ********
-    # ******** Roaming toggle ********
-    self._roaming_btn = BigParamControl("enable roaming", "GsmRoaming", toggle_callback=self._toggle_roaming)
-
-    # ******** APN settings ********
-    self._apn_btn = BigButton("apn settings", "edit")
-    self._apn_btn.set_click_callback(self._edit_apn)
-
-    # ******** Cellular metered toggle ********
-    self._cellular_metered_btn = BigParamControl("cellular metered", "GsmMetered", toggle_callback=self._toggle_cellular_metered)
-
-    # Main scroller ----------------------------------
-    self._scroller = Scroller([
-      wifi_button,
-      self._network_metered_btn,
-      self._tethering_toggle_btn,
-      self._tethering_password_btn,
-      # /* Advanced settings
-      self._roaming_btn,
-      self._apn_btn,
-      self._cellular_metered_btn,
-      # */
-      self._ip_address_btn,
-    ], snap_items=False)
-
-    # Set initial config
-    roaming_enabled = ui_state.params.get_bool("GsmRoaming")
-    metered = ui_state.params.get_bool("GsmMetered")
-    self._wifi_manager.update_gsm_settings(roaming_enabled, ui_state.params.get("GsmApn") or "", metered)
-
-    # Set up back navigation
-    self.set_back_callback(back_callback)
-
-  def _update_state(self):
-    super()._update_state()
-
-    # If not using prime SIM, show GSM settings and enable IPv4 forwarding
-    show_cell_settings = ui_state.prime_state.get_type() in (PrimeType.NONE, PrimeType.LITE)
-    self._wifi_manager.set_ipv4_forward(show_cell_settings)
-    self._roaming_btn.set_visible(show_cell_settings)
-    self._apn_btn.set_visible(show_cell_settings)
-    self._cellular_metered_btn.set_visible(show_cell_settings)
-
-  def show_event(self):
-    super().show_event()
-    self._current_panel = NetworkPanelType.NONE
-    self._wifi_ui.show_event()
-    self._scroller.show_event()
-
-  def hide_event(self):
-    super().hide_event()
-    self._wifi_ui.hide_event()
-
-  def _toggle_roaming(self, checked: bool):
-    self._wifi_manager.update_gsm_settings(checked, ui_state.params.get("GsmApn") or "", ui_state.params.get_bool("GsmMetered"))
-
-  def _edit_apn(self):
-    def update_apn(apn: str):
-      apn = apn.strip()
-      if apn == "":
-        ui_state.params.remove("GsmApn")
-      else:
-        ui_state.params.put("GsmApn", apn)
-
-      self._wifi_manager.update_gsm_settings(ui_state.params.get_bool("GsmRoaming"), apn, ui_state.params.get_bool("GsmMetered"))
-
-    current_apn = ui_state.params.get("GsmApn") or ""
-    dlg = BigInputDialog("enter APN", current_apn, minimum_length=0, confirm_callback=update_apn)
-    gui_app.set_modal_overlay(dlg)
-
-  def _toggle_cellular_metered(self, checked: bool):
-    self._wifi_manager.update_gsm_settings(ui_state.params.get_bool("GsmRoaming"), ui_state.params.get("GsmApn") or "", checked)
-
-  def _on_network_updated(self, networks: list[Network]):
-    # Update tethering state
-    tethering_active = self._wifi_manager.is_tethering_active()
-    # TODO: use real signals (like activated/settings changed, etc.) to speed up re-enabling buttons
-    self._tethering_toggle_btn.set_enabled(True)
-    self._network_metered_btn.set_enabled(lambda: not tethering_active and bool(self._wifi_manager.ipv4_address))
-    self._tethering_toggle_btn.set_checked(tethering_active)
-
-    # Update IP address
-    self._ip_address_btn.set_value(self._wifi_manager.ipv4_address or "Not connected")
-
-    # Update network metered
-    self._network_metered_btn.set_value(
-      {
-        MeteredType.UNKNOWN: 'default',
-        MeteredType.YES: 'metered',
-        MeteredType.NO: 'unmetered'
-      }.get(self._wifi_manager.current_network_metered, 'default'))
-
-  def _switch_to_panel(self, panel_type: NetworkPanelType):
-    self._current_panel = panel_type
-
-  def _render(self, rect: rl.Rectangle):
-    self._wifi_manager.process_callbacks()
-
-    if self._current_panel == NetworkPanelType.WIFI:
-      self._wifi_ui.render(rect)
-    else:
-      self._scroller.render(rect)
@@ -10,7 +10,7 @@ from openpilot.selfdrive.ui.mici.layouts.settings.toggles import TogglesLayoutMi
 from openpilot.selfdrive.ui.mici.layouts.settings.network import NetworkLayoutMici
 from openpilot.selfdrive.ui.mici.layouts.settings.device import DeviceLayoutMici, PairBigButton
 from openpilot.selfdrive.ui.mici.layouts.settings.developer import DeveloperLayoutMici
-from openpilot.selfdrive.ui.mici.layouts.settings.firehose import FirehoseLayout
+from openpilot.selfdrive.ui.mici.layouts.settings.firehose import FirehoseLayoutMici
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.widgets import Widget, NavWidget

@@ -67,7 +67,7 @@ class SettingsLayout(NavWidget):
      PanelType.NETWORK: PanelInfo("Network", NetworkLayoutMici(back_callback=lambda: self._set_current_panel(None))),
      PanelType.DEVICE: PanelInfo("Device", DeviceLayoutMici(back_callback=lambda: self._set_current_panel(None))),
      PanelType.DEVELOPER: PanelInfo("Developer", DeveloperLayoutMici(back_callback=lambda: self._set_current_panel(None))),
-      PanelType.FIREHOSE: PanelInfo("Firehose", FirehoseLayout(back_callback=lambda: self._set_current_panel(None))),
+      PanelType.FIREHOSE: PanelInfo("Firehose", FirehoseLayoutMici(back_callback=lambda: self._set_current_panel(None))),
    }

    self._font_medium = gui_app.font(FontWeight.MEDIUM)
@@ -89,6 +89,10 @@ ALERT_CRITICAL_REBOOT = Alert(
 class AlertRenderer(Widget):
  def __init__(self):
    super().__init__()
+    self.font_regular: rl.Font = gui_app.font(FontWeight.MEDIUM)
+    self.font_roman: rl.Font = gui_app.font(FontWeight.ROMAN)
+    self.font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
+    self.font_display: rl.Font = gui_app.font(FontWeight.DISPLAY)

    self._alert_text1_label = UnifiedLabel(text="", font_size=ALERT_FONT_BIG, font_weight=FontWeight.DISPLAY, line_height=0.86,
                                           letter_spacing=-0.02)
@@ -200,11 +204,11 @@ class AlertRenderer(Widget):
    text_x = self._rect.x + ALERT_MARGIN
    text_width = self._rect.width - ALERT_MARGIN
    if icon_side == 'left':
-      text_x = self._rect.x + self._txt_turn_signal_right.width
-      text_width = self._rect.width - ALERT_MARGIN - self._txt_turn_signal_right.width
+      text_x = self._rect.x + self._txt_turn_signal_right.width + 20 * 2
+      text_width = self._rect.width - ALERT_MARGIN - self._txt_turn_signal_right.width - 20 * 2
    elif icon_side == 'right':
      text_x = self._rect.x + ALERT_MARGIN
-      text_width = self._rect.width - ALERT_MARGIN - self._txt_turn_signal_right.width
+      text_width = self._rect.width - ALERT_MARGIN - self._txt_turn_signal_right.width - 20 * 2

    text_rect = rl.Rectangle(
      text_x,
@@ -1,7 +1,6 @@
-import time
 import numpy as np
 import pyray as rl
-from cereal import messaging, car, log
+from cereal import car, log
 from msgq.visionipc import VisionStreamType
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
 from openpilot.selfdrive.ui.mici.onroad import SIDE_PANEL_WIDTH
@@ -161,9 +160,6 @@ class AugmentedRoadView(CameraView):

    self._fade_texture = gui_app.texture("icons_mici/onroad/onroad_fade.png")

-    # debug
-    self._pm = messaging.PubMaster(['uiDebug'])
-
  def is_swiping_left(self) -> bool:
    """Check if currently swiping left (for scroller to disable)."""
    return self._bookmark_icon.is_swiping_left()
@@ -183,7 +179,6 @@ class AugmentedRoadView(CameraView):
      super()._handle_mouse_release(mouse_pos)

  def _render(self, _):
-    start_draw = time.monotonic()
    self._switch_stream_if_needed(ui_state.sm)

    # Update calibration before rendering
@@ -249,11 +244,6 @@ class AugmentedRoadView(CameraView):
      rl.draw_rectangle(int(self.rect.x), int(self.rect.y), int(self.rect.width), int(self.rect.height), rl.Color(0, 0, 0, 175))
      self._offroad_label.render(self._content_rect)

-    # publish uiDebug
-    msg = messaging.new_message('uiDebug')
-    msg.uiDebug.drawTimeMillis = (time.monotonic() - start_draw) * 1000
-    self._pm.send('uiDebug', msg)
-
  def _switch_stream_if_needed(self, sm):
    if sm['selfdriveState'].experimentalMode and WIDE_CAM in self.available_streams:
      v_ego = sm['carState'].vEgo
@@ -107,6 +107,7 @@ else:
 class CameraView(Widget):
  def __init__(self, name: str, stream_type: VisionStreamType):
    super().__init__()
+    # TODO: implement a receiver and connect thread
    self._name = name
    # Primary stream
    self.client = VisionIpcClient(name, stream_type, conflate=True)
@@ -196,10 +197,7 @@ class CameraView(Widget):
    # Clean up shader
    if self.shader and self.shader.id:
      rl.unload_shader(self.shader)
-      self.shader.id = 0

-    self.frame = None
-    self.available_streams.clear()
    self.client = None

  def __del__(self):
@@ -236,9 +234,6 @@ class CameraView(Widget):
    if buffer:
      self._texture_needs_update = True
      self.frame = buffer
-    elif not self.client.is_connected():
-      # ensure we clear the displayed frame when the connection is lost
-      self.frame = None

    if not self.frame:
      self._draw_placeholder(rect)
@@ -15,27 +15,20 @@ EventName = log.OnroadEvent.EventName
 EVENT_TO_INT = EventName.schema.enumerants


-class DriverCameraView(CameraView):
-  def _calc_frame_matrix(self, rect: rl.Rectangle):
-    base = super()._calc_frame_matrix(rect)
-    driver_view_ratio = 1.5
-    base[0, 0] *= driver_view_ratio
-    base[1, 1] *= driver_view_ratio
-    return base
-
-
 class DriverCameraDialog(NavWidget):
  def __init__(self, no_escape=False):
    super().__init__()
-    self._camera_view = DriverCameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER)
+    self._camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER)
+    self._original_calc_frame_matrix = self._camera_view._calc_frame_matrix
+    self._camera_view._calc_frame_matrix = self._calc_driver_frame_matrix
    self.driver_state_renderer = DriverStateRenderer(lines=True)
    self.driver_state_renderer.set_rect(rl.Rectangle(0, 0, 200, 200))
    self.driver_state_renderer.load_icons()
-    self._pm: messaging.PubMaster | None = None
+    self._pm = messaging.PubMaster(['selfdriveState'])
    if not no_escape:
      # TODO: this can grow unbounded, should be given some thought
-      device.add_interactive_timeout_callback(lambda: gui_app.set_modal_overlay(None))
-    self.set_back_callback(lambda: gui_app.set_modal_overlay(None))
+      device.add_interactive_timeout_callback(self.stop_dmonitoringmodeld)
+    self.set_back_callback(self._dismiss)
    self.set_back_enabled(not no_escape)

    # Load eye icons
@@ -47,24 +40,26 @@ class DriverCameraDialog(NavWidget):

    self._load_eye_textures()

+  def stop_dmonitoringmodeld(self):
+    ui_state.params.put_bool("IsDriverViewEnabled", False)
+    gui_app.set_modal_overlay(None)
+
  def show_event(self):
    super().show_event()
    ui_state.params.put_bool("IsDriverViewEnabled", True)
    self._publish_alert_sound(None)
    device.reset_interactive_timeout(300)
    ui_state.params.remove("DriverTooDistracted")
-    self._pm = messaging.PubMaster(['selfdriveState'])

  def hide_event(self):
    super().hide_event()
-    ui_state.params.put_bool("IsDriverViewEnabled", False)
    device.reset_interactive_timeout()

  def _handle_mouse_release(self, _):
    ui_state.params.remove("DriverTooDistracted")

-  def __del__(self):
-    self.close()
+  def _dismiss(self):
+    self.stop_dmonitoringmodeld()

  def close(self):
    if self._camera_view:
@@ -108,9 +103,6 @@ class DriverCameraDialog(NavWidget):

  def _publish_alert_sound(self, dm_state):
    """Publish selfdriveState with only alertSound field set"""
-    if self._pm is None:
-      return
-
    msg = messaging.new_message('selfdriveState')
    if dm_state is not None and len(dm_state.events):
      event_name = EVENT_TO_INT[dm_state.events[0].name]
@@ -229,6 +221,13 @@ class DriverCameraDialog(NavWidget):
    glasses_prob = driver_data.sunglassesProb
    rl.draw_texture_v(self._glasses_texture, glasses_pos, rl.Color(70, 80, 161, int(255 * glasses_prob)))

+  def _calc_driver_frame_matrix(self, rect: rl.Rectangle):
+    base = self._original_calc_frame_matrix(rect)
+    driver_view_ratio = 1.5
+    base[0, 0] *= driver_view_ratio
+    base[1, 1] *= driver_view_ratio
+    return base
+

 if __name__ == "__main__":
  gui_app.init_window("Driver Camera View (mici)")
@@ -3,7 +3,6 @@ from collections.abc import Callable
 import numpy as np
 import math
 from cereal import log
-from openpilot.system.hardware import PC
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.widgets import Widget
@@ -218,10 +217,7 @@ class DriverStateRenderer(Widget):
    rotation = math.degrees(math.atan2(pitch, yaw))
    angle_diff = rotation - self._rotation_filter.x
    angle_diff = ((angle_diff + 180) % 360) - 180
-    if PC and self._confirm_mode:
-      self._rotation_filter.x += 2
-    else:
-      self._rotation_filter.update(self._rotation_filter.x + angle_diff)
+    self._rotation_filter.update(self._rotation_filter.x + angle_diff)

    if not self.should_draw:
      self._fade_filter.update(0.0)
@@ -30,8 +30,20 @@ class FontSizes:

@dataclass(frozen=True)
 class Colors:
-  WHITE = rl.WHITE
-  WHITE_TRANSLUCENT = rl.Color(255, 255, 255, 200)
+  white: rl.Color = rl.WHITE
+  disengaged: rl.Color = rl.Color(145, 155, 149, 255)
+  override: rl.Color = rl.Color(145, 155, 149, 255)  # Added
+  engaged: rl.Color = rl.Color(128, 216, 166, 255)
+  disengaged_bg: rl.Color = rl.Color(0, 0, 0, 153)
+  override_bg: rl.Color = rl.Color(145, 155, 149, 204)
+  engaged_bg: rl.Color = rl.Color(128, 216, 166, 204)
+  grey: rl.Color = rl.Color(166, 166, 166, 255)
+  dark_grey: rl.Color = rl.Color(114, 114, 114, 255)
+  black_translucent: rl.Color = rl.Color(0, 0, 0, 166)
+  white_translucent: rl.Color = rl.Color(255, 255, 255, 200)
+  border_translucent: rl.Color = rl.Color(255, 255, 255, 75)
+  header_gradient_start: rl.Color = rl.Color(0, 0, 0, 114)
+  header_gradient_end: rl.Color = rl.BLANK


 FONT_SIZES = FontSizes()
@@ -224,18 +236,16 @@ class HudRenderer(Widget):

  def _draw_set_speed(self, rect: rl.Rectangle) -> None:
    """Draw the MAX speed indicator box."""
-    alpha = self._set_speed_alpha_filter.update(0 < rl.get_time() - self._set_speed_changed_time < SET_SPEED_PERSISTENCE and
-                                                self._can_draw_top_icons and self._engaged)
-    if alpha < 1e-2:
-      return
-
    x = rect.x
    y = rect.y

+    alpha = self._set_speed_alpha_filter.update(0 < rl.get_time() - self._set_speed_changed_time < SET_SPEED_PERSISTENCE and
+                                                self._can_draw_top_icons and self._engaged)
+
    # draw drop shadow
    circle_radius = 162 // 2
    rl.draw_circle_gradient(int(x + circle_radius), int(y + circle_radius), circle_radius,
-                            rl.Color(0, 0, 0, int(255 / 2 * alpha)), rl.BLANK)
+                            rl.Color(0, 0, 0, int(255 / 2 * alpha)), rl.Color(0, 0, 0, 0))

    set_speed_color = rl.Color(255, 255, 255, int(255 * 0.9 * alpha))
    max_color = rl.Color(255, 255, 255, int(255 * 0.9 * alpha))
@@ -269,9 +279,9 @@ class HudRenderer(Widget):
    speed_text = str(round(self.speed))
    speed_text_size = measure_text_cached(self._font_bold, speed_text, FONT_SIZES.current_speed)
    speed_pos = rl.Vector2(rect.x + rect.width / 2 - speed_text_size.x / 2, 180 - speed_text_size.y / 2)
-    rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.WHITE)
+    rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white)

    unit_text = tr("km/h") if ui_state.is_metric else tr("mph")
    unit_text_size = measure_text_cached(self._font_medium, unit_text, FONT_SIZES.speed_unit)
    unit_pos = rl.Vector2(rect.x + rect.width / 2 - unit_text_size.x / 2, 290 - unit_text_size.y / 2)
-    rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.WHITE_TRANSLUCENT)
+    rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.white_translucent)
@@ -130,9 +130,6 @@ def arc_bar_pts(cx: float, cy: float,

  pts = np.vstack((outer, cap_end, inner, cap_start, outer[:1])).astype(np.float32)

-  # Rotate to start from middle of cap for proper triangulation
-  pts = np.roll(pts, cap_segs, axis=0)
-
  if DEBUG:
    n = len(pts)
    idx = int(time.monotonic() * 12) % max(1, n)  # speed: 12 pts/sec
@@ -282,8 +282,7 @@ class BigDialogOptionButton(Widget):
    self._selected = False

    self._label = UnifiedLabel(option, font_size=70, text_color=rl.Color(255, 255, 255, int(255 * 0.58)),
-                               font_weight=FontWeight.DISPLAY_REGULAR, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE,
-                               scroll=True)
+                               font_weight=FontWeight.DISPLAY_REGULAR, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP)

  def set_selected(self, selected: bool):
    self._selected = selected
@@ -68,6 +68,7 @@ else:
 class CameraView(Widget):
  def __init__(self, name: str, stream_type: VisionStreamType):
    super().__init__()
+    # TODO: implement a receiver and connect thread
    self._name = name
    # Primary stream
    self.client = VisionIpcClient(name, stream_type, conflate=True)
@@ -336,12 +337,12 @@ class CameraView(Widget):
    self._initialize_textures()

  def _initialize_textures(self):
-    self._clear_textures()
-    if not TICI:
-      self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride),
-        int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE))
-      self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2),
-        int(self.client.height // 2), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA))
+      self._clear_textures()
+      if not TICI:
+        self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride),
+          int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE))
+        self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2),
+          int(self.client.height // 2), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA))

  def _clear_textures(self):
    if self.texture_y and self.texture_y.id:
@@ -35,20 +35,20 @@ class FontSizes:

@dataclass(frozen=True)
 class Colors:
-  WHITE = rl.WHITE
-  DISENGAGED = rl.Color(145, 155, 149, 255)
-  OVERRIDE = rl.Color(145, 155, 149, 255)  # Added
-  ENGAGED = rl.Color(128, 216, 166, 255)
-  DISENGAGED_BG = rl.Color(0, 0, 0, 153)
-  OVERRIDE_BG = rl.Color(145, 155, 149, 204)
-  ENGAGED_BG = rl.Color(128, 216, 166, 204)
-  GREY = rl.Color(166, 166, 166, 255)
-  DARK_GREY = rl.Color(114, 114, 114, 255)
-  BLACK_TRANSLUCENT = rl.Color(0, 0, 0, 166)
-  WHITE_TRANSLUCENT = rl.Color(255, 255, 255, 200)
-  BORDER_TRANSLUCENT = rl.Color(255, 255, 255, 75)
-  HEADER_GRADIENT_START = rl.Color(0, 0, 0, 114)
-  HEADER_GRADIENT_END = rl.BLANK
+  white: rl.Color = rl.WHITE
+  disengaged: rl.Color = rl.Color(145, 155, 149, 255)
+  override: rl.Color = rl.Color(145, 155, 149, 255)  # Added
+  engaged: rl.Color = rl.Color(128, 216, 166, 255)
+  disengaged_bg: rl.Color = rl.Color(0, 0, 0, 153)
+  override_bg: rl.Color = rl.Color(145, 155, 149, 204)
+  engaged_bg: rl.Color = rl.Color(128, 216, 166, 204)
+  grey: rl.Color = rl.Color(166, 166, 166, 255)
+  dark_grey: rl.Color = rl.Color(114, 114, 114, 255)
+  black_translucent: rl.Color = rl.Color(0, 0, 0, 166)
+  white_translucent: rl.Color = rl.Color(255, 255, 255, 200)
+  border_translucent: rl.Color = rl.Color(255, 255, 255, 75)
+  header_gradient_start: rl.Color = rl.Color(0, 0, 0, 114)
+  header_gradient_end: rl.Color = rl.BLANK


 UI_CONFIG = UIConfig()
@@ -108,8 +108,8 @@ class HudRenderer(Widget):
      int(rect.y),
      int(rect.width),
      UI_CONFIG.header_height,
-      COLORS.HEADER_GRADIENT_START,
-      COLORS.HEADER_GRADIENT_END,
+      COLORS.header_gradient_start,
+      COLORS.header_gradient_end,
    )

    if self.is_cruise_available:
@@ -131,19 +131,19 @@ class HudRenderer(Widget):
    y = rect.y + 45

    set_speed_rect = rl.Rectangle(x, y, set_speed_width, UI_CONFIG.set_speed_height)
-    rl.draw_rectangle_rounded(set_speed_rect, 0.35, 10, COLORS.BLACK_TRANSLUCENT)
-    rl.draw_rectangle_rounded_lines_ex(set_speed_rect, 0.35, 10, 6, COLORS.BORDER_TRANSLUCENT)
+    rl.draw_rectangle_rounded(set_speed_rect, 0.35, 10, COLORS.black_translucent)
+    rl.draw_rectangle_rounded_lines_ex(set_speed_rect, 0.35, 10, 6, COLORS.border_translucent)

-    max_color = COLORS.GREY
-    set_speed_color = COLORS.DARK_GREY
+    max_color = COLORS.grey
+    set_speed_color = COLORS.dark_grey
    if self.is_cruise_set:
-      set_speed_color = COLORS.WHITE
+      set_speed_color = COLORS.white
      if ui_state.status == UIStatus.ENGAGED:
-        max_color = COLORS.ENGAGED
+        max_color = COLORS.engaged
      elif ui_state.status == UIStatus.DISENGAGED:
-        max_color = COLORS.DISENGAGED
+        max_color = COLORS.disengaged
      elif ui_state.status == UIStatus.OVERRIDE:
-        max_color = COLORS.OVERRIDE
+        max_color = COLORS.override

    max_text = tr("MAX")
    max_text_width = measure_text_cached(self._font_semi_bold, max_text, FONT_SIZES.max_speed).x
@@ -172,9 +172,9 @@ class HudRenderer(Widget):
    speed_text = str(round(self.speed))
    speed_text_size = measure_text_cached(self._font_bold, speed_text, FONT_SIZES.current_speed)
    speed_pos = rl.Vector2(rect.x + rect.width / 2 - speed_text_size.x / 2, 180 - speed_text_size.y / 2)
-    rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.WHITE)
+    rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white)

    unit_text = tr("km/h") if ui_state.is_metric else tr("mph")
    unit_text_size = measure_text_cached(self._font_medium, unit_text, FONT_SIZES.speed_unit)
    unit_pos = rl.Vector2(rect.x + rect.width / 2 - unit_text_size.x / 2, 290 - unit_text_size.y / 2)
-    rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.WHITE_TRANSLUCENT)
+    rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.white_translucent)
@@ -1,106 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import datetime
-import os
-from pathlib import Path
-
-from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout
-from openpilot.system.hardware import PC
-from openpilot.system.hardware.hw import Paths
-from openpilot.system.ui.lib.application import gui_app
-from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.widgets import DialogResult
-from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
-from openpilot.system.ui.widgets.list_view import button_item
-
-from openpilot.system.ui.sunnypilot.widgets.html_render import HtmlModalSP
-from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
-
-PREBUILT_PATH = os.path.join(Paths.comma_home(), "prebuilt") if PC else "/data/openpilot/prebuilt"
-
-
-class DeveloperLayoutSP(DeveloperLayout):
-  def __init__(self):
-    super().__init__()
-    self.error_log_path = os.path.join(Paths.crash_log_root(), "error.log")
-    self._is_release_branch: bool = self._is_release or ui_state.params.get_bool("IsReleaseSpBranch")
-    self._is_development_branch: bool = ui_state.params.get_bool("IsTestedBranch") or ui_state.params.get_bool("IsDevelopmentBranch")
-    self._initialize_items()
-
-    for item in self.items:
-      self._scroller.add_widget(item)
-
-  def _initialize_items(self):
-    self.show_advanced_controls = toggle_item_sp(tr("Show Advanced Controls"),
-                                                 tr("Toggle visibility of advanced sunnypilot controls.<br>This only changes the visibility of the toggles; " +
-                                                    "it does not change the actual enabled/disabled state."), param="ShowAdvancedControls")
-
-    self.enable_github_runner_toggle = toggle_item_sp(tr("GitHub Runner Service"), tr("Enables or disables the GitHub runner service."),
-                                                      param="EnableGithubRunner")
-
-    self.enable_copyparty_toggle = toggle_item_sp(tr("copyparty Service"),
-                                                  tr("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 its IP address."), param="EnableCopyparty")
-
-    self.prebuilt_toggle = toggle_item_sp(tr("Quickboot Mode"), "", param="QuickBootToggle", callback=self._on_prebuilt_toggled)
-
-    self.error_log_btn = button_item(tr("Error Log"), tr("VIEW"), tr("View the error log for sunnypilot crashes."), callback=self._on_error_log_clicked)
-
-    self.items: list = [self.show_advanced_controls, self.enable_github_runner_toggle, self.enable_copyparty_toggle, self.prebuilt_toggle, self.error_log_btn,]
-
-  @staticmethod
-  def _on_prebuilt_toggled(state):
-    if state:
-      Path(PREBUILT_PATH).touch(exist_ok=True)
-    else:
-      os.remove(PREBUILT_PATH)
-    ui_state.params.put_bool("QuickBootToggle", state)
-
-  def _on_delete_confirm(self, result):
-    if result == DialogResult.CONFIRM:
-      if os.path.exists(self.error_log_path):
-        os.remove(self.error_log_path)
-
-  def _on_error_log_closed(self, result, log_exists):
-    if result == DialogResult.CONFIRM and log_exists:
-      dialog2 = ConfirmDialog(tr("Would you like to delete this log?"), tr("Yes"), tr("No"), rich=False)
-      gui_app.set_modal_overlay(dialog2, callback=self._on_delete_confirm)
-
-  def _on_error_log_clicked(self):
-    text = ""
-    if os.path.exists(self.error_log_path):
-      text = f"<b>{datetime.datetime.fromtimestamp(os.path.getmtime(self.error_log_path)).strftime('%d-%b-%Y %H:%M:%S').upper()}</b><br><br>"
-      try:
-        with open(self.error_log_path) as file:
-          text += file.read()
-      except Exception:
-        pass
-    dialog = HtmlModalSP(text=text, callback=lambda result: self._on_error_log_closed(result, os.path.exists(self.error_log_path)))
-    gui_app.set_modal_overlay(dialog)
-
-  def _update_state(self):
-    disable_updates = ui_state.params.get_bool("DisableUpdates")
-    show_advanced = ui_state.params.get_bool("ShowAdvancedControls")
-
-    if (prebuilt_file := os.path.exists(PREBUILT_PATH)) != ui_state.params.get_bool("QuickBootToggle"):
-      ui_state.params.put_bool("QuickBootToggle", prebuilt_file)
-      self.prebuilt_toggle.action_item.set_state(prebuilt_file)
-
-    self.prebuilt_toggle.set_visible(show_advanced and not (self._is_release_branch or self._is_development_branch))
-    self.prebuilt_toggle.action_item.set_enabled(disable_updates)
-
-    if disable_updates:
-      self.prebuilt_toggle.set_description(tr("When toggled on, this creates a prebuilt file to allow accelerated boot times. When toggled off, it " +
-                                              "removes the prebuilt file so compilation of locally edited cpp files can be made."))
-    else:
-      self.prebuilt_toggle.set_description(tr("Quickboot mode requires updates to be disabled.<br>Enable 'Disable Updates' in the Software panel first."))
-
-    self.enable_copyparty_toggle.set_visible(show_advanced)
-    self.enable_github_runner_toggle.set_visible(show_advanced and not self._is_release_branch)
-    self.error_log_btn.set_visible(not self._is_release_branch)
@@ -21,8 +21,7 @@ from openpilot.system.ui.widgets.toggle import ON_COLOR

 from openpilot.sunnypilot.models.runners.constants import CUSTOM_MODEL_PATH
 from openpilot.system.ui.sunnypilot.lib.styles import style
-from openpilot.system.ui.sunnypilot.lib.utils import NoElideButtonAction
-from openpilot.system.ui.sunnypilot.widgets.list_view import ListItemSP, toggle_item_sp, option_item_sp
+from openpilot.system.ui.sunnypilot.widgets.list_view import ButtonActionSP, ListItemSP, toggle_item_sp, option_item_sp
 from openpilot.system.ui.sunnypilot.widgets.progress_bar import progress_item
 from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeOptionDialog, TreeNode, TreeFolder

@@ -30,6 +29,11 @@ if gui_app.sunnypilot_ui():
  from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp as button_item


+class ModelAction(ButtonActionSP):
+  def get_width_hint(self):
+    return super().get_width_hint() + 1
+
+
 class ModelsLayout(Widget):
  def __init__(self):
    super().__init__()
@@ -51,7 +55,7 @@ class ModelsLayout(Widget):
    self.current_model_item = ListItemSP(
      title=tr("Current Model"),
      description="",
-      action_item=NoElideButtonAction(tr("SELECT")),
+      action_item=ModelAction(tr("SELECT")),
      callback=self._handle_current_model_clicked
    )

@@ -66,7 +70,7 @@ class ModelsLayout(Widget):
    self.clear_cache_item = ListItemSP(
      title=tr("Clear Model Cache"),
      description="",
-      action_item=NoElideButtonAction(tr("CLEAR")),
+      action_item=ModelAction(tr("CLEAR")),
      callback=self._clear_cache
    )

@@ -4,229 +4,27 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-import datetime
-import os
-import platform
-import requests
-import shutil
-import threading
-from pathlib import Path
-from time import monotonic
-
 from openpilot.common.params import Params
-from openpilot.selfdrive.ui.ui_state import device, ui_state
-from openpilot.selfdrive.ui.layouts.settings.software import time_ago
-from openpilot.system.hardware.hw import Paths
-from openpilot.system.ui.lib.application import gui_app
-from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.widgets import DialogResult, Widget
-from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
-from openpilot.system.ui.widgets.list_view import text_item
 from openpilot.system.ui.widgets.scroller_tici import Scroller
-
-from openpilot.system.ui.sunnypilot.lib.utils import NoElideButtonAction
-from openpilot.system.ui.sunnypilot.widgets.list_view import ListItemSP
-from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeFolder, TreeNode, TreeOptionDialog
-from openpilot.system.ui.sunnypilot.widgets.progress_bar import progress_item
-
-MAP_PATH = Path(Paths.mapd_root()) / "offline"
+from openpilot.system.ui.widgets import Widget


 class OSMLayout(Widget):
  def __init__(self):
    super().__init__()
-    self._current_percent = 0
-    self._last_map_size_update = 0
-    self._mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else ui_state.params
-    self._initialize_items()
-    self._update_map_size()
-    self._progress.set_visible(False)
-    self._state_btn.set_visible(False)
-    self._mapd_version.action_item.set_text(ui_state.params.get("MapdVersion") or "Loading...")
-    self._scroller = Scroller(self.items, line_separator=True, spacing=0)
+
+    self._params = Params()
+    items = self._initialize_items()
+    self._scroller = Scroller(items, line_separator=True, spacing=0)

  def _initialize_items(self):
-    self._mapd_version = text_item(tr("Mapd Version"), lambda: ui_state.params.get("MapdVersion") or "Loading...")
-    self._delete_maps_btn = ListItemSP(tr("Downloaded Maps"), action_item=NoElideButtonAction(tr("DELETE"), enabled=True), callback=self._delete_maps)
-    self._progress = progress_item(tr("Downloading Map"))
-    self._update_btn = ListItemSP(tr("Database Update"), action_item=NoElideButtonAction(tr("CHECK"), enabled=True), callback=self._update_db)
-    self._country_btn = ListItemSP(tr("Country"), action_item=NoElideButtonAction(tr("SELECT"), enabled=True), callback=lambda: self._select_region("Country"))
-    self._state_btn = ListItemSP(tr("State"), action_item=NoElideButtonAction(tr("SELECT"), enabled=True), callback=lambda: self._select_region("State"))
+    items = [

-    self.items = [self._mapd_version, self._delete_maps_btn, self._progress, self._update_btn, self._country_btn, self._state_btn]
-
-  def _show_confirm(self, msg, confirm_text, func):
-    gui_app.set_modal_overlay(ConfirmDialog(msg, confirm_text), lambda res: func() if res == DialogResult.CONFIRM else None)
-
-  def calculate_size(self):
-    total_size = 0
-    directories_to_scan = [MAP_PATH] if MAP_PATH.exists() else []
-    while directories_to_scan:
-      try:
-        for entry in os.scandir(directories_to_scan.pop()):
-          if entry.is_file():
-            total_size += entry.stat().st_size
-          elif entry.is_dir():
-            directories_to_scan.append(entry.path)
-      except OSError:
-        pass
-    self._delete_maps_btn.action_item.set_value(f"{total_size / 1024 ** 2:.2f} MB" if total_size < 1024 ** 3 else f"{total_size / 1024 ** 3:.2f} GB")
-
-  def _update_map_size(self):
-    threading.Thread(target=self.calculate_size, daemon=True).start()
-
-  def _do_delete_maps(self):
-    if MAP_PATH.exists():
-      shutil.rmtree(MAP_PATH)
-
-    for param in ("OsmDownloadedDate", "OsmLocal", "OsmLocationName", "OsmLocationTitle", "OsmStateName", "OsmStateTitle"):
-      ui_state.params.remove(param)
-
-    self._delete_maps_btn.action_item.set_enabled(True)
-    self._delete_maps_btn.action_item.set_text(tr("DELETE"))
-    self._update_map_size()
-
-  def _on_confirm_delete_maps(self):
-    self._delete_maps_btn.action_item.set_enabled(False)
-    self._delete_maps_btn.action_item.set_text("DELETING...")
-    threading.Thread(target=self._do_delete_maps).start()
-
-  def _delete_maps(self):
-    self._show_confirm(tr("This will delete ALL downloaded maps\n\nAre you sure you want to delete all maps?"),
-                       tr("Yes, delete all maps"), self._on_confirm_delete_maps)
-
-  def _update_db(self):
-    self._show_confirm(tr("This will start the download process and it might take a while to complete."), tr("Start Download"),
-                       lambda: ui_state.params.put_bool("OsmDbUpdatesCheck", True))
-
-  def _select_region(self, region_type):
-    is_country = region_type == "Country"
-    btn = self._country_btn if is_country else self._state_btn
-    btn.action_item.set_enabled(False)
-    btn.action_item.set_text(tr("FETCHING..."))
-    threading.Thread(target=self._do_select_region, args=(region_type, btn)).start()
-
-  def _handle_region_selection(self, region_type, locations, key, res, ref):
-    if res != DialogResult.CONFIRM or not ref:
-      if region_type == "State" and res == DialogResult.CANCEL:
-        if ui_state.params.get("OsmLocationName") == "US" and not ui_state.params.get("OsmStateName"):
-          ui_state.params.remove("OsmLocationName")
-          ui_state.params.remove("OsmLocationTitle")
-          ui_state.params.remove("OsmLocal")
-          self._update_labels()
-      return
-
-    if region_type == "Country":
-      ui_state.params.put_bool("OsmLocal", True)
-      ui_state.params.remove("OsmStateName")
-      ui_state.params.remove("OsmStateTitle")
-
-    ui_state.params.put(f"{key}Name", ref)
-    name = next((n.data['display_name'] for n in locations if n.ref == ref), ref)
-    ui_state.params.put(f"{key}Title", name)
-
-    if ref == "US" and region_type == "Country":
-      self._select_region("State")
-    else:
-      self._update_db()
-
-  def _do_select_region(self, region_type, btn):
-    base_url = "https://raw.githubusercontent.com/pfeiferj/openpilot-mapd/main/"
-    url = base_url + ("nation_bounding_boxes.json" if region_type == "Country" else "us_states_bounding_boxes.json")
-    try:
-      data = requests.get(url, timeout=10).json()
-      locations = sorted([TreeNode(ref=k, data={'display_name': v['full_name']}) for k, v in data.items()], key=lambda n: n.data['display_name'])
-    except Exception:
-      locations = []
-
-    if region_type == "State":
-      locations.insert(0, TreeNode(ref="All", data={'display_name': tr("All states (~6.0 GB)")}))
-
-    btn.action_item.set_enabled(True)
-    btn.action_item.set_text(tr("SELECT"))
-
-    key = "OsmLocation" if region_type == "Country" else "OsmState"
-    current = ui_state.params.get(f"{key}Name") or ""
-
-    dialog = TreeOptionDialog(tr(f"Select {region_type}"), [TreeFolder(folder="", nodes=locations)], current_ref=current, search_prompt="Perform a search")
-    dialog.on_exit = lambda res: self._handle_region_selection(region_type, locations, key, res, dialog.selection_ref)
-    gui_app.set_modal_overlay(dialog, callback=lambda res: self._handle_region_selection(region_type, locations, key, res, dialog.selection_ref))
-
-  def _update_labels(self):
-    downloading = bool(self._mem_params.get("OSMDownloadLocations"))
-    self._country_btn.set_enabled(not downloading)
-    self._state_btn.set_enabled(not downloading)
-    self._state_btn.set_visible(ui_state.params.get("OsmLocationName") == "US")
-    self._update_btn.set_visible(bool(ui_state.params.get("OsmLocationName")))
-
-    self._country_btn.action_item.set_value(ui_state.params.get("OsmLocationTitle") or "")
-    self._state_btn.action_item.set_value(ui_state.params.get("OsmStateTitle") or "")
-
-    pending = ui_state.params.get_bool("OsmDbUpdatesCheck")
-    if downloading or pending:
-      if downloading:
-        device.reset_interactive_timeout()
-        self._update_map_size()
-      self._progress.set_visible(True)
-      progress = ui_state.params.get("OSMDownloadProgress")
-      total = progress.get('total_files', 0) if progress else 0
-      done = progress.get('downloaded_files', 0) if progress else 0
-      failed = total > 0 and not downloading and done < total
-
-      if total > 0:
-        progress_perc = max(0.0, min(100.0, (done / total) * 100.0))
-      else:
-        progress_perc = 0.0
-
-      if failed:
-        text = "0% - Downloading Maps"
-        btn_text = tr("Error: Invalid download. Retry.")
-        self._current_percent = 0.0
-      elif total > 0 and downloading:
-        self._current_percent = progress_perc
-        perc_int = int(progress_perc)
-        text = f"{perc_int}% - Downloading Maps"
-        btn_text = f"{done}/{total} ({perc_int}%)"
-      else:
-        self._current_percent = 0.0
-        text = "0% - Downloading Maps"
-        btn_text = tr("Downloading Maps...")
-
-      self._progress.action_item.update(self._current_percent, text, show_progress=total > 0 and downloading and not failed)
-      self._update_btn.action_item.set_enabled(not downloading)  # TODO-SP: introduce CANCEL database download with mapd
-      self._update_btn.action_item.set_value(btn_text)
-      self._country_btn.action_item.set_enabled(not downloading)
-      self._state_btn.action_item.set_enabled(not downloading)
-      self._delete_maps_btn.action_item.set_enabled(not downloading)
-    else:
-      self._progress.set_visible(False)
-      self._update_btn.action_item.set_enabled(True)
-      self._country_btn.action_item.set_enabled(True)
-      self._state_btn.action_item.set_enabled(True)
-      self._delete_maps_btn.action_item.set_enabled(True)
-
-      ts = ui_state.params.get("OsmDownloadedDate")
-      dt: datetime.datetime | None = None
-
-      if ts:
-        try:
-          ts_f = float(ts)
-          if ts_f > 0:
-            dt = datetime.datetime.fromtimestamp(ts_f, tz=datetime.UTC)
-        except (ValueError, TypeError):
-          dt = None
-
-      formatted = time_ago(dt)
-      self._update_btn.action_item.set_value(tr("Last checked {}").format(formatted))
-
-  def show_event(self):
-    self._scroller.show_event()
-
-  def _update_state(self):
-    now = monotonic()
-    if now - self._last_map_size_update >= 1.0:
-      self._last_map_size_update = now
-      self._update_labels()
+    ]
+    return items

  def _render(self, rect):
    self._scroller.render(rect)
+
+  def show_event(self):
+    self._scroller.show_event()
@@ -9,6 +9,7 @@ from enum import IntEnum

 import pyray as rl
 from openpilot.selfdrive.ui.layouts.settings import settings as OP
+from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.device import DeviceLayoutSP
 from openpilot.selfdrive.ui.layouts.settings.firehose import FirehoseLayout
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.software import SoftwareLayoutSP
@@ -30,7 +31,6 @@ from openpilot.selfdrive.ui.sunnypilot.layouts.settings.steering import Steering
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.cruise import CruiseLayout
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.visuals import VisualsLayout
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.display import DisplayLayout
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.developer import DeveloperLayoutSP

 # from openpilot.selfdrive.ui.sunnypilot.layouts.settings.navigation import NavigationLayout

@@ -125,7 +125,7 @@ class SettingsLayoutSP(OP.SettingsLayout):
      OP.PanelType.TRIPS: PanelInfo(tr_noop("Trips"), TripsLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_trips.png"),
      OP.PanelType.VEHICLE: PanelInfo(tr_noop("Vehicle"), VehicleLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_vehicle.png"),
      OP.PanelType.FIREHOSE: PanelInfo(tr_noop("Firehose"), FirehoseLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_firehose.png"),
-      OP.PanelType.DEVELOPER: PanelInfo(tr_noop("Developer"), DeveloperLayoutSP(), icon="icons/shell.png"),
+      OP.PanelType.DEVELOPER: PanelInfo(tr_noop("Developer"), DeveloperLayout(), icon="icons/shell.png"),
    }

  def _draw_sidebar(self, rect: rl.Rectangle):
@@ -0,0 +1,87 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.h"
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+AngleTunningSettings::AngleTunningSettings(QWidget *parent) : QWidget(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(50, 20, 50, 20);
+  main_layout->setSpacing(20);
+
+  // Back button
+  PanelBackButton *back = new PanelBackButton();
+  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
+  main_layout->addWidget(back, 0, Qt::AlignLeft);
+
+  auto *list = new ListWidgetSP(this, false);
+
+  main_layout->addWidget(new QWidget());
+
+  enableHkgAngleSmoothingFactor = new ExpandableToggleRow("EnableHkgTuningAngleSmoothingFactor", tr("HKG Angle Smoothing Factor"), tr("Applies EMA (Exponential Moving Average) to the desired angle steering and avoid overcorrections."), "../assets/offroad/icon_blank.png");
+  list->addItem(enableHkgAngleSmoothingFactor);
+
+  auto first_row = new QHBoxLayout();
+  hkgTuningOverridingCycles = new OptionControlSP("HkgTuningOverridingCycles", tr("Override Ramp-Down Cycles"), tr("Number of cycles to ramp down the current amount of torque on the steering wheel.<br/>A smaller value means a faster override by the user (less effort)"), "../assets/offroad/icon_blank.png", {10, 30}, 1);
+  connect(hkgTuningOverridingCycles, &OptionControlSP::updateLabels, hkgTuningOverridingCycles, [=]() {
+    this->updateToggles(offroad);
+  });
+  first_row->addWidget(hkgTuningOverridingCycles);
+
+  hkgAngleMinTorque = new OptionControlSP("HkgTuningAngleMinTorqueReductionGain", tr("Override Steering Effort"), tr("Sets the steering effort percentage used when the driver is overriding lateral control.<br/>Higher values increase resistance and make the wheel feel stiffer."), "../assets/offroad/icon_blank.png", {5, 60}, 1);
+  connect(hkgAngleMinTorque, &OptionControlSP::updateLabels, hkgAngleMinTorque, [=]() {
+    this->updateToggles(offroad);
+  });
+  first_row->addWidget(hkgAngleMinTorque);
+  list->addItem(first_row);
+
+  auto second_row = new QHBoxLayout();
+  hkgAngleActiveTorque = new OptionControlSP("HkgTuningAngleActiveTorqueReductionGain", tr("Min Active Torque"), tr("Torque applied when lateral control is active but the vehicle is not turning.<br/>Used to maintain lane centering on straight paths when no user input is detected."), "../assets/offroad/icon_blank.png", {10, 100}, 1);
+  connect(hkgAngleActiveTorque, &OptionControlSP::updateLabels, hkgAngleActiveTorque, [=]() {
+    this->updateToggles(offroad);
+  });
+  second_row->addWidget(hkgAngleActiveTorque);
+
+  hkgAngleMaxTorque = new OptionControlSP("HkgTuningAngleMaxTorqueReductionGain", tr("Max Torque Allowance"), tr("Sets the maximum torque reduction percentage the controller can apply during normal lateral control.<br/>"), "../assets/offroad/icon_blank.png", {10, 100}, 1);
+  connect(hkgAngleMaxTorque, &OptionControlSP::updateLabels, hkgAngleMaxTorque, [=]() {
+    this->updateToggles(offroad);
+  });
+  second_row->addWidget(hkgAngleMaxTorque);
+  list->addItem(second_row);
+  
+  QObject::connect(uiState(), &UIState::offroadTransition, this, &AngleTunningSettings::updateToggles);
+
+  main_layout->addWidget(new ScrollViewSP(list, this));
+
+  auto *warning = new QLabel(tr("Reboot required for settings to apply; Tap on each setting to see more details."));
+  warning->setStyleSheet("font-size: 30px; font-weight: 500; font-family: 'Noto Color Emoji'; color: orange;");
+  main_layout->addWidget(warning, 0, Qt::AlignCenter);
+}
+
+void AngleTunningSettings::showEvent(QShowEvent *event) {
+  updateToggles(offroad);
+}
+
+void AngleTunningSettings::updateToggles(bool _offroad) {
+  auto HkgAngleSmoothingFactorValue = params.getBool("EnableHkgTuningAngleSmoothingFactor");
+  enableHkgAngleSmoothingFactor->toggleFlipped(HkgAngleSmoothingFactorValue);
+
+  auto HkgAngleMinTorqueValue = QString::fromStdString(params.get("HkgTuningAngleMinTorqueReductionGain")).toInt();
+  hkgAngleMinTorque->setLabel(QString::number(HkgAngleMinTorqueValue)+"%");
+
+  auto HkgAngleActiveTorqueValue = QString::fromStdString(params.get("HkgTuningAngleActiveTorqueReductionGain")).toInt();
+  hkgAngleActiveTorque->setLabel(QString::number(HkgAngleActiveTorqueValue)+"%");
+
+  auto HkgAngleMaxTorqueValue = QString::fromStdString(params.get("HkgTuningAngleMaxTorqueReductionGain")).toInt();
+  hkgAngleMaxTorque->setLabel(QString::number(HkgAngleMaxTorqueValue)+"%");
+
+  auto HkgTuningOverridingCyclesValue = QString::fromStdString(params.get("HkgTuningOverridingCycles")).toInt();
+  hkgTuningOverridingCycles->setLabel(QString::number(HkgTuningOverridingCyclesValue));
+
+  offroad = _offroad;
+}
@@ -0,0 +1,39 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h"
+
+class AngleTunningSettings : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit AngleTunningSettings(QWidget *parent = nullptr);
+
+  void showEvent(QShowEvent *event) override;
+
+signals:
+  void backPress();
+
+public slots:
+  void updateToggles(bool _offroad);
+
+private:
+  Params params;
+  bool offroad;
+
+  ExpandableToggleRow* enableHkgAngleSmoothingFactor;
+  OptionControlSP* hkgAngleMinTorque;
+  OptionControlSP* hkgAngleActiveTorque;
+  OptionControlSP* hkgAngleMaxTorque;
+  OptionControlSP* hkgTuningOverridingCycles;
+};
@@ -2,8 +2,3 @@ test
 test_translations
 test_ui/report_1
 test_ui/raylib_report
-
-diff/*.mp4
-diff/*.html
-diff/.coverage
-diff/htmlcov/
@@ -1,201 +0,0 @@
-#!/usr/bin/env python3
-import os
-import sys
-import subprocess
-import tempfile
-import base64
-import webbrowser
-import argparse
-from pathlib import Path
-from openpilot.common.basedir import BASEDIR
-
-DIFF_OUT_DIR = Path(BASEDIR) / "selfdrive" / "ui" / "tests" / "diff" / "report"
-
-
-def extract_frames(video_path, output_dir):
-  output_pattern = str(output_dir / "frame_%04d.png")
-  cmd = ['ffmpeg', '-i', video_path, '-vsync', '0', output_pattern, '-y']
-  subprocess.run(cmd, capture_output=True, check=True)
-  frames = sorted(output_dir.glob("frame_*.png"))
-  return frames
-
-
-def compare_frames(frame1_path, frame2_path):
-  result = subprocess.run(['cmp', '-s', frame1_path, frame2_path])
-  return result.returncode == 0
-
-
-def frame_to_data_url(frame_path):
-  with open(frame_path, 'rb') as f:
-    data = f.read()
-  return f"data:image/png;base64,{base64.b64encode(data).decode()}"
-
-
-def create_diff_video(video1, video2, output_path):
-  """Create a diff video using ffmpeg blend filter with difference mode."""
-  print("Creating diff video...")
-  cmd = ['ffmpeg', '-i', video1, '-i', video2, '-filter_complex', '[0:v]blend=all_mode=difference', '-vsync', '0', '-y', output_path]
-  subprocess.run(cmd, capture_output=True, check=True)
-
-
-def find_differences(video1, video2):
-  with tempfile.TemporaryDirectory() as tmpdir:
-    tmpdir = Path(tmpdir)
-
-    print(f"Extracting frames from {video1}...")
-    frames1_dir = tmpdir / "frames1"
-    frames1_dir.mkdir()
-    frames1 = extract_frames(video1, frames1_dir)
-
-    print(f"Extracting frames from {video2}...")
-    frames2_dir = tmpdir / "frames2"
-    frames2_dir.mkdir()
-    frames2 = extract_frames(video2, frames2_dir)
-
-    if len(frames1) != len(frames2):
-      print(f"WARNING: Frame count mismatch: {len(frames1)} vs {len(frames2)}")
-      min_frames = min(len(frames1), len(frames2))
-      frames1 = frames1[:min_frames]
-      frames2 = frames2[:min_frames]
-
-    print(f"Comparing {len(frames1)} frames...")
-    different_frames = []
-    frame_data = []
-
-    for i, (f1, f2) in enumerate(zip(frames1, frames2, strict=False)):
-      is_different = not compare_frames(f1, f2)
-      if is_different:
-        different_frames.append(i)
-
-      if i < 10 or i >= len(frames1) - 10 or is_different:
-        frame_data.append({'index': i, 'different': is_different, 'frame1_url': frame_to_data_url(f1), 'frame2_url': frame_to_data_url(f2)})
-
-    return different_frames, frame_data, len(frames1)
-
-
-def generate_html_report(video1, video2, basedir, different_frames, frame_data, total_frames):
-  chunks = []
-  if different_frames:
-    current_chunk = [different_frames[0]]
-    for i in range(1, len(different_frames)):
-      if different_frames[i] == different_frames[i - 1] + 1:
-        current_chunk.append(different_frames[i])
-      else:
-        chunks.append(current_chunk)
-        current_chunk = [different_frames[i]]
-    chunks.append(current_chunk)
-
-  result_text = (
-    f"✅ Videos are identical! ({total_frames} frames)"
-    if len(different_frames) == 0
-    else f"❌ Found {len(different_frames)} different frames out of {total_frames} total ({(len(different_frames) / total_frames * 100):.1f}%)"
-  )
-
-  html = f"""<h2>UI Diff</h2>
-<table>
-<tr>
-<td width='33%'>
-  <p><strong>Video 1</strong></p>
-  <video id='video1' width='100%' autoplay muted loop onplay='syncVideos()'>
-    <source src='{os.path.join(basedir, os.path.basename(video1))}' type='video/mp4'>
-    Your browser does not support the video tag.
-  </video>
-</td>
-<td width='33%'>
-  <p><strong>Video 2</strong></p>
-  <video id='video2' width='100%' autoplay muted loop onplay='syncVideos()'>
-    <source src='{os.path.join(basedir, os.path.basename(video2))}' type='video/mp4'>
-    Your browser does not support the video tag.
-  </video>
-</td>
-<td width='33%'>
-  <p><strong>Pixel Diff</strong></p>
-  <video id='diffVideo' width='100%' autoplay muted loop>
-    <source src='{os.path.join(basedir, 'diff.mp4')}' type='video/mp4'>
-    Your browser does not support the video tag.
-  </video>
-</td>
-</tr>
-</table>
-<script>
-function syncVideos() {{
-  const video1 = document.getElementById('video1');
-  const video2 = document.getElementById('video2');
-  const diffVideo = document.getElementById('diffVideo');
-  video1.currentTime = video2.currentTime = diffVideo.currentTime;
-}}
-video1.addEventListener('timeupdate', () => {{
-  if (Math.abs(video1.currentTime - video2.currentTime) > 0.1) {{
-    video2.currentTime = video1.currentTime;
-  }}
-  if (Math.abs(video1.currentTime - diffVideo.currentTime) > 0.1) {{
-    diffVideo.currentTime = video1.currentTime;
-  }}
-}});
-video2.addEventListener('timeupdate', () => {{
-  if (Math.abs(video2.currentTime - video1.currentTime) > 0.1) {{
-    video1.currentTime = video2.currentTime;
-  }}
-  if (Math.abs(video2.currentTime - diffVideo.currentTime) > 0.1) {{
-    diffVideo.currentTime = video2.currentTime;
-  }}
-}});
-diffVideo.addEventListener('timeupdate', () => {{
-  if (Math.abs(diffVideo.currentTime - video1.currentTime) > 0.1) {{
-    video1.currentTime = diffVideo.currentTime;
-    video2.currentTime = diffVideo.currentTime;
-  }}
-}});
-</script>
-<hr>
-<p><strong>Results:</strong> {result_text}</p>
-"""
-  return html
-
-
-def main():
-  parser = argparse.ArgumentParser(description='Compare two videos and generate HTML diff report')
-  parser.add_argument('video1', help='First video file')
-  parser.add_argument('video2', help='Second video file')
-  parser.add_argument('output', nargs='?', default='diff.html', help='Output HTML file (default: diff.html)')
-  parser.add_argument("--basedir", type=str, help="Base directory for output", default="")
-  parser.add_argument('--no-open', action='store_true', help='Do not open HTML report in browser')
-
-  args = parser.parse_args()
-
-  os.makedirs(DIFF_OUT_DIR, exist_ok=True)
-
-  print("=" * 60)
-  print("VIDEO DIFF - HTML REPORT")
-  print("=" * 60)
-  print(f"Video 1: {args.video1}")
-  print(f"Video 2: {args.video2}")
-  print(f"Output: {args.output}")
-  print()
-
-  # Create diff video
-  diff_video_path = os.path.join(os.path.dirname(args.output), DIFF_OUT_DIR / "diff.mp4")
-  create_diff_video(args.video1, args.video2, diff_video_path)
-
-  different_frames, frame_data, total_frames = find_differences(args.video1, args.video2)
-
-  if different_frames is None:
-    sys.exit(1)
-
-  print()
-  print("Generating HTML report...")
-  html = generate_html_report(args.video1, args.video2, args.basedir, different_frames, frame_data, total_frames)
-
-  with open(DIFF_OUT_DIR / args.output, 'w') as f:
-    f.write(html)
-
-  # Open in browser by default
-  if not args.no_open:
-    print(f"Opening {args.output} in browser...")
-    webbrowser.open(f'file://{os.path.abspath(DIFF_OUT_DIR / args.output)}')
-
-  return 0 if len(different_frames) == 0 else 1
-
-
-if __name__ == "__main__":
-  sys.exit(main())
@@ -1,128 +0,0 @@
-#!/usr/bin/env python3
-import os
-import time
-import coverage
-import pyray as rl
-from dataclasses import dataclass
-from openpilot.selfdrive.ui.tests.diff.diff import DIFF_OUT_DIR
-
-os.environ["RECORD"] = "1"
-if "RECORD_OUTPUT" not in os.environ:
-  os.environ["RECORD_OUTPUT"] = "mici_ui_replay.mp4"
-
-os.environ["RECORD_OUTPUT"] = os.path.join(DIFF_OUT_DIR, os.environ["RECORD_OUTPUT"])
-
-from openpilot.common.params import Params
-from openpilot.system.version import terms_version, training_version
-from openpilot.system.ui.lib.application import gui_app, MousePos, MouseEvent
-from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
-
-FPS = 60
-HEADLESS = os.getenv("WINDOWED", "0") == "1"
-
-
-@dataclass
-class DummyEvent:
-  click: bool = False
-  # TODO: add some kind of intensity
-  swipe_left: bool = False
-  swipe_right: bool = False
-  swipe_down: bool = False
-
-
-SCRIPT = [
-  (0, DummyEvent()),
-  (FPS * 1, DummyEvent(click=True)),
-  (FPS * 2, DummyEvent(click=True)),
-  (FPS * 3, DummyEvent()),
-]
-
-
-def setup_state():
-  params = Params()
-  params.put("HasAcceptedTerms", terms_version)
-  params.put("CompletedTrainingVersion", training_version)
-  params.put("DongleId", "test123456789")
-  params.put("UpdaterCurrentDescription", "0.10.1 / test-branch / abc1234 / Nov 30")
-  return None
-
-
-def inject_click(coords):
-  events = []
-  x, y = coords[0]
-  events.append(MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=True, left_released=False, left_down=False, t=time.monotonic()))
-  for x, y in coords[1:]:
-    events.append(MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=False, left_released=False, left_down=True, t=time.monotonic()))
-  x, y = coords[-1]
-  events.append(MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=False, left_released=True, left_down=False, t=time.monotonic()))
-
-  with gui_app._mouse._lock:
-    gui_app._mouse._events.extend(events)
-
-
-def handle_event(event: DummyEvent):
-  if event.click:
-    inject_click([(gui_app.width // 2, gui_app.height // 2)])
-  if event.swipe_left:
-    inject_click([(gui_app.width * 3 // 4, gui_app.height // 2),
-                  (gui_app.width // 4, gui_app.height // 2),
-                  (0, gui_app.height // 2)])
-  if event.swipe_right:
-    inject_click([(gui_app.width // 4, gui_app.height // 2),
-                  (gui_app.width * 3 // 4, gui_app.height // 2),
-                  (gui_app.width, gui_app.height // 2)])
-  if event.swipe_down:
-    inject_click([(gui_app.width // 2, gui_app.height // 4),
-                  (gui_app.width // 2, gui_app.height * 3 // 4),
-                  (gui_app.width // 2, gui_app.height)])
-
-
-def run_replay():
-  setup_state()
-  os.makedirs(DIFF_OUT_DIR, exist_ok=True)
-
-  if not HEADLESS:
-    rl.set_config_flags(rl.FLAG_WINDOW_HIDDEN)
-  gui_app.init_window("ui diff test", fps=FPS)
-  main_layout = MiciMainLayout()
-  main_layout.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
-
-  frame = 0
-  script_index = 0
-
-  for should_render in gui_app.render():
-    while script_index < len(SCRIPT) and SCRIPT[script_index][0] == frame:
-      _, event = SCRIPT[script_index]
-      handle_event(event)
-      script_index += 1
-
-    ui_state.update()
-
-    if should_render:
-      main_layout.render()
-
-    frame += 1
-
-    if script_index >= len(SCRIPT):
-      break
-
-  gui_app.close()
-
-  print(f"Total frames: {frame}")
-  print(f"Video saved to: {os.environ['RECORD_OUTPUT']}")
-
-
-def main():
-  cov = coverage.coverage(source=['openpilot.selfdrive.ui.mici'])
-  with cov.collect():
-    run_replay()
-  cov.stop()
-  cov.save()
-  cov.report()
-  cov.html_report(directory=os.path.join(DIFF_OUT_DIR, 'htmlcov'))
-  print("HTML report: htmlcov/index.html")
-
-
-if __name__ == "__main__":
-  main()
@@ -88,9 +88,9 @@ if __name__ == "__main__":
  print("Running...")
  patch_submaster(message_chunks)

-  W, H = 2048, 1216
+  W, H = 1928, 1208
  vipc = VisionIpcServer("camerad")
-  vipc.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 5, W, H)
+  vipc.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 5, 1928, 1208)
  vipc.start_listener()
  yuv_buffer_size = W * H + (W // 2) * (H // 2) * 2
  yuv_data = np.random.randint(0, 256, yuv_buffer_size, dtype=np.uint8).tobytes()
@@ -68,10 +68,10 @@ msgid ""
 "control alpha. Changing this setting will restart openpilot if the car is "
 "powered on."
 msgstr ""
-"<b>경고: 이 차량에서 openpilot의 롱컨 제어는 알파 버전이며 자동 긴급 제동"
-"(AEB)을 비활성화합니다.</b><br><br>이 차량에서는 openpilot 롱컨 제어 대신 "
-"차량 내장 ACC가 기본으로 사용됩니다. openpilot 롱컨 제어로 전환하려면 이 설"
-"정을 켜세요. 롱컨 제어 알파를 켤 때는 실험 모드 사용을 권장합니다. 차량 전"
+"<b>경고: 이 차량에서 openpilot의 종방향 제어는 알파 버전이며 자동 긴급 제동"
+"(AEB)을 비활성화합니다.</b><br><br>이 차량에서는 openpilot 종방향 제어 대신 "
+"차량 내장 ACC가 기본으로 사용됩니다. openpilot 종방향 제어로 전환하려면 이 설"
+"정을 켜세요. 종방향 제어 알파를 켤 때는 실험 모드 사용을 권장합니다. 차량 전"
 "원이 켜져 있는 경우 이 설정을 변경하면 openpilot이 재시작됩니다."

 #: selfdrive/ui/layouts/settings/device.py:148
@@ -130,7 +130,7 @@ msgstr "동의"
 #: selfdrive/ui/layouts/settings/toggles.py:70
 #, python-format
 msgid "Always-On Driver Monitoring"
-msgstr "운전자 모니터링 항상 켜짐"
+msgstr "항상 켜짐 운전자 모니터링"

 #: selfdrive/ui/layouts/settings/toggles.py:186
 #, python-format
@@ -138,7 +138,7 @@ msgid ""
 "An alpha version of openpilot longitudinal control can be tested, along with "
 "Experimental mode, on non-release branches."
 msgstr ""
-"openpilot 롱컨 제어 알파 버전은 실험 모드와 함께 비릴리스 브랜치에서 테스트"
+"openpilot 종방향 제어 알파 버전은 실험 모드와 함께 비릴리스 브랜치에서 테스트"
 "할 수 있습니다."

 #: selfdrive/ui/layouts/settings/device.py:187
@@ -192,7 +192,7 @@ msgstr "확인"
 #: selfdrive/ui/widgets/exp_mode_button.py:50
 #, python-format
 msgid "CHILL MODE ON"
-msgstr "안정적 모드 켜짐"
+msgstr "칠 모드 켜짐"

 #: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73
 #: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136
@@ -283,7 +283,7 @@ msgstr "해제 후 재시작"
 #: selfdrive/ui/layouts/settings/device.py:103
 #, python-format
 msgid "Disengage to Reset Calibration"
-msgstr "해제 후 캘리브레이션 재설정"
+msgstr "해제 후 보정 재설정"

 #: selfdrive/ui/layouts/settings/toggles.py:32
 msgid "Display speed in km/h instead of mph."
@@ -372,7 +372,7 @@ msgstr "openpilot 사용"
 msgid ""
 "Enable the openpilot longitudinal control (alpha) toggle to allow "
 "Experimental mode."
-msgstr "실험 모드를 사용하려면 openpilot 롱컨 제어(알파) 토글을 켜세요."
+msgstr "실험 모드를 사용하려면 openpilot 종방향 제어(알파) 토글을 켜세요."

 #: system/ui/widgets/network.py:204
 #, python-format
@@ -415,7 +415,7 @@ msgid ""
 "Experimental mode is currently unavailable on this car since the car's stock "
 "ACC is used for longitudinal control."
 msgstr ""
-"이 차량은 롱컨 제어에 순정 ACC를 사용하므로 현재 실험 모드를 사용할 수 없습"
+"이 차량은 종방향 제어에 순정 ACC를 사용하므로 현재 실험 모드를 사용할 수 없습"
 "니다."

 #: system/ui/widgets/network.py:373
@@ -430,11 +430,11 @@ msgstr "설정 완료"

 #: selfdrive/ui/layouts/settings/settings.py:66
 msgid "Firehose"
-msgstr "파이어호스"
+msgstr "Firehose"

 #: selfdrive/ui/layouts/settings/firehose.py:18
 msgid "Firehose Mode"
-msgstr "파이어호스 모드"
+msgstr "Firehose 모드"

 #: selfdrive/ui/layouts/settings/firehose.py:25
 msgid ""
@@ -462,7 +462,7 @@ msgstr ""
 "최대의 효과를 위해 주 1회는 장치를 실내로 가져와 품질 좋은 USB‑C 어댑터와 "
 "Wi‑Fi에 연결하세요.\n"
 "\n"
-"핫스팟이나 무제한 SIM에 연결되어 있다면 주행 중에도 파이어호스 모드가 동작합니"
+"핫스팟이나 무제한 SIM에 연결되어 있다면 주행 중에도 Firehose 모드가 동작합니"
 "다.\n"
 "\n"
 "\n"
@@ -470,7 +470,7 @@ msgstr ""
 "\n"
 "어떻게, 어디서 운전하는지가 중요한가요? 아니요. 평소처럼 운전하세요.\n"
 "\n"
-"파이어호스 모드에서 모든 구간을 가져가지나요? 아니요. 일부 구간만 선택"
+"Firehose 모드에서 모든 세그먼트가 가져가지나요? 아니요. 일부 세그먼트만 선택"
 "적으로 가져갑니다.\n"
 "\n"
 "좋은 USB‑C 어댑터는 무엇인가요? 빠른 휴대폰 또는 노트북 충전기면 충분합니"
@@ -544,7 +544,7 @@ msgstr "LTE"
 #: selfdrive/ui/layouts/settings/developer.py:64
 #, python-format
 msgid "Longitudinal Maneuver Mode"
-msgstr "롱컨 기동 모드"
+msgstr "종방향 매뉴버 모드"

 #: selfdrive/ui/onroad/hud_renderer.py:148
 #, python-format
@@ -623,7 +623,7 @@ msgstr "미리보기"
 #: selfdrive/ui/widgets/prime.py:44
 #, python-format
 msgid "PRIME FEATURES:"
-msgstr "프라임 기능:"
+msgstr "prime 기능:"

 #: selfdrive/ui/layouts/settings/device.py:48
 #, python-format
@@ -646,7 +646,7 @@ msgid ""
 "Pair your device with comma connect (connect.comma.ai) and claim your comma "
 "prime offer."
 msgstr ""
-"장치를 comma connect(connect.comma.ai)와 페어링하고 comma 프라임 혜택을 받으세"
+"장치를 comma connect(connect.comma.ai)와 페어링하고 comma prime 혜택을 받으세"
 "요."

 #: selfdrive/ui/widgets/setup.py:91
@@ -748,7 +748,7 @@ msgstr "규제 정보"
 #: selfdrive/ui/layouts/settings/toggles.py:98
 #, python-format
 msgid "Relaxed"
-msgstr "편안한"
+msgstr "편안함"

 #: selfdrive/ui/widgets/prime.py:47
 #, python-format
@@ -773,7 +773,7 @@ msgstr "재설정"
 #: selfdrive/ui/layouts/settings/device.py:51
 #, python-format
 msgid "Reset Calibration"
-msgstr "캘리브레이션 재설정"
+msgstr "보정 재설정"

 #: selfdrive/ui/layouts/settings/device.py:65
 #, python-format
@@ -841,7 +841,7 @@ msgid ""
 "cycle through these personalities with your steering wheel distance button."
 msgstr ""
 "표준을 권장합니다. 공격적 모드에서는 앞차를 더 가깝게 따라가고 가감속이 더 적"
-"극적입니다. 편안한 모드에서는 앞차와 거리를 더 둡니다. 지원 차량에서는 스티어"
+"극적입니다. 편안함 모드에서는 앞차와 거리를 더 둡니다. 지원 차량에서는 스티어"
 "링의 차간 버튼으로 이 성향들을 전환할 수 있습니다."

 #: selfdrive/ui/onroad/alert_renderer.py:59
@@ -892,7 +892,7 @@ msgstr "제거"

 #: selfdrive/ui/layouts/sidebar.py:117
 msgid "Unknown"
-msgstr "알수없음"
+msgstr "알 수 없음"

 #: selfdrive/ui/layouts/settings/software.py:48
 #, python-format
@@ -994,7 +994,7 @@ msgstr "카메라 시작 중"
 #: selfdrive/ui/widgets/prime.py:63
 #, python-format
 msgid "comma prime"
-msgstr "comma 프라임"
+msgstr "comma prime"

 #: system/ui/widgets/network.py:142
 #, python-format
@@ -1054,7 +1054,7 @@ msgstr "지금"
 #: selfdrive/ui/layouts/settings/developer.py:71
 #, python-format
 msgid "openpilot Longitudinal Control (Alpha)"
-msgstr "openpilot 롱컨 제어(알파)"
+msgstr "openpilot 종방향 제어(알파)"

 #: selfdrive/ui/onroad/alert_renderer.py:51
 #, python-format
@@ -1076,9 +1076,9 @@ msgid ""
 "some turns. The Experimental mode logo will also be shown in the top right "
 "corner."
 msgstr ""
-"openpilot은 기본적으로 안정적 모드로 주행합니다. 실험 모드를 사용하면 안정적 모드에 "
+"openpilot은 기본적으로 칠 모드로 주행합니다. 실험 모드를 사용하면 칠 모드에 "
 "아직 준비되지 않은 알파 수준의 기능이 활성화됩니다. 실험 기능은 아래와 같습니"
-"다:<br><h4>엔드투엔드 롱컨 제어</h4><br>주행 모델이 가속과 제동을 제어합니"
+"다:<br><h4>엔드투엔드 종방향 제어</h4><br>주행 모델이 가속과 제동을 제어합니"
 "다. openpilot은 빨간 신호 및 정지 표지에서의 정지를 포함해 사람이 운전한다고 "
 "판단하는 방식으로 주행합니다. 주행 속도는 모델이 결정하므로 설정 속도는 상한"
 "으로만 동작합니다. 알파 품질 기능이므로 오작동이 발생할 수 있습니다.<br><h4>"
@@ -1111,7 +1111,7 @@ msgstr ""
 #: selfdrive/ui/layouts/settings/toggles.py:183
 #, python-format
 msgid "openpilot longitudinal control may come in a future update."
-msgstr "openpilot 롱컨 제어는 향후 업데이트에서 제공될 수 있습니다."
+msgstr "openpilot 종방향 제어는 향후 업데이트에서 제공될 수 있습니다."

 #: selfdrive/ui/layouts/settings/device.py:26
 msgid ""
@@ -1177,7 +1177,7 @@ msgstr[0] "{}분 전"
 #, python-format
 msgid "{} segment of your driving is in the training dataset so far."
 msgid_plural "{} segments of your driving is in the training dataset so far."
-msgstr[0] "현재까지 귀하의 주행 {}구간이 학습 데이터셋에 포함되었습니다."
+msgstr[0] "현재까지 귀하의 주행 {}세그먼트가 학습 데이터셋에 포함되었습니다."

 #: selfdrive/ui/widgets/prime.py:62
 #, python-format
@@ -1187,4 +1187,4 @@ msgstr "✓ 구독됨"
 #: selfdrive/ui/widgets/setup.py:22
 #, python-format
 msgid "🔥 Firehose Mode 🔥"
-msgstr "🔥 파이어호스 모드 🔥"
+msgstr "🔥 Firehose 모드 🔥"
@@ -5,7 +5,6 @@
  "Português": "pt-BR",
  "Español": "es",
  "Türkçe": "tr",
-  "Українська": "uk",
  "العربية": "ar",
  "ไทย": "th",
  "中文（繁體）": "zh-CHT",
@@ -64,7 +64,12 @@ def request_refresh_osm_location_data(nations: list[str], states: list[str] = No
    "states": states or []
  }

-  print(f"Downloading maps for {json.dumps(osm_download_locations)}")
+  osm_download_locations_dump = json.dumps({
+    "nations": nations,
+    "states": states or []
+  })
+
+  print(f"Downloading maps for {osm_download_locations_dump}")
  mem_params.put("OSMDownloadLocations", osm_download_locations)


@@ -98,6 +103,8 @@ def filter_nations_and_states(nations: list[str], states: list[str] = None) -> t


 def update_osm_db() -> None:
+  # last_downloaded_date = params.get("OsmDownloadedDate", return_default=True)
+  # if params.get_bool("OsmDbUpdatesCheck") or time.monotonic() - last_downloaded_date >= 604800:  # 7 days * 24 hours/day * 60
  if params.get_bool("OsmDbUpdatesCheck"):
    cleanup_old_osm_data(get_files_for_cleanup())
    country = params.get("OsmLocationName", return_default=True)
@@ -11,12 +11,13 @@ SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 ConfidenceClass = log.ModelDataV2.ConfidenceClass


-def get_curvature_from_output(output, plan, vego, lat_action_t, mlsim):
+def get_curvature_from_output(output, vego, lat_action_t, mlsim):
  if not mlsim:
    if desired_curv := output.get('desired_curvature'):  # If the model outputs the desired curvature, use that directly
      return float(desired_curv[0, 0])

-  return float(get_curvature_from_plan(plan[:, Plan.T_FROM_CURRENT_EULER][:, 2], plan[:, Plan.ORIENTATION_RATE][:, 2],
+  plan_output = output['plan'][0]
+  return float(get_curvature_from_plan(plan_output[:, Plan.T_FROM_CURRENT_EULER][:, 2], plan_output[:, Plan.ORIENTATION_RATE][:, 2],
                                       ModelConstants.T_IDXS, vego, lat_action_t))


@@ -28,7 +28,6 @@ from openpilot.sunnypilot.models.helpers import get_active_bundle
 from openpilot.sunnypilot.models.runners.helpers import get_model_runner

 PROCESS_NAME = "selfdrive.modeld.modeld_tinygrad"
-RECOVERY_POWER = 1.0 # The higher this number the more aggressively the model will recover to lanecenter, too high and it will ping-pong


 class FrameMeta:
@@ -157,13 +156,11 @@ class ModelState(ModelStateBase):
  def get_action_from_model(self, model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
                            lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
    plan = model_output['plan'][0]
-    if 'planplus' in model_output:
-      plan = plan + RECOVERY_POWER*model_output['planplus'][0]
    desired_accel, should_stop = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], self.constants.T_IDXS,
                                                     action_t=long_action_t)
    desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)

-    desired_curvature = get_curvature_from_output(model_output, plan, v_ego, lat_action_t, self.mlsim)
+    desired_curvature = get_curvature_from_output(model_output, v_ego, lat_action_t, self.mlsim)
    if self.generation is not None and self.generation >= 10: # smooth curvature for post FOF models
      if v_ego > self.MIN_LAT_CONTROL_SPEED:
        desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, self.LAT_SMOOTH_SECONDS)
@@ -108,8 +108,6 @@ class Parser:
      plan_in_N, plan_out_N = (SplitModelConstants.PLAN_MHP_N, SplitModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
      self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N,
                     out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH))
-      if 'planplus' in outs:
-        self.parse_mdn('planplus', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH))

  def split_outputs(self, outs: dict[str, np.ndarray]) -> None:
    if 'desired_curvature' in outs:
@@ -19,7 +19,7 @@ from openpilot.system.hardware.hw import Paths
 from pathlib import Path

 # see the README.md for more details on the model selector versioning
-CURRENT_SELECTOR_VERSION = 13
+CURRENT_SELECTOR_VERSION = 12
 REQUIRED_MIN_SELECTOR_VERSION = 12

 USE_ONNX = os.getenv('USE_ONNX', PC)
@@ -1 +1 @@
-6168bc755ea17aececa535e8b94e6c798e5e855bfc47be19220d5cbc08483332
+030a2a502e95e51290bb1d76795013b72b25521a572c3942a232b9395e544250
@@ -1,112 +0,0 @@
-"""
-Copyright (c) 2021-, rav4kumar, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-
-from cereal import custom
-import numpy as np
-from openpilot.common.realtime import DT_MDL
-from openpilot.common.params import Params
-from openpilot.common.swaglog import cloudlog
-
-AccelPersonality = custom.LongitudinalPlanSP.AccelerationPersonality
-
-# Acceleration Profiles
-MAX_ACCEL_PROFILES = {
-  AccelPersonality.eco:    [2.0, 1.99, 1.88, 1.10, 0.500, 0.292, 0.15, 0.10],
-  AccelPersonality.normal: [1.0, 2.00, 1.94, 1.22, 0.635, 0.33, 0.22, 0.16],
-  AccelPersonality.sport:  [.5, 2.00, 2.00, 1.85, 0.800, 0.54, 0.32, 0.22],
-}
-MAX_ACCEL_BREAKPOINTS = [0., 4., 6., 9., 16., 25., 30., 55.]
-# Braking Profiles
-MIN_ACCEL_PROFILES = {
-  AccelPersonality.eco:    [-0.14, -0.0006, -0.010, -0.30, -1.20],
-  AccelPersonality.normal: [-0.1, -0.0007, -0.012, -0.35, -1.20],
-  AccelPersonality.sport:  [-0.6, -0.0008, -0.014, -0.40, -1.20],
-}
-MIN_ACCEL_BREAKPOINTS = [0., 3., 11., 14., 50.]
-
-
-class AccelPersonalityController:
-
-  def __init__(self):
-    self.params = Params()
-    self.frame = 0
-    self.accel_personality = AccelPersonality.normal
-    self.param_keys = {
-      'personality': 'AccelPersonality',
-      'enabled': 'AccelPersonalityEnabled'
-    }
-    self._load_personality_from_params()
-
-  def _load_personality_from_params(self):
-    try:
-      saved = self.params.get(self.param_keys['personality'])
-      if saved is not None:
-        personality_value = int(saved)
-        if personality_value in [AccelPersonality.eco, AccelPersonality.normal, AccelPersonality.sport]:
-          self.accel_personality = personality_value
-        else:
-          cloudlog.warning(f"Invalid personality value {personality_value}, using normal")
-          self.accel_personality = AccelPersonality.normal
-    except (ValueError, TypeError) as e:
-      cloudlog.warning(f"Failed to load personality from params: {e}")
-      self.accel_personality = AccelPersonality.normal
-
-  def _update_from_params(self):
-    if self.frame % int(1. / DT_MDL) != 0:
-      return
-    self._load_personality_from_params()
-
-  def get_accel_personality(self) -> int:
-    self._update_from_params()
-    return int(self.accel_personality)
-
-  def set_accel_personality(self, personality: int):
-    if personality not in [AccelPersonality.eco, AccelPersonality.normal, AccelPersonality.sport]:
-      cloudlog.error(f"Invalid personality {personality}, ignoring")
-      return
-
-    self.accel_personality = personality
-    self.params.put(self.param_keys['personality'], str(personality))
-    cloudlog.info(f"Accel personality set to {personality}")
-
-  def cycle_accel_personality(self) -> int:
-    personalities = [AccelPersonality.eco, AccelPersonality.normal, AccelPersonality.sport]
-    current_idx = personalities.index(self.accel_personality)
-    next_personality = personalities[(current_idx + 1) % len(personalities)]
-    self.set_accel_personality(next_personality)
-    return int(next_personality)
-
-  def get_accel_limits(self, v_ego: float) -> tuple[float, float]:
-    max_a = np.interp(v_ego, MAX_ACCEL_BREAKPOINTS, MAX_ACCEL_PROFILES[self.accel_personality])
-    min_a = np.interp(v_ego, MIN_ACCEL_BREAKPOINTS, MIN_ACCEL_PROFILES[self.accel_personality])
-    return float(min_a), float(max_a)
-
-  def get_min_accel(self, v_ego: float) -> float:
-    return self.get_accel_limits(v_ego)[0]
-
-  def get_max_accel(self, v_ego: float) -> float:
-    return self.get_accel_limits(v_ego)[1]
-
-  def is_enabled(self) -> bool:
-    return bool(self.params.get_bool(self.param_keys['enabled']))
-
-  def set_enabled(self, enabled: bool):
-    self.params.put_bool(self.param_keys['enabled'], enabled)
-    cloudlog.info(f"Accel personality controller {'enabled' if enabled else 'disabled'}")
-
-  def toggle_enabled(self) -> bool:
-    current = self.is_enabled()
-    self.set_enabled(not current)
-    return not current
-
-  def reset(self):
-    self.accel_personality = AccelPersonality.normal
-    self.frame = 0
-
-  def update(self):
-    self.frame += 1
-    self._update_from_params()
@@ -1,286 +0,0 @@
-"""
-Copyright (c) 2021-, rav4kumar, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-
-import pytest
-import numpy as np
-from cereal import custom
-from sunnypilot.selfdrive.controls.lib.accel_personality.accel_controller import (
-  AccelPersonalityController,
-  MAX_ACCEL_PROFILES,
-  MIN_ACCEL_PROFILES,
-  MAX_ACCEL_BREAKPOINTS,
-  MIN_ACCEL_BREAKPOINTS,
-)
-
-AccelPersonality = custom.LongitudinalPlanSP.AccelerationPersonality
-
-
-class TestAccelPersonalityController:
-
-  @pytest.fixture
-  def mock_params(self, mocker):
-    params = mocker.Mock()
-    params.get = mocker.Mock(return_value=None)
-    params.get_bool = mocker.Mock(return_value=False)
-    params.put = mocker.Mock()
-    params.put_bool = mocker.Mock()
-    return params
-
-  @pytest.fixture
-  def controller(self, mock_params, mocker):
-    mocker.patch('sunnypilot.selfdrive.controls.lib.accel_personality.accel_controller.Params', return_value=mock_params)
-    ctrl = AccelPersonalityController()
-    ctrl.params = mock_params
-    return ctrl
-
-  def test_initialization_defaults(self, controller):
-    assert controller.frame == 0
-    assert controller.accel_personality == AccelPersonality.normal
-    assert controller.param_keys == {
-      'personality': 'AccelPersonality',
-      'enabled': 'AccelPersonalityEnabled'
-    }
-
-  @pytest.mark.parametrize("personality,expected", [
-    (AccelPersonality.eco, AccelPersonality.eco),
-    (AccelPersonality.normal, AccelPersonality.normal),
-    (AccelPersonality.sport, AccelPersonality.sport),
-  ])
-  def test_load_personality_valid(self, mocker, personality, expected):
-    mock_params = mocker.Mock()
-    mock_params.get = mocker.Mock(return_value=str(personality).encode())
-    mock_params.get_bool = mocker.Mock(return_value=False)
-    mocker.patch('sunnypilot.selfdrive.controls.lib.accel_personality.accel_controller.Params', return_value=mock_params)
-    controller = AccelPersonalityController()
-    assert controller.accel_personality == expected
-
-  def test_load_personality_invalid_value(self, mocker):
-    mock_params = mocker.Mock()
-    mock_params.get = mocker.Mock(return_value=b'999')
-    mock_params.get_bool = mocker.Mock(return_value=False)
-    mocker.patch('sunnypilot.selfdrive.controls.lib.accel_personality.accel_controller.Params', return_value=mock_params)
-    controller = AccelPersonalityController()
-    assert controller.accel_personality == AccelPersonality.normal
-
-  def test_load_personality_parse_error(self, mocker):
-    mock_params = mocker.Mock()
-    mock_params.get = mocker.Mock(return_value=b'invalid_data')
-    mock_params.get_bool = mocker.Mock(return_value=False)
-    mocker.patch('sunnypilot.selfdrive.controls.lib.accel_personality.accel_controller.Params', return_value=mock_params)
-    controller = AccelPersonalityController()
-    assert controller.accel_personality == AccelPersonality.normal
-
-  def test_load_personality_none(self, mocker):
-    mock_params = mocker.Mock()
-    mock_params.get = mocker.Mock(return_value=None)
-    mock_params.get_bool = mocker.Mock(return_value=False)
-    mocker.patch('sunnypilot.selfdrive.controls.lib.accel_personality.accel_controller.Params', return_value=mock_params)
-    controller = AccelPersonalityController()
-    assert controller.accel_personality == AccelPersonality.normal
-
-  def test_get_accel_personality(self, controller):
-    controller.accel_personality = AccelPersonality.sport
-    result = controller.get_accel_personality()
-    assert result == AccelPersonality.sport
-    assert isinstance(result, int)
-
-  @pytest.mark.parametrize("personality", [
-    AccelPersonality.eco,
-    AccelPersonality.normal,
-    AccelPersonality.sport,
-  ])
-  def test_set_accel_personality_valid(self, controller, mock_params, personality):
-    controller.set_accel_personality(personality)
-    assert controller.accel_personality == personality
-    mock_params.put.assert_called_once_with('AccelPersonality', str(personality))
-
-  def test_set_accel_personality_invalid(self, controller, mock_params):
-    original = controller.accel_personality
-    controller.set_accel_personality(999)
-    assert controller.accel_personality == original
-    mock_params.put.assert_not_called()
-
-  def test_cycle_accel_personality_full_cycle(self, controller):
-    controller.accel_personality = AccelPersonality.eco
-
-    result = controller.cycle_accel_personality()
-    assert result == AccelPersonality.normal
-    assert controller.accel_personality == AccelPersonality.normal
-
-    result = controller.cycle_accel_personality()
-    assert result == AccelPersonality.sport
-    assert controller.accel_personality == AccelPersonality.sport
-
-    result = controller.cycle_accel_personality()
-    assert result == AccelPersonality.eco
-    assert controller.accel_personality == AccelPersonality.eco
-
-  def test_cycle_accel_personality_return_type(self, controller):
-    result = controller.cycle_accel_personality()
-    assert isinstance(result, int)
-
-  @pytest.mark.parametrize("personality", [
-    AccelPersonality.eco,
-    AccelPersonality.normal,
-    AccelPersonality.sport,
-  ])
-  def test_get_accel_limits_at_zero_speed(self, controller, personality):
-    controller.accel_personality = personality
-    min_a, max_a = controller.get_accel_limits(0.0)
-
-    expected_max = MAX_ACCEL_PROFILES[personality][0]
-    expected_min = MIN_ACCEL_PROFILES[personality][0]
-
-    assert abs(max_a - expected_max) < 1e-6
-    assert abs(min_a - expected_min) < 1e-6
-
-  @pytest.mark.parametrize("v_ego,personality", [
-    (0.0, AccelPersonality.eco),
-    (10.0, AccelPersonality.normal),
-    (25.0, AccelPersonality.sport),
-    (50.0, AccelPersonality.eco),
-    (4.0, AccelPersonality.normal),
-    (30.0, AccelPersonality.sport),
-  ])
-  def test_get_accel_limits_interpolation(self, controller, v_ego, personality):
-    controller.accel_personality = personality
-    min_a, max_a = controller.get_accel_limits(v_ego)
-
-    expected_max = np.interp(v_ego, MAX_ACCEL_BREAKPOINTS, MAX_ACCEL_PROFILES[personality])
-    expected_min = np.interp(v_ego, MIN_ACCEL_BREAKPOINTS, MIN_ACCEL_PROFILES[personality])
-
-    assert abs(max_a - expected_max) < 1e-6
-    assert abs(min_a - expected_min) < 1e-6
-
-  def test_get_accel_limits_return_types(self, controller):
-    min_a, max_a = controller.get_accel_limits(10.0)
-    assert isinstance(min_a, float)
-    assert isinstance(max_a, float)
-
-  def test_get_min_accel(self, controller):
-    controller.accel_personality = AccelPersonality.sport
-    v_ego = 15.0
-    min_a = controller.get_min_accel(v_ego)
-    expected = controller.get_accel_limits(v_ego)[0]
-    assert min_a == expected
-    assert isinstance(min_a, float)
-
-  def test_get_max_accel(self, controller):
-    controller.accel_personality = AccelPersonality.eco
-    v_ego = 20.0
-    max_a = controller.get_max_accel(v_ego)
-    expected = controller.get_accel_limits(v_ego)[1]
-    assert max_a == expected
-    assert isinstance(max_a, float)
-
-  def test_is_enabled_true(self, controller, mock_params):
-    mock_params.get_bool.return_value = True
-    assert controller.is_enabled() is True
-
-  def test_is_enabled_false(self, controller, mock_params):
-    mock_params.get_bool.return_value = False
-    assert controller.is_enabled() is False
-
-  def test_is_enabled_calls_params(self, controller, mock_params):
-    controller.is_enabled()
-    mock_params.get_bool.assert_called_once_with('AccelPersonalityEnabled')
-
-  @pytest.mark.parametrize("enabled", [True, False])
-  def test_set_enabled(self, controller, mock_params, enabled):
-    controller.set_enabled(enabled)
-    mock_params.put_bool.assert_called_once_with('AccelPersonalityEnabled', enabled)
-
-  def test_toggle_enabled_from_false(self, controller, mock_params):
-    mock_params.get_bool.return_value = False
-    result = controller.toggle_enabled()
-    assert result is True
-    mock_params.put_bool.assert_called_once_with('AccelPersonalityEnabled', True)
-
-  def test_toggle_enabled_from_true(self, controller, mock_params):
-    mock_params.get_bool.return_value = True
-    result = controller.toggle_enabled()
-    assert result is False
-    mock_params.put_bool.assert_called_once_with('AccelPersonalityEnabled', False)
-
-  def test_reset(self, controller):
-    controller.accel_personality = AccelPersonality.sport
-    controller.frame = 100
-    controller.reset()
-    assert controller.accel_personality == AccelPersonality.normal
-    assert controller.frame == 0
-
-  def test_update_increments_frame(self, controller):
-    initial_frame = controller.frame
-    controller.update()
-    assert controller.frame == initial_frame + 1
-
-  def test_update_multiple_calls(self, controller):
-    for i in range(1, 11):
-      controller.update()
-      assert controller.frame == i
-
-  @pytest.mark.parametrize("v_ego", [0, 5, 10, 15, 20, 25, 30, 40, 50, 55])
-  @pytest.mark.parametrize("personality", [
-    AccelPersonality.eco,
-    AccelPersonality.normal,
-    AccelPersonality.sport,
-  ])
-  def test_accel_limits_physical_constraints(self, controller, v_ego, personality):
-    controller.accel_personality = personality
-    min_a, max_a = controller.get_accel_limits(v_ego)
-    assert min_a < 0
-    assert max_a > 0
-    assert min_a < max_a
-
-  def test_max_accel_decreases_with_speed(self, controller):
-    test_speeds = [0, 10, 20, 30, 40, 50]
-    for personality in [AccelPersonality.eco, AccelPersonality.normal, AccelPersonality.sport]:
-      controller.accel_personality = personality
-      max_accels = [controller.get_max_accel(v) for v in test_speeds]
-      assert max_accels[-1] < max_accels[0]
-
-  @pytest.mark.parametrize("v_ego", [5, 10, 15, 20, 25])
-  def test_acceleration_personality_ordering(self, controller, v_ego):
-    controller.accel_personality = AccelPersonality.eco
-    _, eco_max = controller.get_accel_limits(v_ego)
-
-    controller.accel_personality = AccelPersonality.normal
-    _, normal_max = controller.get_accel_limits(v_ego)
-
-    controller.accel_personality = AccelPersonality.sport
-    _, sport_max = controller.get_accel_limits(v_ego)
-
-    assert sport_max >= normal_max
-    assert normal_max >= eco_max
-
-  @pytest.mark.parametrize("v_ego", [5, 10, 15, 20])
-  def test_braking_personality_ordering(self, controller, v_ego):
-    controller.accel_personality = AccelPersonality.eco
-    eco_min, _ = controller.get_accel_limits(v_ego)
-
-    controller.accel_personality = AccelPersonality.sport
-    sport_min, _ = controller.get_accel_limits(v_ego)
-
-    assert sport_min <= eco_min
-
-  def test_accel_limits_at_max_speed(self, controller):
-    max_speed = MAX_ACCEL_BREAKPOINTS[-1]
-    min_a, max_a = controller.get_accel_limits(max_speed)
-    assert isinstance(min_a, float)
-    assert isinstance(max_a, float)
-
-  def test_accel_limits_beyond_max_speed(self, controller):
-    beyond_max = MAX_ACCEL_BREAKPOINTS[-1] + 10
-    min_a, max_a = controller.get_accel_limits(beyond_max)
-    assert isinstance(min_a, float)
-    assert isinstance(max_a, float)
-
-  def test_accel_limits_very_low_speed(self, controller):
-    min_a, max_a = controller.get_accel_limits(0.5)
-    assert isinstance(min_a, float)
-    assert isinstance(max_a, float)
-    assert min_a >= -2.0
@@ -15,8 +15,9 @@ LAT_PLAN_MIN_IDX = 5
 LATERAL_LAG_MOD = 0.0  # seconds, modifies how far in the future we look ahead for the lateral plan

 # from selfdrive/controls/lib/latcontrol_torque.py
-KP = 0.8
-KI = 0.15
+KP = 1.0
+KI = 0.3
+KD = 0.0
 INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30]
 KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP]

@@ -63,7 +64,7 @@ class LatControlTorqueExtBase:
    self.torque_from_lateral_accel_in_torque_space = CI.torque_from_lateral_accel_in_torque_space()

    self._ff = 0.0
-    self._pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI)
+    self._pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, KD)
    self._pid_log = None
    self._setpoint = 0.0
    self._measurement = 0.0
@@ -17,7 +17,6 @@ from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_resolve
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 from openpilot.sunnypilot.models.helpers import get_active_bundle

-from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality.accel_controller import AccelPersonalityController
 DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimentalControlState
 LongitudinalPlanSource = custom.LongitudinalPlanSP.LongitudinalPlanSource

@@ -27,7 +26,6 @@ class LongitudinalPlannerSP:
    self.events_sp = EventsSP()
    self.resolver = SpeedLimitResolver()
    self.dec = DynamicExperimentalController(CP, mpc)
-    self.accel_controller = AccelPersonalityController()
    self.scc = SmartCruiseControl()
    self.resolver = SpeedLimitResolver()
    self.sla = SpeedLimitAssist(CP, CP_SP)
@@ -83,7 +81,6 @@ class LongitudinalPlannerSP:
    self.events_sp.clear()
    self.dec.update(sm)
    self.e2e_alerts_helper.update(sm, self.events_sp)
-    self.accel_controller.update()

  def publish_longitudinal_plan_sp(self, sm: messaging.SubMaster, pm: messaging.PubMaster) -> None:
    plan_sp_send = messaging.new_message('longitudinalPlanSP')
@@ -2,10 +2,9 @@ import json
 import os
 import random
 import time
-import jwt
-from typing import cast
-from datetime import datetime, timedelta, UTC
+from datetime import datetime, timedelta

+import jwt
 from openpilot.common.api.base import BaseApi
 from openpilot.common.params import Params
 from openpilot.system.hardware import HARDWARE
@@ -93,8 +92,7 @@ class SunnylinkApi(BaseApi):

      backoff = 1
      while True:
-        register_token = jwt.encode({'register': True, 'exp': datetime.now(UTC).replace(tzinfo=None) + timedelta(hours=1)},
-                                    cast(str, private_key), algorithm=jwt_algo)
+        register_token = jwt.encode({'register': True, 'exp': datetime.utcnow() + timedelta(hours=1)}, private_key, algorithm=jwt_algo)
        try:
          if verbose or time.monotonic() - start_time < timeout / 2:
            self._status_update("Registering device to sunnylink...")
@@ -1,26 +1,4 @@
 {
-  "AccelPersonality": {
-    "title": "Acceleration Personality",
-    "description": "",
-    "options": [
-      {
-        "value": 0,
-        "label": "Sport"
-      },
-      {
-        "value": 1,
-        "label": "Normal"
-      },
-      {
-        "value": 2,
-        "label": "Eco"
-      }
-    ]
-  },
-  "AccelPersonalityEnabled": {
-    "title": "Enable Acceleration Personality",
-    "description": "Controls acceleration behavior: Eco (efficient), Normal (balanced), Sport (responsive)."
-  },
  "AccessToken": {
    "title": "AccessTokenIsNice",
    "description": ""
@@ -280,11 +258,11 @@
    "description": ""
  },
  "EnableCopyparty": {
-    "title": "copyparty Service",
+    "title": "Enable Copyparty",
    "description": ""
  },
  "EnableGithubRunner": {
-    "title": "GitHub Runner Service",
+    "title": "Enable GitHub Runner",
    "description": ""
  },
  "EnableSunnylinkUploader": {
@@ -480,10 +458,6 @@
    "title": "Language",
    "description": ""
  },
-  "LastAgnosPowerMonitorShutdown": {
-    "title": "Last AGNOS Power Monitor Shutdown",
-    "description": ""
-  },
  "LastAthenaPingTime": {
    "title": "Last Athena Ping Time",
    "description": ""
@@ -17,7 +17,7 @@ from cereal.messaging import SubMaster
 from openpilot.system.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware import HARDWARE
-from openpilot.common.utils import atomic_write
+from openpilot.common.utils import atomic_write_in_dir
 from openpilot.system.version import get_build_metadata
 from openpilot.system.loggerd.config import STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S
 from openpilot.system.statsd import METRIC_TYPE, StatLogSP
@@ -242,7 +242,7 @@ def stats_main(end_event):
        if len(os.listdir(STATS_DIR)) < STATS_DIR_FILE_LIMIT:
          if len(result) > 0:
            stats_path = os.path.join(STATS_DIR, f"{boot_uid}_{idx}")
-            with atomic_write(stats_path) as f:
+            with atomic_write_in_dir(stats_path) as f:
              f.write(result)
            idx += 1
        else:
@@ -31,7 +31,7 @@ from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutExce
 import cereal.messaging as messaging
 from cereal import log
 from cereal.services import SERVICE_LIST
-from openpilot.common.api import Api, get_key_pair
+from openpilot.common.api import Api
 from openpilot.common.utils import CallbackReader, get_upload_stream
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
@@ -554,8 +554,11 @@ def start_local_proxy_shim(global_end_event: threading.Event, local_port: int, w

@dispatcher.add_method
 def getPublicKey() -> str | None:
-  _, _, public_key = get_key_pair()
-  return public_key
+  if not os.path.isfile(Paths.persist_root() + '/comma/id_rsa.pub'):
+    return None
+
+  with open(Paths.persist_root() + '/comma/id_rsa.pub') as f:
+    return f.read()


@dispatcher.add_method
@@ -2,7 +2,6 @@
 import time
 import json
 import jwt
-from typing import cast
 from pathlib import Path

 from datetime import datetime, timedelta, UTC
@@ -70,9 +69,7 @@ def register(show_spinner=False) -> str | None:
    start_time = time.monotonic()
    while True:
      try:
-        register_token = jwt.encode({'register': True, 'exp': datetime.now(UTC).replace(tzinfo=None) + timedelta(hours=1)},
-                                    cast(str, private_key), algorithm=jwt_algo)
-        cloudlog.info("getting pilotauth")
+        register_token = jwt.encode({'register': True, 'exp': datetime.now(UTC).replace(tzinfo=None) + timedelta(hours=1)}, private_key, algorithm=jwt_algo)
        cloudlog.info("getting pilotauth")
        resp = api_get("v2/pilotauth/", method='POST', timeout=15,
                       imei=imei1, imei2=imei2, serial=serial, public_key=public_key, register_token=register_token)
@@ -1004,8 +1004,8 @@ bool SpectraCamera::openSensor() {
  };

  // Figure out which sensor we have
-  if (!init_sensor_lambda(new OS04C10) &&
-      !init_sensor_lambda(new OX03C10)) {
+  if (!init_sensor_lambda(new OX03C10) &&
+      !init_sensor_lambda(new OS04C10)) {
    LOGE("** sensor %d FAILED bringup, disabling", cc.camera_num);
    enabled = false;
    return false;
@@ -1,7 +1,6 @@
 #include <cmath>

 #include "system/camerad/sensors/sensor.h"
-#include "third_party/linux/include/msm_camsensor_sdk.h"

 namespace {

@@ -52,7 +51,7 @@ OS04C10::OS04C10() {
  probe_expected_data = 0x5304;
  bits_per_pixel = 12;
  mipi_format = CAM_FORMAT_MIPI_RAW_12;
-  frame_data_type = CSI_RAW12;
+  frame_data_type = 0x2c;
  mclk_frequency = 24000000; // Hz

  // TODO: this was set from logs. actually calculate it out
@@ -4,10 +4,10 @@ const struct i2c_random_wr_payload start_reg_array_os04c10[] = {{0x100, 1}};
 const struct i2c_random_wr_payload stop_reg_array_os04c10[] = {{0x100, 0}};

 const struct i2c_random_wr_payload init_array_os04c10[] = {
-  // baseed on DP_2688X1520_NEWSTG_MIPI0776Mbps_30FPS_10BIT_FOURLANE
-  {0x0103, 0x01}, // software reset
+  // DP_2688X1520_NEWSTG_MIPI0776Mbps_30FPS_10BIT_FOURLANE
+  {0x0103, 0x01},

-  // PLL + clocks
+  // PLL
  {0x0301, 0xe4},
  {0x0303, 0x01},
  {0x0305, 0xb6},
@@ -24,7 +24,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
  {0x3106, 0x21},
  {0x3107, 0xa1},

-  // Analog/timing fine-tuning block
+  // ?
  {0x3624, 0x00},
  {0x3625, 0x4c},
  {0x3660, 0x04},
@@ -101,7 +101,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
  {0x3f00, 0x0b},
  {0x3f06, 0x04},

-  // BLC - black level correction
+  // BLC
  {0x400a, 0x01},
  {0x400b, 0x50},
  {0x400e, 0x08},
@@ -157,7 +157,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
  {0x5180, 0x70},
  {0x5181, 0x10},

-  // DPC - defective pixel correction
+  // DPC
  {0x520a, 0x03},
  {0x520b, 0x06},
  {0x520c, 0x0c},
@@ -248,7 +248,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
  {0x4008, 0x01},
  {0x4009, 0x06},

-  // FSIN - frame sync
+  // FSIN
  {0x3002, 0x22},
  {0x3663, 0x22},
  {0x368a, 0x04},
@@ -276,8 +276,8 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
  {0x3816, 0x03},
  {0x3817, 0x01},

-  {0x380c, 0x0b}, {0x380d, 0xac}, // HTS (line length)
-  {0x380e, 0x06}, {0x380f, 0x9c}, // VTS (frame length)
+  {0x380c, 0x0b}, {0x380d, 0xac}, // HTS
+  {0x380e, 0x06}, {0x380f, 0x9c}, // VTS

  {0x3820, 0xb3},
  {0x3821, 0x01},
@@ -309,17 +309,17 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
  // initialize exposure
  {0x3503, 0x88},

-  // long exposure
+  // long
  {0x3500, 0x00}, {0x3501, 0x00}, {0x3502, 0x10},
  {0x3508, 0x00}, {0x3509, 0x80},
  {0x350a, 0x04}, {0x350b, 0x00},

-  // short exposure
+  // short
  {0x3510, 0x00}, {0x3511, 0x00}, {0x3512, 0x40},
  {0x350c, 0x00}, {0x350d, 0x80},
  {0x350e, 0x04}, {0x350f, 0x00},

-  // white balance
+  // wb
  // b
  {0x5100, 0x06}, {0x5101, 0x7e},
  {0x5140, 0x06}, {0x5141, 0x7e},
@@ -332,7 +332,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
 };

 const struct i2c_random_wr_payload ife_downscale_override_array_os04c10[] = {
-  // based on OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz
+  // OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz
  {0x3c8c, 0x40},
  {0x3714, 0x24},
  {0x37c2, 0x04},
@@ -1,7 +1,6 @@
 #include <cmath>

 #include "system/camerad/sensors/sensor.h"
-#include "third_party/linux/include/msm_camsensor_sdk.h"

 namespace {

@@ -41,8 +40,8 @@ OX03C10::OX03C10() {
  probe_expected_data = 0x5803;
  bits_per_pixel = 12;
  mipi_format = CAM_FORMAT_MIPI_RAW_12;
-  frame_data_type = CSI_RAW12;
-  mclk_frequency = 24000000; // Hz
+  frame_data_type = 0x2c; // one is 0x2a, two are 0x2b
+  mclk_frequency = 24000000; //Hz

  readout_time_ns = 14697000;

@@ -7,6 +7,7 @@
 #include <string>
 #include <algorithm>  // for std::clamp

+#include "common/params.h"
 #include "common/util.h"
 #include "system/hardware/base.h"

@@ -16,7 +16,6 @@ from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
 from openpilot.system.hardware.hw import Paths
-from openpilot.system.hardware import TICI
 from openpilot.system.loggerd.xattr_cache import getxattr
 from openpilot.system.loggerd.deleter import PRESERVE_ATTR_NAME, PRESERVE_ATTR_VALUE
 from openpilot.system.manager.process_config import managed_processes
@@ -222,16 +221,13 @@ class TestLoggerd:
    assert abs(boot.wallTimeNanos - time.time_ns()) < 5*1e9 # within 5s
    assert boot.launchLog == launch_log

-    if TICI:
-      for fn in ["console-ramoops", "pmsg-ramoops-0"]:
-        path = Path(os.path.join("/sys/fs/pstore/", fn))
-        if path.is_file():
-          with open(path, "rb") as f:
-            expected_val = f.read()
-          bootlog_val = [e.value for e in boot.pstore.entries if e.key == fn][0]
-          assert expected_val == bootlog_val
-    else:
-      assert len(boot.pstore.entries) == 0
+    for fn in ["console-ramoops", "pmsg-ramoops-0"]:
+      path = Path(os.path.join("/sys/fs/pstore/", fn))
+      if path.is_file():
+        with open(path, "rb") as f:
+          expected_val = f.read()
+        bootlog_val = [e.value for e in boot.pstore.entries if e.key == fn][0]
+        assert expected_val == bootlog_val

    # next one should increment by one
    bl1 = re.match(RE.LOG_ID_V2, bootlog_path.name)
@@ -14,7 +14,7 @@ from openpilot.system.version import get_build_metadata
 MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9
 CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache")

-TOTAL_SCONS_NODES = 2705
+TOTAL_SCONS_NODES = 2280
 MAX_BUILD_PROGRESS = 100

 def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None:
--- a/Show More
+++ b/Show More