ui: external storage

2026-08-15 18:23:45 +08:00 · 2026-07-22 10:00:19 -04:00
324 changed files with 5011 additions and 7230 deletions
@@ -12,11 +12,11 @@ on:
        required: false
        type: string
      recompiled_dir:
-        description: 'Existing recompiled directory number (e.g. 1 for recompiled1)'
+        description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
        required: true
        type: string
      json_version:
-        description: 'driving_models version number to update (e.g. 18 for driving_models_v18.json)'
+        description: 'driving_models version number to update (e.g. 5 for driving_models_v5.json)'
        required: true
        type: string
      artifact_suffix:
@@ -63,11 +63,12 @@ on:
        default: 'None'
        options:
          - None
-          - Master Models
-          - Release Models
-          - 2025 World Models
-          - 2026 World Models
+          - Simple Plan Models
+          - Space Lab Models
+          - TR Models
+          - DTR Models
          - Custom Merge Models
+          - FOF series models
          - Other
      custom_model_folder:
        description: 'Custom model folder name (if "Other" selected)'
@@ -65,21 +65,8 @@ jobs:
          echo '    pushurl = ${{ env.LFS_PUSH_URL }}' >> .lfsconfig
          echo '    locksverify = false' >> .lfsconfig

-      - name: Configure LFS transfer settings
-        run: |
-          git config lfs.activitytimeout 300
-          git config lfs.transfer.maxretries 5
-          git config lfs.concurrenttransfers 4
-
      - name: Push LFS
        id: sync-and-commit
        run: |
          git lfs ls-files -l
-          for attempt in 1 2 3; do
-            echo "Push attempt $attempt..."
-            git lfs push --all origin && exit 0
-            echo "Attempt $attempt failed, retrying in 30s..."
-            sleep 30
-          done
-          echo "All push attempts failed"
-          exit 1
+          git lfs push --all origin
@@ -0,0 +1,39 @@
+name: prebuilt
+on:
+  schedule:
+    - cron: '0 * * * *'
+  workflow_dispatch:
+
+env:
+  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
+  BUILD: release/ci/docker_build_sp.sh
+
+jobs:
+  build_prebuilt:
+    name: build prebuilt
+    runs-on: ubuntu-latest
+    if: github.repository == 'sunnypilot/sunnypilot'
+    env:
+      PUSH_IMAGE: true
+    permissions:
+      checks: read
+      contents: read
+      packages: write
+    steps:
+    - name: Wait for green check mark
+      if: ${{ github.event_name != 'workflow_dispatch' }}
+      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
+      with:
+        ref: master
+        wait-interval: 30
+        running-workflow-name: 'build prebuilt'
+        repo-token: ${{ secrets.GITHUB_TOKEN }}
+        check-regexp: ^((?!.*(build master-ci|create badges).*).)*$
+    - uses: actions/checkout@v6
+      with:
+        submodules: true
+    - run: git lfs pull
+    - name: Build and Push docker image
+      run: |
+        $DOCKER_LOGIN
+        eval "$BUILD"
@@ -93,14 +93,6 @@ jobs:
            const { owner, repo } = context.repo;
            const upstream = `${owner}/${repo}`;

-            const closed = context.payload.pull_request;
-            if (closed) {
-              if (closed.head.repo?.full_name === upstream) {
-                await github.rest.git.deleteRef({ owner, repo, ref: `heads/${closed.head.ref}` }).catch(console.log);
-              }
-              return;
-            }
-
            for await (const response of github.paginate.iterator(github.rest.pulls.list, {
              owner,
              repo,
@@ -30,11 +30,6 @@ on:
        required: false
        type: string
        default: ''
-      target_hardware:
-        description: 'Hardware target to compile for (qcom or usbgpu)'
-        required: false
-        type: string
-        default: 'qcom'
  workflow_dispatch:
    inputs:
      upstream_branch:
@@ -51,14 +46,6 @@ on:
        required: false
        type: boolean
        default: true
-      target_hardware:
-        description: 'Hardware target to compile for'
-        required: true
-        type: choice
-        options:
-          - qcom
-          - usbgpu
-        default: 'qcom'


 run-name: Build model [${{ inputs.custom_name || inputs.upstream_branch }}] from ref [${{ inputs.upstream_branch }}]
@@ -174,30 +161,19 @@ jobs:
          name: models-${{ env.REF }}${{ inputs.artifact_suffix }}
          path: ${{ env.MODELS_DIR }}
      - run: |
-          rm -f ${{ env.MODELS_DIR }}/{dmonitoring_model,big_driving_policy,big_driving_vision,big_driving_supercombo}.onnx
+          rm -f ${{ env.MODELS_DIR }}/{dmonitoring_model,big_driving_policy,big_driving_vision}.onnx

      - name: Build Model
        run: |
          source /etc/profile
          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
          export PYTHONPATH="${PYTHONPATH}:${{ env.TINYGRAD_PATH }}:${{ github.workspace }}"

          COMPILE_MODELD="${{ github.workspace }}/openpilot/sunnypilot/modeld_v2/compile_modeld.py"
          MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
          CAMERA_RES=$(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')")
-
-          if [ "${{ inputs.target_hardware }}" == "usbgpu" ]; then
-            echo "USBGPU build"
-            export USBGPU=1
-            TG_FLAGS="DEV=AMD USBGPU=1 IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
-            OUTPUT_PKL="${{ env.MODELS_DIR }}/big_driving_tinygrad.pkl"
-          else
-            echo "QCOM build"
-            TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
-            OUTPUT_PKL="${{ env.MODELS_DIR }}/driving_tinygrad.pkl"
-          fi
+          TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"

          # Generate metadata for all ONNX files
          find "${{ env.MODELS_DIR }}" -maxdepth 1 -name '*.onnx' | while IFS= read -r onnx_file; do
@@ -210,13 +186,7 @@ jobs:
          POLICY_ONNX="${{ env.MODELS_DIR }}/driving_policy.onnx"
          OFF_POLICY_ONNX="${{ env.MODELS_DIR }}/driving_off_policy.onnx"
          ON_POLICY_ONNX="${{ env.MODELS_DIR }}/driving_on_policy.onnx"
-          SUPERCOMBO_ONNX=""
-          for f in "${{ env.MODELS_DIR }}/supercombo.onnx" "${{ env.MODELS_DIR }}/driving_supercombo.onnx"; do
-            if [ -f "$f" ]; then
-              SUPERCOMBO_ONNX="$f"
-              break
-            fi
-          done
+          SUPERCOMBO_ONNX="${{ env.MODELS_DIR }}/supercombo.onnx"

          MODEL_TYPE="" ONNX_ARGS="" OUTPUT_NAME=""
          if [ -f "$VISION_ONNX" ]; then
@@ -237,15 +207,24 @@ jobs:
          fi

          if [ -n "$MODEL_TYPE" ]; then
-            echo "Detected: $MODEL_TYPE -> $OUTPUT_PKL"
+            echo "Detected: $MODEL_TYPE -> driving_tinygrad.pkl"
            env ${TG_FLAGS} python3 "$COMPILE_MODELD" \
              --model-type $MODEL_TYPE \
              --model-size $MODEL_SIZE \
              --camera-resolutions $CAMERA_RES \
              $ONNX_ARGS \
-              --output "$OUTPUT_PKL"
+              --output "${{ env.MODELS_DIR }}/driving_tinygrad.pkl"
          fi

+      - name: Validate Model Outputs
+        run: |
+          source /etc/profile
+          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
+          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
+          python3 "${{ github.workspace }}/release/ci/model_generator.py" \
+            --validate-only \
+            --model-dir "${{ env.MODELS_DIR }}"
+
      - name: Prepare Output
        run: |
          sudo rm -rf ${{ env.OUTPUT_DIR }}
@@ -132,6 +132,7 @@ jobs:

  process_replay:
    name: process replay
+    if: false  # disable process_replay for forks
    runs-on: ${{
      (github.repository == 'commaai/openpilot') &&
      ((github.event_name != 'pull_request') ||
@@ -168,14 +169,14 @@ jobs:
        name: diff_report_${{ github.event.number }}
        path: openpilot/selfdrive/test/process_replay/diff_report.txt
    - name: Checkout ci-artifacts
-      if: github.repository == 'sunnypilot/sunnypilot' && github.ref == 'refs/heads/master'
+      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
      uses: actions/checkout@v7
      with:
-        repository: sunnypilot/ci-artifacts
+        repository: commaai/ci-artifacts
        ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
        path: ${{ github.workspace }}/ci-artifacts
    - name: Prepare refs
-      if: github.repository == 'sunnypilot/sunnypilot' && github.ref == 'refs/heads/master'
+      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
      working-directory: ${{ github.workspace }}/ci-artifacts
      run: |
        git config user.name "GitHub Actions Bot"
@@ -187,7 +188,7 @@ jobs:
        git add .
        git commit -m "process-replay refs for ${{ github.repository }}@${{ github.sha }}" || echo "No changes to commit"
    - name: Push refs
-      if: github.repository == 'sunnypilot/sunnypilot' && github.ref == 'refs/heads/master'
+      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
      uses: nick-fields/retry@ad984534de44a9489a53aefd81eb77f87c70dc60
      with:
        timeout_minutes: 2
@@ -166,11 +166,6 @@ env = Environment(
  tools=["default", "cython", "compilation_db", "rednose_filter"],
  toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
 )
-# SCons' Darwin linker tool doesn't define the variables used to expand RPATH.
-if arch == "Darwin":
-  env["RPATHPREFIX"] = "-Wl,-rpath,"
-  env["RPATHSUFFIX"] = ""
-  env["_RPATH"] = "${_concat(RPATHPREFIX, RPATH, RPATHSUFFIX, __env__)}"
 if arch != "larch64":
  env['_LIBFLAGS'] = _libflags

@@ -1,44 +0,0 @@
-# AI policy
-
-## Why this exists
-
-We use AI tools ourselves, so this isn't an anti-AI stance. The problem is people submitting code, issues, or comments they don't actually understand. AI makes that very easy to do, and it creates real work for reviewers who have to figure out what you meant when you can't explain it yourself.
-
-If you're not going to put effort into understanding and verifying your submission, we're not going to put effort into reviewing it.
-
-## The rule
-
-You are responsible for everything you submit: code, PR descriptions, issues, bug reports, comments.
-
-1. Understand what you submit. If a reviewer asks why you did something, you answer from your own understanding, not by re-prompting. If you can't do that, don't submit it.
-
-2. Test your change. AI gets things wrong all the time. Run it, break it, confirm it actually works.
-
-3. Driving fixes need real evidence. Attach a dongle ID, upload logs, and include segments that show the fix working. A route hash by itself proves nothing.
-
-4. No AI-generated media (images, diagrams, videos) in issues or PRs.
-
-## Disclosure
-
-If AI tools helped you write something, say so. Add an `Assisted-by:` line in your commit message:
-
-```
-Assisted-by: GitHub Copilot
-Assisted-by: Claude
-```
-
-Disclosing won't count against your PR. It helps reviewers know where to look. Hiding it and getting caught will.
-
-## How we review
-
-Reviewers are looking at whether you understand your own change. Can you explain it? Can you respond to feedback without re-prompting? Does your PR description say why you made the change, not just list what changed?
-
-Good code from someone who used AI and understands what they wrote is fine. How you got there doesn't matter as long as you can stand behind it.
-
-## What happens
-
-Submissions that don't meet this bar get closed. If it keeps happening, you get blocked.
-
-## Maintainers
-
-Maintainers use AI at their discretion. They've earned that through sustained contribution and they know the codebase.
@@ -1,10 +1,10 @@
-<!--- AUTOGENERATED FROM openpilot/selfdrive/car/CARS_template.md, DO NOT EDIT. --->
+<!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->

 # Supported Cars

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

-# 342 Supported Cars
+# 341 Supported Cars

 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -78,8 +78,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Accord 2018-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Honda|Accord 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
 |Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
-|Honda|Accord Hybrid 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-26">Buy Here</a></sub></details>|||
-|Honda|City (Brazil only) 2023-25|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023-25">Buy Here</a></sub></details>|||
+|Honda|Accord Hybrid 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
+|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Honda|Civic 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Honda|Civic 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
@@ -187,7 +187,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Niro Plug-in Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2022">Buy Here</a></sub></details>|||
 |Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima 2017">Buy Here</a></sub></details>|||
 |Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima 2019-20">Buy Here</a></sub></details>|||
-|Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima Hybrid 2019">Buy Here</a></sub></details>|||
+|Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima Hybrid 2019">Buy Here</a></sub></details>|||
 |Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Seltos 2021">Buy Here</a></sub></details>|||
 |Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
@@ -230,15 +230,14 @@ A supported vehicle is one that just works when you install a comma device. All
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Nissan[<sup>6</sup>](#footnotes)|Altima 2019-24|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<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=Nissan Altima 2019-24">Buy Here</a></sub></details>|||
 |Nissan[<sup>6</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<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=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Nissan[<sup>6</sup>](#footnotes)|Leaf IC 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<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=Nissan Leaf IC 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Nissan[<sup>6</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<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=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
 |Nissan[<sup>6</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<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=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
 |Ram|2500 2020-24|Adaptive Cruise Control (ACC)|Stock|0 mph|36 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 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 2500 2020-24">Buy Here</a></sub></details>|||
 |Ram|3500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|36 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 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 3500 2019-22">Buy Here</a></sub></details>|||
-|Rivian|R1S 2022-24|All|openpilot|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 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<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=Rivian R1S 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Rivian|R1S 2022-24|All|openpilot|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 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<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=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Rivian|R1S 2025|All|openpilot|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 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<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=Rivian R1S 2025">Buy Here</a></sub></details>|||
-|Rivian|R1T 2022-24|All|openpilot|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 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<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=Rivian R1T 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Rivian|R1T 2022-24|All|openpilot|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 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<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=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Rivian|R1T 2025|All|openpilot|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 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<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=Rivian R1T 2025">Buy Here</a></sub></details>|||
 |SEAT[<sup>12</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
 |SEAT[<sup>12</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
@@ -1,5 +1,3 @@
-> sunnypilot follows [commaai/openpilot](https://github.com/commaai/openpilot)'s contributing guidelines. The following applies to all contributions here.
-
 # How to contribute

 Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/).
@@ -37,7 +35,6 @@ All of these are examples of good PRs:
 * **UI design**: we do not have a good review process for this yet
 * **New features**: We believe openpilot is mostly feature-complete, and the rest is a matter of refinement and fixing bugs. As a result of this, most feature PRs will be immediately closed, however the beauty of open source is that forks can and do offer features that upstream openpilot doesn't.
 * **Negative expected value**: This is a class of PRs that makes an improvement, but the risk or validation costs more than the improvement. The risk can be mitigated by first getting a failing test merged.
-* **AI-generated contributions**: see our [AI policy](AI_POLICY.md)

 ### First contribution

@@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1
 export QCOM_PRIORITY=12

 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="18.5"
+  export AGNOS_VERSION="18.4"
 fi

 export STAGING_ROOT="/data/safe_staging"
@@ -69,8 +69,6 @@ struct LeadData {
 struct SelfdriveStateSP @0x81c2f05a394cf4af {
  mads @0 :ModularAssistiveDrivingSystem;
  intelligentCruiseButtonManagement @1 :IntelligentCruiseButtonManagement;
-  buttonsPressed @2 :UInt16;
-  buttonsReleaseToggle @3 :UInt16;

  enum AudibleAlert {
    none @0;
@@ -139,16 +137,10 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
    eta @2 :UInt32;
  }

-  struct Chunk {
-    fileName @0 :Text;
-    sha256 @1 :Text;
-  }
-
  struct Artifact {
    fileName @0 :Text;
    downloadUri @1 :DownloadUri;
    downloadProgress @2 :DownloadProgress;
-    chunks @3 :List(Chunk);
  }

  struct Model {
@@ -163,7 +155,6 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
      policy @3;
      offPolicy @4;
      onPolicy @5;
-      chunked @6;
    }
  }

@@ -351,7 +342,6 @@ struct OnroadEventSP @0xda96579883444c35 {
    speedLimitChanged @21;
    speedLimitPending @22;
    e2eChime @23;
-    laneChangeRoadEdge @24;
  }
 }

@@ -458,8 +448,6 @@ struct LiveMapDataSP @0xf416ec09499d9d19 {

 struct ModelDataV2SP @0xa1680744031fdb2d {
  laneTurnDirection @0 :TurnDirection;
-  leftLaneChangeEdgeBlock @1 :Bool;
-  rightLaneChangeEdgeBlock @2 :Bool;

  enum TurnDirection {
    none @0;
@@ -812,7 +812,6 @@ struct SelfdriveState {
    promptDistracted @8;

    preAlert @9;
-    complete @10;
  }

  enum OpenpilotState @0xdbe58b96d2d1ac61 {
@@ -2161,8 +2160,7 @@ struct DriverMonitoringStateDEPRECATED @0xb83cda094a1da284 {

 struct DriverMonitoringState {
  lockout @0 :Bool;
-  lockoutCount @15 :Int8;
-  lockoutMinutesRemaining @11 :Int8;
+  lockoutRecoveryPercent @11 :Int8;
  alert3Count @12 :Int8;
  noResponseCount @13 :Int8;
  noResponseForceDecel @14 :Bool;
@@ -2309,19 +2307,6 @@ struct LiveDelayData {
  points @4 :List(Float32);
  calPerc @6 :Int8;
  version @7 :Int32;
-  speedBucket @8 :Int8;
-  speedBucketEdges @9 :List(Float32);
-  lateralDelayBuckets @10 :List(Float32);
-  lateralDelayEstimateStdBuckets @11 :List(Float32);
-  validBlocksBuckets @12 :List(Int32);
-  calPercBuckets @13 :List(Int8);
-  statusBuckets @14 :List(Status);
-  lateralDelayAppliedBuckets @15 :List(Float32);
-  blockIdxBuckets @16 :List(Int8);
-  sampleIdxBuckets @17 :List(Int8);
-  blockValuesBuckets @18 :List(List(Float32));
-  learningCountdownBuckets @19 :List(Float32);
-  learningResetReasonBuckets @20 :List(Text);

  enum Status {
    unestimated @0;
@@ -7,43 +7,12 @@ import os
 import capnp
 import time

-from typing import Union
+from typing import Optional, List, Union, Dict

 from openpilot.cereal import log
 from openpilot.cereal.services import SERVICE_LIST
 from openpilot.common.utils import MovingAverage

-__all__ = (
-  "NO_TRAVERSAL_LIMIT",
-  "Context",
-  "FrequencyTracker",
-  "IpcError",
-  "MultiplePublishersError",
-  "Poller",
-  "PubMaster",
-  "PubSocket",
-  "SocketEventHandle",
-  "SubMaster",
-  "SubSocket",
-  "delete_fake_prefix",
-  "drain_sock",
-  "drain_sock_raw",
-  "fake_event_handle",
-  "get_fake_prefix",
-  "log_from_bytes",
-  "new_message",
-  "pub_sock",
-  "recv_one",
-  "recv_one_or_none",
-  "recv_one_retry",
-  "recv_sock",
-  "reset_context",
-  "set_fake_prefix",
-  "sub_sock",
-  "toggle_fake_events",
-  "wait_for_one_event",
-)
-
 NO_TRAVERSAL_LIMIT = 2**64-1


@@ -53,8 +22,8 @@ def pub_sock(endpoint: str) -> PubSocket:
  return msgq.pub_sock(endpoint, segment_size)


-def sub_sock(endpoint: str, poller: Poller | None = None, addr: str = "127.0.0.1",
-             conflate: bool = False, timeout: int | None = None) -> SubSocket:
+def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
+             conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
  service = SERVICE_LIST.get(endpoint)
  segment_size = service.queue_size if service else 0
  return msgq.sub_sock(endpoint, poller=poller, addr=addr, conflate=conflate,
@@ -70,7 +39,7 @@ def log_from_bytes(dat: bytes, struct: capnp.lib.capnp._StructModule = log.Event
    return msg


-def new_message(service: str | None, size: int | None = None, **kwargs) -> capnp.lib.capnp._DynamicStructBuilder:
+def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) -> capnp.lib.capnp._DynamicStructBuilder:
  args = {
    'valid': False,
    'logMonoTime': int(time.monotonic() * 1e9),
@@ -85,14 +54,14 @@ def new_message(service: str | None, size: int | None = None, **kwargs) -> capnp
  return dat


-def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> list[capnp.lib.capnp._DynamicStructReader]:
+def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]:
  """Receive all message currently available on the queue"""
  msgs = drain_sock_raw(sock, wait_for_one=wait_for_one)
  return [log_from_bytes(m) for m in msgs]


 # TODO: print when we drop packets?
-def recv_sock(sock: SubSocket, wait: bool = False) -> capnp.lib.capnp._DynamicStructReader | None:
+def recv_sock(sock: SubSocket, wait: bool = False) -> Optional[capnp.lib.capnp._DynamicStructReader]:
  """Same as drain sock, but only returns latest message. Consider using conflate instead."""
  dat = None

@@ -113,14 +82,14 @@ def recv_sock(sock: SubSocket, wait: bool = False) -> capnp.lib.capnp._DynamicSt
  return dat


-def recv_one(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader | None:
+def recv_one(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
  dat = sock.receive()
  if dat is not None:
    dat = log_from_bytes(dat)
  return dat


-def recv_one_or_none(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader | None:
+def recv_one_or_none(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
  dat = sock.receive(non_blocking=True)
  if dat is not None:
    dat = log_from_bytes(dat)
@@ -179,27 +148,27 @@ class FrequencyTracker:


 class SubMaster:
-  def __init__(self, services: list[str], poll: str | None = None,
-               ignore_alive: list[str] | None = None, ignore_avg_freq: list[str] | None = None,
-               ignore_valid: list[str] | None = None, addr: str = "127.0.0.1", frequency: float | None = None):
+  def __init__(self, services: List[str], poll: Optional[str] = None,
+               ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
+               ignore_valid: Optional[List[str]] = None, addr: str = "127.0.0.1", frequency: Optional[float] = None):
    self.frame = -1
    self.services = services
-    self.seen = dict.fromkeys(services, False)
-    self.updated = dict.fromkeys(services, False)
-    self.recv_time = dict.fromkeys(services, 0.0)
-    self.recv_frame = dict.fromkeys(services, 0)
+    self.seen = {s: False for s in services}
+    self.updated = {s: False for s in services}
+    self.recv_time = {s: 0. for s in services}
+    self.recv_frame = {s: 0 for s in services}
    self.sock = {}
    self.data = {}
-    self.logMonoTime = dict.fromkeys(services, 0)
+    self.logMonoTime = {s: 0 for s in services}

    # zero-frequency / on-demand services are always alive and presumed valid; all others must pass checks
    on_demand = {s: SERVICE_LIST[s].frequency <= 1e-5 for s in services}
-    self.static_freq_services = {s for s in services if not on_demand[s]}
+    self.static_freq_services = set(s for s in services if not on_demand[s])
    self.alive = {s: on_demand[s] for s in services}
    self.freq_ok = {s: on_demand[s] for s in services}
    self.valid = {s: on_demand[s] for s in services}

-    self.freq_tracker: dict[str, FrequencyTracker] = {}
+    self.freq_tracker: Dict[str, FrequencyTracker] = {}
    self.poller = Poller()
    polled_services = set([poll, ] if poll is not None else services)
    self.non_polled_services = set(services) - polled_services
@@ -242,7 +211,7 @@ class SubMaster:
      msgs.append(recv_one_or_none(self.sock[s]))
    self.update_msgs(time.monotonic(), msgs)

-  def update_msgs(self, cur_time: float, msgs: list[capnp.lib.capnp._DynamicStructReader]) -> None:
+  def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
    self.frame += 1
    self.updated = dict.fromkeys(self.services, False)
    for msg in msgs:
@@ -265,21 +234,21 @@ class SubMaster:
      self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency) or (self.seen[s] and self.simulation)
      self.freq_ok[s] = self.freq_tracker[s].valid or self.simulation

-  def all_alive(self, service_list: list[str] | None = None) -> bool:
+  def all_alive(self, service_list: Optional[List[str]] = None) -> bool:
    return all(self.alive[s] for s in (service_list or self.services) if s not in self.ignore_alive)

-  def all_freq_ok(self, service_list: list[str] | None = None) -> bool:
+  def all_freq_ok(self, service_list: Optional[List[str]] = None) -> bool:
    return all(self.freq_ok[s] for s in (service_list or self.services) if self._check_avg_freq(s))

-  def all_valid(self, service_list: list[str] | None = None) -> bool:
+  def all_valid(self, service_list: Optional[List[str]] = None) -> bool:
    return all(self.valid[s] for s in (service_list or self.services) if s not in self.ignore_valid)

-  def all_checks(self, service_list: list[str] | None = None) -> bool:
+  def all_checks(self, service_list: Optional[List[str]] = None) -> bool:
    return self.all_alive(service_list) and self.all_freq_ok(service_list) and self.all_valid(service_list)


 class PubMaster:
-  def __init__(self, services: list[str]):
+  def __init__(self, services: List[str]):
    self.sock = {}
    for s in services:
      self.sock[s] = pub_sock(s)
@@ -1,3 +1,4 @@
+import os
 import capnp
 import multiprocessing
 import numbers
@@ -5,6 +6,7 @@ import random
 import threading
 import time
 from openpilot.common.parameterized import parameterized
+import pytest

 from openpilot.cereal import log
 from opendbc.car.structs import car
@@ -22,6 +24,10 @@ def random_socks(num_socks=10):
 def random_bytes(length=1000):
  return bytes([random.randrange(0xFF) for _ in range(length)])

+def zmq_sleep(t=1):
+  if "ZMQ" in os.environ:
+    time.sleep(t)
+

 # TODO: this should take any capnp struct and returrn a msg with random populated data
 def random_carstate():
@@ -47,6 +53,16 @@ def delayed_send(delay, sock, dat):


 class TestMessaging:
+  def setUp(self):
+    # TODO: ZMQ tests are too slow; all sleeps will need to be
+    # replaced with logic to block on the necessary condition
+    if "ZMQ" in os.environ:
+      pytest.skip()
+
+    # ZMQ pub socket takes too long to die
+    # sleep to prevent multiple publishers error between tests
+    zmq_sleep()
+
  @parameterized.expand(events)
  def test_new_message(self, evt):
    try:
@@ -73,6 +89,7 @@ class TestMessaging:
    sock = "carState"
    pub_sock = messaging.pub_sock(sock)
    sub_sock = messaging.sub_sock(sock, timeout=1000)
+    zmq_sleep()

    # no wait and no msgs in queue
    msgs = func(sub_sock)
@@ -93,6 +110,7 @@ class TestMessaging:
    sock = "carState"
    pub_sock = messaging.pub_sock(sock)
    sub_sock = messaging.sub_sock(sock, timeout=100)
+    zmq_sleep()

    # no wait and no msg in queue, socket should timeout
    recvd = messaging.recv_sock(sub_sock)
@@ -111,6 +129,7 @@ class TestMessaging:
    sock = "carState"
    pub_sock = messaging.pub_sock(sock)
    sub_sock = messaging.sub_sock(sock, timeout=1000)
+    zmq_sleep()

    # no msg in queue, socket should timeout
    recvd = messaging.recv_one(sub_sock)
@@ -123,10 +142,12 @@ class TestMessaging:
    assert isinstance(recvd, capnp._DynamicStructReader)
    assert_carstate(msg.carState, recvd.carState)

+  @pytest.mark.xfail(condition="ZMQ" in os.environ, reason='ZMQ detected')
  def test_recv_one_or_none(self):
    sock = "carState"
    pub_sock = messaging.pub_sock(sock)
    sub_sock = messaging.sub_sock(sock)
+    zmq_sleep()

    # no msg in queue, socket shouldn't block
    recvd = messaging.recv_one_or_none(sub_sock)
@@ -144,13 +165,16 @@ class TestMessaging:
    sock_timeout = 0.1
    pub_sock = messaging.pub_sock(sock)
    sub_sock = messaging.sub_sock(sock, timeout=round(sock_timeout*1000))
+    zmq_sleep()

-    # wait 5 socket timeouts and make sure it's still retrying
-    p = multiprocessing.Process(target=messaging.recv_one_retry, args=(sub_sock,))
-    p.start()
-    time.sleep(sock_timeout*5)
-    assert p.is_alive()
-    p.terminate()
+    # this test doesn't work with ZMQ since multiprocessing interrupts it
+    if "ZMQ" not in os.environ:
+      # wait 5 socket timeouts and make sure it's still retrying
+      p = multiprocessing.Process(target=messaging.recv_one_retry, args=(sub_sock,))
+      p.start()
+      time.sleep(sock_timeout*5)
+      assert p.is_alive()
+      p.terminate()

    # wait 5 socket timeouts before sending
    msg = random_carstate()
@@ -1,16 +1,21 @@
 import random
 import time
-from typing import cast
-from collections.abc import Sized
+from typing import Sized, cast

 import openpilot.cereal.messaging as messaging
 from openpilot.cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
-                                                  random_bytes, random_carstate, assert_carstate
+                                                  random_bytes, random_carstate, assert_carstate, \
+                                                  zmq_sleep
 from openpilot.cereal.services import SERVICE_LIST


 class TestSubMaster:

+  def setup_method(self):
+    # ZMQ pub socket takes too long to die
+    # sleep to prevent multiple publishers error between tests
+    zmq_sleep(3)
+
  def test_init(self):
    sm = messaging.SubMaster(events)
    for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive,
@@ -37,6 +42,7 @@ class TestSubMaster:
    sock = "carState"
    pub_sock = messaging.pub_sock(sock)
    sm = messaging.SubMaster([sock,])
+    zmq_sleep()

    msg = random_carstate()
    pub_sock.send(msg.to_bytes())
@@ -48,6 +54,7 @@ class TestSubMaster:
    sock = "carState"
    pub_sock = messaging.pub_sock(sock)
    sm = messaging.SubMaster([sock,])
+    zmq_sleep()

    for i in range(10):
      msg = messaging.new_message(sock)
@@ -84,13 +91,21 @@ class TestSubMaster:

      for service, (max_freq, min_freq) in checks.items():
        if max_freq is not None:
-          assert min_freq is not None
          assert sm._check_avg_freq(service)
          assert sm.freq_tracker[service].max_freq == max_freq*1.2
          assert sm.freq_tracker[service].min_freq == min_freq*0.8
        else:
          assert not sm._check_avg_freq(service)

+  def test_alive(self):
+    pass
+
+  def test_ignore_alive(self):
+    pass
+
+  def test_valid(self):
+    pass
+
  # SubMaster should always conflate
  def test_conflate(self):
    sock = "carState"
@@ -109,6 +124,11 @@ class TestSubMaster:

 class TestPubMaster:

+  def setup_method(self):
+    # ZMQ pub socket takes too long to die
+    # sleep to prevent multiple publishers error between tests
+    zmq_sleep(3)
+
  def test_init(self):
    messaging.PubMaster(events)

@@ -116,6 +136,7 @@ class TestPubMaster:
    socks = random_socks()
    pm = messaging.PubMaster(socks)
    sub_socks = {s: messaging.sub_sock(s, conflate=True, timeout=1000) for s in socks}
+    zmq_sleep()

    # PubMaster accepts either a capnp msg builder or bytes
    for capnp in [True, False]:
@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 from enum import IntEnum
+from typing import Optional


 # TODO: this should be automatically determined using the capnp schema
@@ -10,7 +11,7 @@ class QueueSize(IntEnum):


 class Service:
-  def __init__(self, should_log: bool, frequency: float, decimation: int | None = None,
+  def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None,
               queue_size: QueueSize = QueueSize.SMALL):
    self.should_log = should_log
    self.frequency = frequency
@@ -124,7 +125,8 @@ def build_header():
  for k, v in SERVICE_LIST.items():
    should_log = "true" if v.should_log else "false"
    decimation = -1 if v.decimation is None else v.decimation
-    h += f'  {{ "{k}", {{"{k}", {should_log}, {v.frequency:f}, {decimation:d}, {v.queue_size:d}}}}},\n'
+    h += '  { "%s", {"%s", %s, %f, %d, %d}},\n' % \
+         (k, k, should_log, v.frequency, decimation, v.queue_size)
  h += "};\n"

  h += "#endif\n"
@@ -38,7 +38,6 @@ class BaseApi:
    }
    if payload_extra is not None:
      payload.update(payload_extra)
-    assert self.private_key is not None
    token = jwt.encode(payload, self.private_key, algorithm=self.jwt_algorithm)
    if isinstance(token, bytes):
      token = token.decode('utf8')
@@ -42,26 +42,25 @@ def get_existing_chunks(path):
 class ChunkStream(io.RawIOBase):
  def __init__(self, paths):
    self._paths = iter(paths)
-    self._f = None
+    self._buf = memoryview(b'')

  def readable(self):
    return True

  def readinto(self, b):
    n = 0
-    view = memoryview(b)
    while n < len(b):
-      if self._f is None:
+      if not self._buf:
        p = next(self._paths, None)
        if p is None:
          break
-        self._f = open(p, 'rb')
-      count = self._f.readinto(view[n:])
-      if not count:
-        self._f.close()
-        self._f = None
+        with open(p, 'rb') as f:
+          self._buf = memoryview(f.read())
        continue
-      n += count
+      take = min(len(b) - n, len(self._buf))
+      b[n:n + take] = self._buf[:take]
+      self._buf = self._buf[take:]
+      n += take
    return n

 def open_file_chunked(path):
@@ -56,28 +56,28 @@
  },
  {
    "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-19ff57b68e219e4503fcaca716967098d5d0a1de8af833f04dbf13b99aeb4d39.img.xz",
-    "hash": "19ff57b68e219e4503fcaca716967098d5d0a1de8af833f04dbf13b99aeb4d39",
-    "hash_raw": "19ff57b68e219e4503fcaca716967098d5d0a1de8af833f04dbf13b99aeb4d39",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8.img.xz",
+    "hash": "8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8",
+    "hash_raw": "8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8",
    "size": 17487872,
    "sparse": false,
    "full_check": true,
    "has_ab": true,
-    "ondevice_hash": "ddfe93cc6a8531af92ee331d9bbaeae2f1d933bdb38e579769dc9fe7998eb626"
+    "ondevice_hash": "edca8bee1531e66953d107eeceeed2dc7b3ca46417e49d55508f94e58bf95db8"
  },
  {
    "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-a396dd98ffd49614fb198d1b022a0c7a6d0a1e563c20ce11b0a975105ab50724.img.xz",
-    "hash": "4dc41c2c072f5f5d5cd484cd6173049cd96acfb9a67bc20049775585fe881539",
-    "hash_raw": "a396dd98ffd49614fb198d1b022a0c7a6d0a1e563c20ce11b0a975105ab50724",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f.img.xz",
+    "hash": "78acfe16a7b62a3a91fc7a81f40a693e4468cec1c69df7d0b1e550aacc646113",
+    "hash_raw": "ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f",
    "size": 4718592000,
    "sparse": true,
    "full_check": false,
    "has_ab": true,
-    "ondevice_hash": "cf1229630b7a2b8497705bca4ba947dbf0c217418ff4febff571aa4f4a878134",
+    "ondevice_hash": "743142c5a898f27b2a1029cca42c8a5d5d1fc0096414422b850fe84c8d0b8342",
    "alt": {
-      "hash": "a396dd98ffd49614fb198d1b022a0c7a6d0a1e563c20ce11b0a975105ab50724",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-a396dd98ffd49614fb198d1b022a0c7a6d0a1e563c20ce11b0a975105ab50724.img",
+      "hash": "ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f.img",
      "size": 4718592000
    }
  }
@@ -19,7 +19,7 @@ class StreamingDecompressor:
  def __init__(self, url: str) -> None:
    self.buf = b""

-    self.req = requests.get(url, stream=True, headers={'Accept-Encoding': 'identity'}, timeout=60)
+    self.req = requests.get(url, stream=True, headers={'Accept-Encoding': None}, timeout=60)
    self.it = self.req.iter_content(chunk_size=1024 * 1024)
    self.decompressor = lzma.LZMADecompressor(format=lzma.FORMAT_AUTO)
    self.eof = False
@@ -339,7 +339,7 @@ class Tici(HardwareBase):

    # Ensure fan gpio is enabled so fan runs until shutdown, also turned on at boot by the ABL
    gpio_init(GPIO.SOM_ST_IO, True)
-    gpio_set(GPIO.SOM_ST_IO, True)
+    gpio_set(GPIO.SOM_ST_IO, 1)

    # *** IRQ config ***

@@ -389,21 +389,21 @@ class Tici(HardwareBase):
    gpio_init(GPIO.STM_RST_N, True)
    gpio_init(GPIO.STM_BOOT0, True)

-    gpio_set(GPIO.STM_RST_N, True)
-    gpio_set(GPIO.STM_BOOT0, False)
+    gpio_set(GPIO.STM_RST_N, 1)
+    gpio_set(GPIO.STM_BOOT0, 0)
    time.sleep(0.01)
-    gpio_set(GPIO.STM_RST_N, False)
+    gpio_set(GPIO.STM_RST_N, 0)

  def recover_internal_panda(self):
    gpio_init(GPIO.STM_RST_N, True)
    gpio_init(GPIO.STM_BOOT0, True)

-    gpio_set(GPIO.STM_RST_N, True)
-    gpio_set(GPIO.STM_BOOT0, True)
+    gpio_set(GPIO.STM_RST_N, 1)
+    gpio_set(GPIO.STM_BOOT0, 1)
    time.sleep(0.01)
-    gpio_set(GPIO.STM_RST_N, False)
+    gpio_set(GPIO.STM_RST_N, 0)
    time.sleep(0.01)
-    gpio_set(GPIO.STM_BOOT0, False)
+    gpio_set(GPIO.STM_BOOT0, 0)

  def booted(self):
    # this normally boots within 8s, but on rare occasions takes 30+s
@@ -52,7 +52,7 @@ PPPD_CMD = [
  "novj", "novjccomp", "ipcp-accept-local", "ipcp-accept-remote", "nomagic",
  "user", '""', "password", '""',
 ]
-INITIAL_STATE: dict[str, object] = {
+INITIAL_STATE = {
  "seconds_since_boot": 0,
  "state": "INITIALIZING",
  "connected": False, "ip_address": "",
@@ -37,7 +37,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"DoShutdown", {CLEAR_ON_MANAGER_START, BOOL}},
    {"DoUninstall", {CLEAR_ON_MANAGER_START, BOOL}},
    {"DriverTooDistracted", {CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON, BOOL}},
-    {"DriverLockoutCount", {CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON, INT, "0"}},
    {"AlphaLongitudinalEnabled", {PERSISTENT | DEVELOPMENT_ONLY | BACKUP, BOOL}},
    {"ExperimentalMode", {PERSISTENT | BACKUP, BOOL}},
    {"ExperimentalModeConfirmed", {PERSISTENT | BACKUP, BOOL}},
@@ -179,10 +178,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"RoadEdgeLaneChangeEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"RocketFuel", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"ScreenSaverEnabled", {PERSISTENT | BACKUP, BOOL, "1"}},
-    {"ScreenSaverTimeout", {PERSISTENT | BACKUP, INT, "300"}},
    {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
@@ -225,7 +221,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"SubaruStopAndGo", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"TeslaCoopSteering", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"TeslaMadsScreenButton", {PERSISTENT | BACKUP, INT, "0"}},
    {"ToyotaEnforceStockLongitudinal", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"ToyotaStopAndGoHack", {PERSISTENT | BACKUP, BOOL, "0"}},

@@ -276,7 +271,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    // Torque lateral control custom params
    {"CustomTorqueParams", {PERSISTENT | BACKUP , BOOL}},
    {"EnforceTorqueControl", {PERSISTENT | BACKUP, BOOL}},
-    {"LateralJerkTorqueController", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"LiveTorqueParamsToggle", {PERSISTENT | BACKUP , BOOL}},
    {"LiveTorqueParamsRelaxedToggle", {PERSISTENT | BACKUP , BOOL}},
    {"TorqueControlTune", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
@@ -1,13 +1,11 @@
 import numpy as np
-from collections.abc import Sequence
-
-Gain = int | float | tuple[Sequence[float], Sequence[float]] | list[list[float]]
+from numbers import Number

 class PIDController:
-  def __init__(self, k_p: Gain, k_i: Gain, k_d: Gain = 0., pos_limit=1e308, neg_limit=-1e308, rate=100):
-    self._k_p = ([0], [k_p]) if isinstance(k_p, (int, float)) else k_p
-    self._k_i = ([0], [k_i]) if isinstance(k_i, (int, float)) else k_i
-    self._k_d = ([0], [k_d]) if isinstance(k_d, (int, float)) else k_d
+  def __init__(self, k_p, k_i, k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
+    self._k_p: list[list[float]] = [[0], [k_p]] if isinstance(k_p, Number) else k_p
+    self._k_i: list[list[float]] = [[0], [k_i]] if isinstance(k_i, Number) else k_i
+    self._k_d: list[list[float]] = [[0], [k_d]] if isinstance(k_d, Number) else k_d

    self.set_limits(pos_limit, neg_limit)

@@ -27,7 +27,7 @@ class SwaglogRotatingFileHandler(BaseRotatingHandler):
    self.log_files = self.get_existing_logfiles()
    log_indexes = [f.split(".")[-1] for f in self.log_files]
    self.last_file_idx = max([int(i) for i in log_indexes if i.isdigit()] or [-1])
-    self.last_rollover = 0.0
+    self.last_rollover = None
    self.doRollover()

  def _open(self):
@@ -39,7 +39,7 @@ class SwaglogRotatingFileHandler(BaseRotatingHandler):
    return stream

  def get_existing_logfiles(self):
-    log_files = []
+    log_files = list()
    base_dir = os.path.dirname(self.base_filename)
    for fn in os.listdir(base_dir):
      fp = os.path.join(base_dir, fn)
@@ -112,14 +112,14 @@ class TestParams:
  def test_params_default_value(self):
    self.params.remove("LanguageSetting")
    self.params.remove("LongitudinalPersonality")
-    self.params.remove("LiveParametersV2")
+    self.params.remove("LiveParameters")

    assert self.params.get("LanguageSetting") is None
    assert self.params.get("LanguageSetting", return_default=False) is None
    assert isinstance(self.params.get("LanguageSetting", return_default=True), str)
    assert isinstance(self.params.get("LongitudinalPersonality", return_default=True), int)
-    assert self.params.get("LiveParametersV2") is None
-    assert self.params.get("LiveParametersV2", return_default=True) is None
+    assert self.params.get("LiveParameters") is None
+    assert self.params.get("LiveParameters", return_default=True) is None

  def test_params_get_type(self):
    # json
@@ -52,7 +52,7 @@ _ar_ox_config = DeviceCameraConfig(CameraConfig(1928, 1208, 2648.0), _ar_ox_fish
 _os_config = DeviceCameraConfig(CameraConfig(2688 // 2, 1520 // 2, 1522.0 * 3 / 4), _os_fisheye, _os_fisheye)
 _neo_config = DeviceCameraConfig(CameraConfig(1164, 874, 910.0), CameraConfig(816, 612, 650.0), _NoneCameraConfig())

-DEVICE_CAMERAS: dict[tuple[str, str], DeviceCameraConfig] = {
+DEVICE_CAMERAS = {
  # A "device camera" is defined by a device type and sensor

  # sensor type was never set on eon/neo/two
@@ -176,3 +176,4 @@ def img_from_device(pt_device):

  pt_img = pt_view/pt_view[:, 2:3]
  return pt_img.reshape(input_shape)[:, :2]
+
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:3027da9834adf9c71177bc3086f8de3018ce22e4725b694d635723c5b3c860cd
-size 97120
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ca29ff46fbd6d00cc02596de8c9abfbf1cacdc6a7b2f98b27a74d24c790da004
-size 52374
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6f47633b5082b911e79dd13fc2d1f4c2a9d44d2fe0860f3d390ffc4e3d772f7d
-size 97120
+oid sha256:42bd04a57b527c787a0555503e02a203f7d672c12d448769a3f41f17befbf013
+size 48044
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:538271820d618046009bb456e930598f2736dd1a6174c11925ec3912581b05c1
-size 52374
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:634fad6590295ef2e73d5f7e5aecbb5dd245a0f7692f1e300c2ebac95aabb8e3
-size 73026
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a380fe0a022856b302841a0dd19b71eab318c6b08ec851f128942758a7f1631a
-size 97120
+oid sha256:b1e177499d9439367179cc57a6301b6162393972e3a136cc35c5fdac026bf10a
+size 48044
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:cc9e67cfaba77e8e4f4049f0add9238660e4cf8f886c6915600d8f47a30c98db
-size 97120
+oid sha256:2c0af7f5fe57bb36ab96fae868e20feca763541c97a61b3a3a84a0e7fcb81163
+size 83350
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad19268e4aaaeac8dd21f6b26c16a121e7b3f50bba867748e7226727643ae682
+size 144642
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:412ef25d2fb103c1ebd55c667313a5921493305fb4e1f4e1dafc08d3b95d86ab
+size 73026
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:081d64ca28a84a59ff5e6aea4732865b8687585938b8a287bc7e6a49d0646508
-size 97120
+oid sha256:4af81cbf1d96a42cc351878b015298aee82874b46baaf1a615ca91ec36c0ced6
+size 83228
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:1bb440f424c989c06e203bfba0b32d39aede8f6c78a9b335e5e778460202b601
-size 73026
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a390831afca3bfc6ea3c2739b872ebf866e70df8ae30653f8587e5cd3993959
+size 68306
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67e636d072703e6b1233a12344c0a6304fd43d64dbb31c66b71c2c8870a339c1
+size 153764
@@ -56,9 +56,6 @@ class CarSpecificEvents:
      if self.CP.minEnableSpeed > 0 and CS.vEgo < 0.001:
        events.add(EventName.manualRestart)

-      if CS.brakeHoldActive and CS.blockPcmEnable: # set by Nidec Hybrid which cannot resume from brakehold
-        events.add(EventName.belowEngageSpeed)
-
    elif self.CP.brand == 'toyota':
      # TODO: when we check for unexpected disengagement, check gear not S1, S2, S3
      if self.CP.openpilotLongitudinalControl:
@@ -3,7 +3,7 @@ import copy
 import os
 import pytest
 import random
-import unittest
+import unittest # noqa: TID251
 from collections import defaultdict, Counter
 import hypothesis.strategies as st
 from hypothesis import Phase, given, settings
@@ -22,11 +22,8 @@ from openpilot.selfdrive.pandad import can_capnp_to_list
 from openpilot.selfdrive.test.helpers import read_segment_list
 from openpilot.common.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 from openpilot.tools.lib.logreader import LogReader, LogsUnavailable, openpilotci_source, internal_source, comma_api_source
-from openpilot.tools.lib.file_sources import Source
 from openpilot.tools.lib.route import SegmentName

-from openpilot.sunnypilot.tools.lib.sunnypilot_car_segments import sunnypilot_car_segments_source
-
 SafetyModel = car.CarParams.SafetyModel
 SteerControlType = structs.CarParams.SteerControlType

@@ -134,7 +131,7 @@ class TestCarModelBase(unittest.TestCase):
      segment_range = f"{cls.test_route.route}/{seg}"

      try:
-        sources: list[Source] = [internal_source] if len(INTERNAL_SEG_LIST) else [openpilotci_source, comma_api_source, sunnypilot_car_segments_source]
+        sources = [internal_source] if len(INTERNAL_SEG_LIST) else [openpilotci_source, comma_api_source]
        lr = LogReader(segment_range, sources=sources, sort_by_time=True)
        return cls.get_testing_data_from_logreader(lr)
      except (LogsUnavailable, AssertionError):
@@ -260,7 +257,7 @@ class TestCarModelBase(unittest.TestCase):

      # Don't check relay malfunction on disabled routes (relay closed),
      # or before fingerprinting is done (elm327 and noOutput)
-      if self.car_safety_mode_frame is not None and t / 1e4 > self.car_safety_mode_frame:
+      if self.openpilot_enabled and t / 1e4 > self.car_safety_mode_frame:
        self.assertFalse(self.safety.get_relay_malfunction())
      else:
        self.safety.set_relay_malfunction(False)
@@ -454,7 +451,7 @@ class TestCarModelBase(unittest.TestCase):
      # TODO: remove this exception once this mismatch is resolved
      brake_pressed = CS.brakePressed
      if CS.brakePressed and not self.safety.get_brake_pressed_prev():
-        if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.deprecated.brake > 0.05:
+        if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brakeDEPRECATED > 0.05:
          brake_pressed = False
      checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
      checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
@@ -33,7 +33,7 @@ class DesireHelper:
  def get_lane_change_direction(CS):
    return LaneChangeDirection.left if CS.leftBlinker else LaneChangeDirection.right

-  def update(self, carstate, lateral_active, lane_change_prob, left_edge_detected=False, right_edge_detected=False):
+  def update(self, carstate, lateral_active, lane_change_prob):
    self.alc.update_params()
    self.lane_turn_controller.update_params()
    v_ego = carstate.vEgo
@@ -64,8 +64,8 @@ class DesireHelper:
                         ((carstate.steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or
                          (carstate.steeringTorque < 0 and self.lane_change_direction == LaneChangeDirection.right))

-        blindspot_detected = (((carstate.leftBlindspot or left_edge_detected) and self.lane_change_direction == LaneChangeDirection.left) or
-                              ((carstate.rightBlindspot or right_edge_detected) and self.lane_change_direction == LaneChangeDirection.right))
+        blindspot_detected = ((carstate.leftBlindspot and self.lane_change_direction == LaneChangeDirection.left) or
+                              (carstate.rightBlindspot and self.lane_change_direction == LaneChangeDirection.right))

        self.alc.update_lane_change(blindspot_detected, carstate.brakePressed)

@@ -15,9 +15,6 @@ MAX_LATERAL_JERK = 5.0  # m/s^3
 MAX_LATERAL_ACCEL_NO_ROLL = 3.0  # m/s^2


-def should_stop(v_ego: float, a_target: float) -> bool:
-  return bool(v_ego < 0.25 and a_target < 0.1)
-
 def clamp(val, min_val, max_val):
  clamped_val = float(np.clip(val, min_val, max_val))
  return clamped_val, clamped_val != val
@@ -43,7 +40,7 @@ def clip_curvature(v_ego, prev_curvature, new_curvature, roll) -> tuple[float, b
  return float(new_curvature), limited_accel or limited_max_curv


-def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL):
+def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.3):
  if len(speeds) == len(t_idxs):
    v_now = speeds[0]
    a_now = accels[0]
@@ -56,7 +53,8 @@ def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL):
    v_now = 0.0
    v_target = 0.0
    a_target = 0.0
-  return a_target, should_stop(v_now, a_target)
+  should_stop = (v_now < vEgoStopping and a_target < 0.1)
+  return a_target, should_stop

 def curv_from_psis(psi_target, psi_rate, vego, action_t):
  vego = np.clip(vego, MIN_SPEED, np.inf)
@@ -14,7 +14,7 @@ class LatControl(ABC):
    self.steer_max = 1.0

  @abstractmethod
-  def update(self, active: bool, CS, VM, params, steer_limited_by_safety: bool, desired_curvature: float, calibrated_pose: Pose | None,
+  def update(self, active: bool, CS, VM, params, steer_limited_by_safety: bool, desired_curvature: float, calibrated_pose: Pose,
             curvature_limited: bool, lat_delay: float):
    pass

@@ -10,7 +10,7 @@ CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
 LongCtrlState = car.CarControl.Actuators.LongControlState


-def long_control_state_trans(CP_SP, active, long_control_state,
+def long_control_state_trans(CP, CP_SP, active, long_control_state, v_ego,
                             should_stop, brake_pressed, cruise_standstill):
  # Gas Interceptor
  cruise_standstill = cruise_standstill and not CP_SP.enableGasInterceptor
@@ -26,17 +26,22 @@ def long_control_state_trans(CP_SP, active, long_control_state,
    if long_control_state == LongCtrlState.off:
      if not starting_condition:
        long_control_state = LongCtrlState.stopping
+      elif CP.startingState:
+        long_control_state = LongCtrlState.starting
      else:
        long_control_state = LongCtrlState.pid

    elif long_control_state == LongCtrlState.stopping:
-      if starting_condition:
+      if starting_condition and CP.startingState:
+        long_control_state = LongCtrlState.starting
+      elif starting_condition:
        long_control_state = LongCtrlState.pid

-    elif long_control_state == LongCtrlState.pid:
+    elif long_control_state in [LongCtrlState.starting, LongCtrlState.pid]:
      if should_stop:
        long_control_state = LongCtrlState.stopping
-
+      elif v_ego > CP.vEgoStarting:
+        long_control_state = LongCtrlState.pid
  return long_control_state

 class LongControl:
@@ -57,7 +62,7 @@ class LongControl:
    self.pid.neg_limit = accel_limits[0]
    self.pid.pos_limit = accel_limits[1]

-    self.long_control_state = long_control_state_trans(self.CP_SP, active, self.long_control_state,
+    self.long_control_state = long_control_state_trans(self.CP, self.CP_SP, active, self.long_control_state, CS.vEgo,
                                                       should_stop, CS.brakePressed,
                                                       CS.cruiseState.standstill)
    if self.long_control_state == LongCtrlState.off:
@@ -68,8 +73,11 @@ class LongControl:
      output_accel = self.last_output_accel
      if output_accel > self.CP.stopAccel:
        output_accel = min(output_accel, 0.0)
-        # TODO: can we just go straight to stopAccel?
-        output_accel -= 1.0 * DT_CTRL  # m/s^2/s while trying to stop
+        output_accel -= self.CP.stoppingDecelRate * DT_CTRL
+      self.reset()
+
+    elif self.long_control_state == LongCtrlState.starting:
+      output_accel = self.CP.startAccel
      self.reset()

    else:  # LongCtrlState.pid
@@ -137,7 +137,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):

    action_t =  self.CP.longitudinalActuatorDelay + DT_MDL
    output_a_target_mpc, output_should_stop_mpc = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX,
-                                                                        action_t=action_t)
+                                                                        action_t=action_t, vEgoStopping=self.CP.vEgoStopping)
    output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
    output_should_stop_e2e = sm['modelV2'].action.shouldStop

@@ -23,18 +23,18 @@ def main():
  cloudlog.info("plannerd got CarParamsSP")

  gps_location_service = get_gps_location_service(params)
-  ignore_services = ["liveMapDataSP", "carStateSP", "selfdriveStateSP", gps_location_service]
+  ignore_services = ["liveMapDataSP", gps_location_service]

  ldw = LaneDepartureWarning()
  longitudinal_planner = LongitudinalPlanner(CP, CP_SP)
  pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState',
-                            'liveMapDataSP', 'carStateSP', 'selfdriveStateSP', gps_location_service],
-                           poll='modelV2', ignore_alive=ignore_services, ignore_avg_freq=ignore_services, ignore_valid=ignore_services)
+                            'liveMapDataSP', 'carStateSP', gps_location_service],
+                           poll='carState', ignore_alive=ignore_services, ignore_avg_freq=ignore_services, ignore_valid=ignore_services)

  while True:
    sm.update()
-    longitudinal_planner.sla.update_buttons(sm['selfdriveStateSP'].buttonsReleaseToggle)
+    longitudinal_planner.sla.update_car_state(sm['carState'])
    if sm.updated['modelV2']:
      longitudinal_planner.update(sm)
      longitudinal_planner.publish(sm, pm)
@@ -1,43 +1,60 @@
 from openpilot.cereal import custom
+from opendbc.car.structs import car
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState, long_control_state_trans


+
+
 class TestLongControlStateTransition:

  def test_stay_stopped(self):
+    CP = car.CarParams.new_message()
    CP_SP = custom.CarParamsSP.new_message()
    active = True
    current_state = LongCtrlState.stopping
-    next_state = long_control_state_trans(CP_SP, active, current_state,
+    next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
                             should_stop=True, brake_pressed=False, cruise_standstill=False)
    assert next_state == LongCtrlState.stopping
-    next_state = long_control_state_trans(CP_SP, active, current_state,
+    next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
                             should_stop=False, brake_pressed=True, cruise_standstill=False)
    assert next_state == LongCtrlState.stopping
-    next_state = long_control_state_trans(CP_SP, active, current_state,
+    next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
                             should_stop=False, brake_pressed=False, cruise_standstill=True)
    assert next_state == LongCtrlState.stopping
-    next_state = long_control_state_trans(CP_SP, active, current_state,
+    next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0,
                             should_stop=False, brake_pressed=False, cruise_standstill=False)
    assert next_state == LongCtrlState.pid
    active = False
-    next_state = long_control_state_trans(CP_SP, active, current_state,
+    next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0,
                             should_stop=False, brake_pressed=False, cruise_standstill=False)
    assert next_state == LongCtrlState.off

 def test_engage():
+  CP = car.CarParams.new_message()
  CP_SP = custom.CarParamsSP.new_message()
  active = True
  current_state = LongCtrlState.off
-  next_state = long_control_state_trans(CP_SP, active, current_state,
+  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
                             should_stop=True, brake_pressed=False, cruise_standstill=False)
  assert next_state == LongCtrlState.stopping
-  next_state = long_control_state_trans(CP_SP, active, current_state,
+  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
                             should_stop=False, brake_pressed=True, cruise_standstill=False)
  assert next_state == LongCtrlState.stopping
-  next_state = long_control_state_trans(CP_SP, active, current_state,
+  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
                             should_stop=False, brake_pressed=False, cruise_standstill=True)
  assert next_state == LongCtrlState.stopping
-  next_state = long_control_state_trans(CP_SP, active, current_state,
+  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
+                             should_stop=False, brake_pressed=False, cruise_standstill=False)
+  assert next_state == LongCtrlState.pid
+
+def test_starting():
+  CP = car.CarParams.new_message(startingState=True, vEgoStarting=0.5)
+  CP_SP = custom.CarParamsSP.new_message()
+  active = True
+  current_state = LongCtrlState.starting
+  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
+                             should_stop=False, brake_pressed=False, cruise_standstill=False)
+  assert next_state == LongCtrlState.starting
+  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0,
                             should_stop=False, brake_pressed=False, cruise_standstill=False)
  assert next_state == LongCtrlState.pid
@@ -7,6 +7,8 @@ from opendbc.car.lateral import get_friction, FRICTION_THRESHOLD
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.locationd.torqued import TorqueEstimator, MIN_BUCKET_POINTS, POINTS_PER_BUCKET, STEER_BUCKET_BOUNDS

+np.random.seed(0)
+
 LA_ERR_STD = 1.0
 INPUT_NOISE_STD = 0.08
 V_EGO = 30.0
@@ -56,17 +58,16 @@ def simulate_straight_road_msgs(est):
    for which, msg in (('carControl', carControl), ('carOutput', carOutput), ('carState', carState), ('livePose', livePose)):
      est.handle_log(t, which, msg)

-class TestTorquedLatAccelOffset:
-  def test_estimated_offset(self):
-    steer_torques, lat_accels = generate_inputs(TORQUE_TUNE_BIASED, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD)
-    est = get_warmed_up_estimator(steer_torques, lat_accels)
-    msg = est.get_msg()
-    # TODO add lataccelfactor and friction check when we have more accurate estimates
-    assert abs(msg.liveTorqueParameters.latAccelOffsetRaw - TORQUE_TUNE_BIASED.latAccelOffset) < 0.1
+def test_estimated_offset():
+  steer_torques, lat_accels = generate_inputs(TORQUE_TUNE_BIASED, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD)
+  est = get_warmed_up_estimator(steer_torques, lat_accels)
+  msg = est.get_msg()
+  # TODO add lataccelfactor and friction check when we have more accurate estimates
+  assert abs(msg.liveTorqueParameters.latAccelOffsetRaw - TORQUE_TUNE_BIASED.latAccelOffset) < 0.1

-  def test_straight_road_roll_bias(self):
-    steer_torques, lat_accels = generate_inputs(TORQUE_TUNE, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD)
-    est = get_warmed_up_estimator(steer_torques, lat_accels)
-    simulate_straight_road_msgs(est)
-    msg = est.get_msg()
-    assert (msg.liveTorqueParameters.latAccelOffsetRaw < -0.05) and np.isfinite(msg.liveTorqueParameters.latAccelOffsetRaw)
+def test_straight_road_roll_bias():
+  steer_torques, lat_accels = generate_inputs(TORQUE_TUNE, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD)
+  est = get_warmed_up_estimator(steer_torques, lat_accels)
+  simulate_straight_road_msgs(est)
+  msg = est.get_msg()
+  assert (msg.liveTorqueParameters.latAccelOffsetRaw < -0.05) and np.isfinite(msg.liveTorqueParameters.latAccelOffsetRaw)
@@ -1,5 +1,4 @@
 import numpy as np
-from collections.abc import Sequence
 from typing import Any
 from functools import cache

@@ -69,8 +68,7 @@ class NPQueue:


 class PointBuckets:
-  def __init__(self, x_bounds: list[tuple[float, float]], min_points: Sequence[float], min_points_total: int, points_per_bucket: int, rowsize: int) -> None:
-    self._rng = np.random.default_rng()
+  def __init__(self, x_bounds: list[tuple[float, float]], min_points: list[float], min_points_total: int, points_per_bucket: int, rowsize: int) -> None:
    self.x_bounds = x_bounds
    self.buckets = {bounds: NPQueue(maxlen=points_per_bucket, rowsize=rowsize) for bounds in x_bounds}
    self.buckets_min_points = dict(zip(x_bounds, min_points, strict=True))
@@ -100,9 +98,9 @@ class PointBuckets:
    points = np.vstack([x.arr for x in self.buckets.values()])
    if num_points is None:
      return points
-    return points[self._rng.choice(np.arange(len(points)), min(len(points), num_points), replace=False)]
+    return points[np.random.choice(np.arange(len(points)), min(len(points), num_points), replace=False)]

-  def load_points(self, points: Sequence[Sequence[float]]) -> None:
+  def load_points(self, points: list[list[float]]) -> None:
    for point in points:
      self.add_point(*point)

@@ -16,21 +16,13 @@ from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose, fft_next_good_size, parabolic_peak_interp
 from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle

-BLOCK_SIZE = 8
-BLOCK_NUM = 30
-BLOCK_NUM_NEEDED = 3
-MOVING_WINDOW_SEC = 20.0
-MIN_OKAY_WINDOW_SEC = 5.0
+BLOCK_SIZE = 100
+BLOCK_NUM = 50
+BLOCK_NUM_NEEDED = 5
+MOVING_WINDOW_SEC = 60.0
+MIN_OKAY_WINDOW_SEC = 25.0
 MIN_RECOVERY_BUFFER_SEC = 2.0
 MIN_VEGO = 50.0 * CV.MPH_TO_MS
-SPEED_BUCKET_EDGES = np.arange(0.0, 90.0, 10.0) * CV.MPH_TO_MS
-
-
-def interpolate_bucket_values(speed: float, edges: np.ndarray, values: list[float]) -> float:
-  if len(values) == 1:
-    return values[0]
-  widths = np.append(np.diff(edges), edges[-1] - edges[-2])
-  return float(np.interp(speed, edges + widths / 2, values))
 MIN_ABS_YAW_RATE = 0.0
 MAX_YAW_RATE_SANITY_CHECK = 1.0
 MIN_NCC = 0.95
@@ -39,14 +31,14 @@ MIN_LAG = 0.15
 MAX_LAG_STD = 0.1
 MAX_LAT_ACCEL = 2.0
 MAX_LAT_ACCEL_DIFF = 0.6
-MIN_LAT_ACCEL_RANGE = 0.1
+MIN_LAT_ACCEL_RANGE = 0.5
 MIN_CONFIDENCE = 0.7
 CORR_BORDER_OFFSET = 5
 LAG_CANDIDATE_CORR_THRESHOLD = 0.9
 SMOOTH_K = 5
 SMOOTH_SIGMA = 1.0

-VERSION = 3  # bump this to invalidate old parameter caches
+VERSION = 1  # bump this to invalidate old parameter caches


 def masked_symmetric_moving_average(x: np.ndarray, mask: np.ndarray, k: int, sigma: float) -> np.ndarray:
@@ -160,12 +152,6 @@ class BlockAverage:
      self.block_idx = (self.block_idx + 1) % self.num_blocks
      self.valid_blocks = min(self.valid_blocks + 1, self.num_blocks)

-  def restore(self, values: list[float], block_idx: int, idx: int):
-    assert len(values) == self.num_blocks and 0 <= block_idx < self.num_blocks and 0 <= idx < self.block_size
-    self.values = np.asarray(values, dtype=float).reshape(self.num_blocks, 1)
-    self.block_idx = block_idx
-    self.idx = idx
-
  def get(self) -> tuple[float, float, float, float]:
    valid_block_idx = [i for i in range(self.valid_blocks) if i != self.block_idx]
    valid_and_current_idx = valid_block_idx + ([self.block_idx] if self.idx > 0 else [])
@@ -192,8 +178,7 @@ class LateralLagEstimator:
               block_count: int = BLOCK_NUM, min_valid_block_count: int = BLOCK_NUM_NEEDED, block_size: int = BLOCK_SIZE,
               window_sec: float = MOVING_WINDOW_SEC, okay_window_sec: float = MIN_OKAY_WINDOW_SEC, min_recovery_buffer_sec: float = MIN_RECOVERY_BUFFER_SEC,
               min_vego: float = MIN_VEGO, min_yr: float = MIN_ABS_YAW_RATE, min_ncc: float = MIN_NCC,
-               max_lat_accel: float = MAX_LAT_ACCEL, max_lat_accel_diff: float = MAX_LAT_ACCEL_DIFF, min_confidence: float = MIN_CONFIDENCE,
-               speed_bucket_edges: np.ndarray | None = None):
+               max_lat_accel: float = MAX_LAT_ACCEL, max_lat_accel_diff: float = MAX_LAT_ACCEL_DIFF, min_confidence: float = MIN_CONFIDENCE):
    self.dt = dt
    self.window_sec = window_sec
    self.okay_window_sec = okay_window_sec
@@ -208,8 +193,6 @@ class LateralLagEstimator:
    self.min_confidence = min_confidence
    self.max_lat_accel = max_lat_accel
    self.max_lat_accel_diff = max_lat_accel_diff
-    self.speed_bucket_edges = np.asarray(speed_bucket_edges if speed_bucket_edges is not None else [0.0], dtype=float)
-    assert len(self.speed_bucket_edges) > 0 and self.speed_bucket_edges[0] == 0.0 and np.all(np.diff(self.speed_bucket_edges) > 0)

    self.t = 0.0
    self.lat_active = False
@@ -225,9 +208,7 @@ class LateralLagEstimator:
    self.last_steering_pressed_t = 0.0
    self.last_steering_saturated_t = 0.0
    self.last_pose_invalid_t = 0.0
-    self.last_estimate_ts = [0.0] * len(self.speed_bucket_edges)
-    self.consecutive_okay = [0] * len(self.speed_bucket_edges)
-    self.learning_reset_reasons = ["not started"] * len(self.speed_bucket_edges)
+    self.last_estimate_t = 0.0

    self.calibrator = PoseCalibrator()

@@ -235,12 +216,8 @@ class LateralLagEstimator:

  def reset(self, initial_lag: float, valid_blocks: int):
    window_len = int(self.window_sec / self.dt)
-    self.points = [Points(window_len) for _ in self.speed_bucket_edges]
-    self.block_avgs = [BlockAverage(self.block_count, self.block_size, valid_blocks, initial_lag) for _ in self.speed_bucket_edges]
-
-  @property
-  def speed_bucket(self) -> int:
-    return max(0, int(np.searchsorted(self.speed_bucket_edges, self.v_ego, side="right") - 1))
+    self.points = Points(window_len)
+    self.block_avg = BlockAverage(self.block_count, self.block_size, valid_blocks, initial_lag)

  def get_msg(self, valid: bool, debug: bool = False) -> capnp._DynamicStructBuilder:
    msg = messaging.new_message('liveDelay')
@@ -249,23 +226,19 @@ class LateralLagEstimator:

    liveDelay = msg.liveDelay

-    bucket_values = [avg.get() for avg in self.block_avgs]
-    bucket_statuses = []
-    bucket_applied = []
-    for avg, (valid_mean, valid_std, _, _) in zip(self.block_avgs, bucket_values, strict=True):
-      if avg.valid_blocks < self.min_valid_block_count or np.isnan(valid_mean) or np.isnan(valid_std):
-        status = "unestimated"
-      elif valid_std > MAX_LAG_STD:
-        status = "invalid"
+    valid_mean_lag, valid_std, current_mean_lag, current_std = self.block_avg.get()
+    if self.block_avg.valid_blocks >= self.min_valid_block_count and not np.isnan(valid_mean_lag) and not np.isnan(valid_std):
+      if valid_std > MAX_LAG_STD:
+        liveDelay.status = log.LiveDelayData.Status.invalid
      else:
-        status = "estimated"
-      bucket_statuses.append(status)
-      bucket_applied.append(min(MAX_LAG, max(MIN_LAG, valid_mean)) if status == "estimated" else self.initial_lag)
+        liveDelay.status = log.LiveDelayData.Status.estimated
+    else:
+      liveDelay.status = log.LiveDelayData.Status.unestimated

-    block_avg = self.block_avgs[self.speed_bucket]
-    _, _, current_mean_lag, current_std = bucket_values[self.speed_bucket]
-    liveDelay.status = bucket_statuses[self.speed_bucket]
-    liveDelay.lateralDelay = interpolate_bucket_values(self.v_ego, self.speed_bucket_edges, bucket_applied)
+    if liveDelay.status == log.LiveDelayData.Status.estimated:
+      liveDelay.lateralDelay = min(MAX_LAG, max(MIN_LAG, valid_mean_lag))
+    else:
+      liveDelay.lateralDelay = self.initial_lag

    if not np.isnan(current_mean_lag) and not np.isnan(current_std):
      liveDelay.lateralDelayEstimate = current_mean_lag
@@ -274,25 +247,11 @@ class LateralLagEstimator:
      liveDelay.lateralDelayEstimate = self.initial_lag
      liveDelay.lateralDelayEstimateStd = 0.0

-    liveDelay.validBlocks = block_avg.valid_blocks
-    liveDelay.calPerc = min(100 * (block_avg.valid_blocks * self.block_size + block_avg.idx) //
+    liveDelay.validBlocks = self.block_avg.valid_blocks
+    liveDelay.calPerc = min(100 * (self.block_avg.valid_blocks * self.block_size + self.block_avg.idx) //
                            (self.min_valid_block_count * self.block_size), 100)
-    liveDelay.speedBucket = self.speed_bucket
-    liveDelay.speedBucketEdges = self.speed_bucket_edges.tolist()
-    liveDelay.lateralDelayBuckets = [min(MAX_LAG, max(MIN_LAG, value[2])) if not np.isnan(value[2]) else self.initial_lag for value in bucket_values]
-    liveDelay.lateralDelayEstimateStdBuckets = [value[3] if not np.isnan(value[3]) else 0.0 for value in bucket_values]
-    liveDelay.validBlocksBuckets = [avg.valid_blocks for avg in self.block_avgs]
-    liveDelay.calPercBuckets = [min(100 * (avg.valid_blocks * self.block_size + avg.idx) //
-                                        (self.min_valid_block_count * self.block_size), 100) for avg in self.block_avgs]
-    liveDelay.statusBuckets = bucket_statuses
-    liveDelay.lateralDelayAppliedBuckets = bucket_applied
-    liveDelay.blockIdxBuckets = [avg.block_idx for avg in self.block_avgs]
-    liveDelay.sampleIdxBuckets = [avg.idx for avg in self.block_avgs]
-    liveDelay.blockValuesBuckets = [avg.values.flatten().tolist() for avg in self.block_avgs]
-    liveDelay.learningCountdownBuckets = [max(0.0, self.okay_window_sec - count * self.dt) for count in self.consecutive_okay]
-    liveDelay.learningResetReasonBuckets = self.learning_reset_reasons
    if debug:
-      liveDelay.points = np.concatenate([avg.values.flatten() for avg in self.block_avgs]).tolist()
+      liveDelay.points = self.block_avg.values.flatten().tolist()
    liveDelay.version = VERSION

    return msg
@@ -316,12 +275,11 @@ class LateralLagEstimator:
      self.pose_valid = msg.angularVelocityDevice.valid and msg.posenetOK and msg.inputsOK
    self.t = t

-  def points_enough(self, points: Points):
-    return points.num_points >= int(self.okay_window_sec / self.dt)
+  def points_enough(self):
+    return self.points.num_points >= int(self.okay_window_sec / self.dt)

-  def points_valid(self, points: Points, speed_bucket: int):
-    required_points = int(self.okay_window_sec / self.dt)
-    return points.num_okay >= required_points and self.consecutive_okay[speed_bucket] >= required_points
+  def points_valid(self):
+    return self.points.num_okay >= int(self.okay_window_sec / self.dt)

  def update_points(self):
    la_desired = self.desired_curvature * self.v_ego * self.v_ego
@@ -349,47 +307,17 @@ class LateralLagEstimator:
    okay = self.lat_active and not self.steering_pressed and not self.steering_saturated and \
           fast and turning and has_recovered and calib_valid and sensors_valid and la_valid

-    speed_bucket = self.speed_bucket
-    for i, points in enumerate(self.points):
-      in_bucket_okay = okay and i == speed_bucket
-      points.update(self.t, la_desired, la_actual_pose, in_bucket_okay)
-      if in_bucket_okay:
-        self.consecutive_okay[i] += 1
-        if self.consecutive_okay[i] >= int(self.okay_window_sec / self.dt):
-          self.learning_reset_reasons[i] = ""
-      else:
-        self.consecutive_okay[i] = 0
-        if i != speed_bucket:
-          self.learning_reset_reasons[i] = "outside speed band"
-        elif self.steering_pressed:
-          self.learning_reset_reasons[i] = "driver steering"
-        elif not self.lat_active:
-          self.learning_reset_reasons[i] = "lateral inactive"
-        elif self.steering_saturated:
-          self.learning_reset_reasons[i] = "steering saturated"
-        elif not calib_valid:
-          self.learning_reset_reasons[i] = "calibration invalid"
-        elif not sensors_valid:
-          self.learning_reset_reasons[i] = "pose invalid"
-        elif not la_valid:
-          self.learning_reset_reasons[i] = "lateral error"
-        elif not fast:
-          self.learning_reset_reasons[i] = "speed too low"
-        elif not turning:
-          self.learning_reset_reasons[i] = "insufficient yaw"
+    self.points.update(self.t, la_desired, la_actual_pose, okay)

  def update_estimate(self):
-    speed_bucket = self.speed_bucket
-    points = self.points[speed_bucket]
-    if not self.points_enough(points):
+    if not self.points_enough():
      return

-    times, desired, actual, okay = points.get()
+    times, desired, actual, okay = self.points.get()
    # check if there are any new valid data points since the last update
-    is_valid = self.points_valid(points, speed_bucket) and (actual.max() - actual.min() >= MIN_LAT_ACCEL_RANGE)
-    last_estimate_t = self.last_estimate_ts[speed_bucket]
-    if last_estimate_t != 0 and times[0] <= last_estimate_t:
-      new_values_start_idx = next(-i for i, t in enumerate(reversed(times)) if t <= last_estimate_t)
+    is_valid = self.points_valid() and (actual.max() - actual.min() >= MIN_LAT_ACCEL_RANGE)
+    if self.last_estimate_t != 0 and times[0] <= self.last_estimate_t:
+      new_values_start_idx = next(-i for i, t in enumerate(reversed(times)) if t <= self.last_estimate_t)
      is_valid = is_valid and not (new_values_start_idx == 0 or not np.any(okay[new_values_start_idx:]))

    desired = masked_symmetric_moving_average(desired, okay, SMOOTH_K, SMOOTH_SIGMA)
@@ -399,8 +327,8 @@ class LateralLagEstimator:
    if corr < self.min_ncc or confidence < self.min_confidence or not is_valid:
      return

-    self.block_avgs[speed_bucket].update(delay)
-    self.last_estimate_ts[speed_bucket] = self.t
+    self.block_avg.update(delay)
+    self.last_estimate_t = self.t

  @staticmethod
  def actuator_delay(expected_sig: np.ndarray, actual_sig: np.ndarray, mask: np.ndarray,
@@ -445,24 +373,11 @@ def retrieve_initial_lag(params: Params, CP: car.CarParams):
        if last_CP.carFingerprint != CP.carFingerprint:
          raise Exception("Car model mismatch")

-        lags, valid_blocks, status, version = list(ld.lateralDelayBuckets), list(ld.validBlocksBuckets), ld.status, ld.version
-        assert len(lags) == len(SPEED_BUCKET_EDGES) and len(valid_blocks) == len(SPEED_BUCKET_EDGES), "Invalid number of speed buckets"
-        assert all(blocks <= BLOCK_NUM for blocks in valid_blocks), "Invalid number of valid blocks"
+        lag, valid_blocks, status, version = ld.lateralDelayEstimate, ld.validBlocks, ld.status, ld.version
+        assert valid_blocks <= BLOCK_NUM, "Invalid number of valid blocks"
        assert status != log.LiveDelayData.Status.invalid, "Lag estimate is invalid"
        assert version == VERSION, f"Lag estimate is from a different version (got {version}, expected {VERSION})"
-        values = [list(v) for v in ld.blockValuesBuckets]
-        if len(values) == len(SPEED_BUCKET_EDGES):
-          block_indices, sample_indices = list(ld.blockIdxBuckets), list(ld.sampleIdxBuckets)
-          assert len(block_indices) == len(values) and len(sample_indices) == len(values), "Invalid saved bucket state"
-          assert all(len(v) == BLOCK_NUM for v in values), "Invalid saved block values"
-        else:  # migrate version 3 state saved before per-bucket progress persistence
-          values = [[lag] * BLOCK_NUM for lag in lags]
-          block_indices = [blocks % BLOCK_NUM for blocks in valid_blocks]
-          sample_indices = [0] * len(valid_blocks)
-          active_bucket = ld.speedBucket
-          accepted = round(ld.calPerc * (BLOCK_NUM_NEEDED * BLOCK_SIZE) / 100) - valid_blocks[active_bucket] * BLOCK_SIZE
-          sample_indices[active_bucket] = min(max(accepted, 0), BLOCK_SIZE - 1)
-        return list(zip(values, block_indices, sample_indices, valid_blocks, strict=True))
+        return lag, valid_blocks
    except Exception as e:
      cloudlog.error(f"Failed to retrieve initial lag: {e}")
      params.remove("LiveDelay")
@@ -481,15 +396,12 @@ def main():
  params = Params()
  CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)

-  lag_learner = LateralLagEstimator(CP, 1. / SERVICE_LIST['livePose'].frequency, min_vego=0.0, speed_bucket_edges=SPEED_BUCKET_EDGES)
+  lag_learner = LateralLagEstimator(CP, 1. / SERVICE_LIST['livePose'].frequency)
  if (initial_lag_params := retrieve_initial_lag(params, CP)) is not None:
-    for avg, (values, block_idx, idx, valid_blocks) in zip(lag_learner.block_avgs, initial_lag_params, strict=True):
-      avg.valid_blocks = valid_blocks
-      avg.restore(values, block_idx, idx)
+    lag, valid_blocks = initial_lag_params
+    lag_learner.reset(lag, valid_blocks)

  lagd_toggle = LagdToggle(CP)
-  last_cache_t = 0.0
-  last_cached_progress = None

  while True:
    sm.update()
@@ -507,11 +419,8 @@ def main():
      lag_msg_dat = lag_msg.to_bytes()
      pm.send('liveDelay', lag_msg_dat)

-      progress = tuple((avg.valid_blocks, avg.idx) for avg in lag_learner.block_avgs)
-      if progress != last_cached_progress and lag_learner.t - last_cache_t >= 5.0:
+      if sm.frame % 1200 == 0: # cache every 60 seconds
        params.put("LiveDelay", lag_msg_dat)
-        last_cache_t = lag_learner.t
-        last_cached_progress = progress

      if sm.frame % 60 == 0:  # read from and write to params every 3 seconds
        lagd_toggle.update(lag_msg)
@@ -66,7 +66,7 @@ class LocationEstimator:
    self.observations = {kind: np.zeros(3, dtype=np.float32) for kind in obs_kinds}
    self.observation_errors = {kind: np.zeros(3, dtype=np.float32) for kind in obs_kinds}

-  def reset(self, t: float | None, x_initial: np.ndarray = PoseKalman.initial_x, P_initial: np.ndarray = PoseKalman.initial_P):
+  def reset(self, t: float, x_initial: np.ndarray = PoseKalman.initial_x, P_initial: np.ndarray = PoseKalman.initial_P):
    self.kf.init_state(x_initial, covs=P_initial, filter_time=t)

  def _validate_sensor_source(self, source: log.SensorEventData.SensorSource):
@@ -200,6 +200,25 @@ def check_valid_with_hysteresis(current_valid: bool, val: float, threshold: floa
  return current_valid


+# TODO: Remove this function after few releases (added in 0.9.9)
+def migrate_cached_vehicle_params_if_needed(params: Params):
+  last_parameters_data_old = params.get("LiveParameters")
+  last_parameters_data = params.get("LiveParametersV2")
+  if last_parameters_data_old is None or last_parameters_data is not None:
+    return
+
+  try:
+    last_parameters_msg = messaging.new_message('liveParameters')
+    last_parameters_msg.liveParameters.valid = True
+    last_parameters_msg.liveParameters.steerRatio = last_parameters_data_old['steerRatio']
+    last_parameters_msg.liveParameters.stiffnessFactor = last_parameters_data_old['stiffnessFactor']
+    last_parameters_msg.liveParameters.angleOffsetAverageDeg = last_parameters_data_old['angleOffsetAverageDeg']
+    params.put("LiveParametersV2", last_parameters_msg.to_bytes(), block=True)
+  except Exception as e:
+    cloudlog.error(f"Failed to perform parameter migration: {e}")
+    params.remove("LiveParameters")
+
+
 def retrieve_initial_vehicle_params(params: Params, CP: car.CarParams, replay: bool, debug: bool):
  last_parameters_data = params.get("LiveParametersV2")
  last_carparams_data = params.get("CarParamsPrevRoute")
@@ -254,6 +273,8 @@ def main():
  params = Params()
  CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)

+  migrate_cached_vehicle_params_if_needed(params)
+
  steer_ratio, stiffness_factor, angle_offset_deg, pInitial = retrieve_initial_vehicle_params(params, CP, REPLAY, DEBUG)
  learner = VehicleParamsLearner(CP, steer_ratio, stiffness_factor, np.radians(angle_offset_deg), pInitial)

@@ -1,4 +1,3 @@
-import math
 import random
 import numpy as np
 import time
@@ -7,13 +6,11 @@ import pytest
 from openpilot.cereal import messaging, log
 from opendbc.car.structs import car
 from openpilot.selfdrive.locationd.lagd import LateralLagEstimator, retrieve_initial_lag, masked_normalized_cross_correlation, \
-                                               BLOCK_NUM, BLOCK_NUM_NEEDED, BLOCK_SIZE, MIN_OKAY_WINDOW_SEC, VERSION, MIN_LAG, MAX_LAG
-from openpilot.selfdrive.locationd.lagd import SPEED_BUCKET_EDGES, interpolate_bucket_values
+                                               BLOCK_NUM_NEEDED, BLOCK_SIZE, MIN_OKAY_WINDOW_SEC, VERSION, MIN_LAG, MAX_LAG
 from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_carParams
 from openpilot.selfdrive.locationd.test.test_locationd_scenarios import TEST_ROUTE
 from openpilot.common.params import Params
 from openpilot.tools.lib.logreader import LogReader
-from openpilot.tools.lagd_buckets import line_graph, ping_pong_metrics
 from openpilot.common.hardware import PC

 MAX_ERR_FRAMES = 1
@@ -21,9 +18,9 @@ DT = 0.05
 LAGD_MIN_LAG_FRAMES, LAGD_MAX_LAG_FRAMES = int(round(MIN_LAG / DT)), int(round(MAX_LAG / DT))


-def process_messages(estimator, lag_frames, n_frames, vego=25.0, rejection_threshold=0.0, start_frame=0):
+def process_messages(estimator, lag_frames, n_frames, vego=25.0, rejection_threshold=0.0):
  for i in range(n_frames):
-    t = (start_frame + i) * estimator.dt
+    t = i * estimator.dt
    desired_la = np.cos(10 * t) * 0.3
    actual_la = np.cos(10 * (t - lag_frames * estimator.dt)) * 0.3

@@ -49,30 +46,6 @@ def process_messages(estimator, lag_frames, n_frames, vego=25.0, rejection_thres


 class TestLagd:
-  def test_interpolate_bucket_values(self):
-    edges = np.array([0.0, 10.0, 20.0])
-    values = [.2, .4, .3]
-    assert interpolate_bucket_values(0, edges, values) == .2
-    assert interpolate_bucket_values(10, edges, values) == pytest.approx(.3)
-    assert interpolate_bucket_values(20, edges, values) == pytest.approx(.35)
-    assert interpolate_bucket_values(30, edges, values) == .3
-
-  def test_ping_pong_metrics(self):
-    samples = [(i / 20, 2.5 * math.sin(2 * math.pi * 1.2 * i / 20)) for i in range(101)]
-    severity, amplitude, frequency, duration = ping_pong_metrics(samples)
-    assert severity == "MODERATE"
-    assert 2.4 < amplitude < 2.6
-    assert 1.0 < frequency < 1.3
-    assert duration == 5
-
-  def test_line_graph(self):
-    graph = line_graph([0.15, 0.4, 0.65], ["estimated", "unestimated", "invalid"], 1)
-    assert all(marker in graph for marker in ["●", "◆", "×"])
-    assert "0.65s" in graph and "0.15s" in graph
-    assert "centers" in graph and "5" in graph
-    assert any("⠀" < char <= "⣿" for char in graph)
-    assert "⠒" in line_graph([0.3, 0.3], ["estimated", "estimated"], -1)
-
  def test_read_saved_params(self):
    params = Params()

@@ -80,11 +53,8 @@ class TestLagd:
    CP = next(m for m in lr if m.which() == "carParams").carParams

    msg = messaging.new_message('liveDelay')
-    msg.liveDelay.lateralDelayBuckets = [random.random() for _ in SPEED_BUCKET_EDGES]
-    msg.liveDelay.validBlocksBuckets = [random.randint(1, 10) for _ in SPEED_BUCKET_EDGES]
-    msg.liveDelay.blockValuesBuckets = [[random.random() for _ in range(BLOCK_NUM)] for _ in SPEED_BUCKET_EDGES]
-    msg.liveDelay.blockIdxBuckets = [random.randrange(BLOCK_NUM) for _ in SPEED_BUCKET_EDGES]
-    msg.liveDelay.sampleIdxBuckets = [random.randrange(BLOCK_SIZE) for _ in SPEED_BUCKET_EDGES]
+    msg.liveDelay.lateralDelayEstimate = random.random()
+    msg.liveDelay.validBlocks = random.randint(1, 10)
    msg.liveDelay.version = VERSION
    params.put("LiveDelay", msg.to_bytes(), block=True)
    params.put("CarParamsPrevRoute", CP.as_builder().to_bytes(), block=True)
@@ -92,20 +62,9 @@ class TestLagd:
    saved_lag_params = retrieve_initial_lag(params, CP)
    assert saved_lag_params is not None

-    for state, values, block_idx, sample_idx, valid_blocks in zip(saved_lag_params, msg.liveDelay.blockValuesBuckets,
-                                                                  msg.liveDelay.blockIdxBuckets, msg.liveDelay.sampleIdxBuckets,
-                                                                  msg.liveDelay.validBlocksBuckets, strict=True):
-      assert np.allclose(state[0], values)
-      assert state[1:] == (block_idx, sample_idx, valid_blocks)
-
-    old_msg = messaging.new_message('liveDelay')
-    old_msg.liveDelay.version = VERSION
-    old_msg.liveDelay.speedBucket = 4
-    old_msg.liveDelay.calPerc = 12
-    old_msg.liveDelay.lateralDelayBuckets = [0.3] * len(SPEED_BUCKET_EDGES)
-    old_msg.liveDelay.validBlocksBuckets = [0] * len(SPEED_BUCKET_EDGES)
-    params.put("LiveDelay", old_msg.to_bytes(), block=True)
-    assert retrieve_initial_lag(params, CP)[4][2] == 3
+    lag, valid_blocks = saved_lag_params
+    assert lag == msg.liveDelay.lateralDelayEstimate
+    assert valid_blocks == msg.liveDelay.validBlocks

  def test_read_invalid_saved_params(self, subtests):
    params = Params()
@@ -113,9 +72,7 @@ class TestLagd:
    lr = migrate(LogReader(TEST_ROUTE), [migrate_carParams])
    CP = next(m for m in lr if m.which() == "carParams").carParams

-    valid = {'version': VERSION, 'lateralDelayBuckets': [0.3] * len(SPEED_BUCKET_EDGES),
-             'validBlocksBuckets': [1] * len(SPEED_BUCKET_EDGES)}
-    for msg_dict in [valid | {'version': 0}, valid | {'status': 'invalid'}, valid | {'validBlocksBuckets': [100] * 4}]:
+    for msg_dict in [{'version': 0}, {'status': 'invalid'}, {'validBlocks': 100}]:
      with subtests.test(msg=f"liveDelay={msg_dict}"):
        msg = messaging.new_message('liveDelay')
        msg.liveDelay = msg_dict
@@ -124,7 +81,6 @@ class TestLagd:
        assert retrieve_initial_lag(params, CP) is None

  def test_ncc(self):
-    rng = np.random.default_rng()
    lag_frames = random.randint(1, 19)

    desired_sig = np.sin(np.arange(0.0, 10.0, 0.1))
@@ -135,15 +91,15 @@ class TestLagd:
    assert np.argmax(corr) == lag_frames

    # add some noise
-    desired_sig += rng.normal(0, 0.05, len(desired_sig))
-    actual_sig += rng.normal(0, 0.05, len(actual_sig))
+    desired_sig += np.random.normal(0, 0.05, len(desired_sig))
+    actual_sig += np.random.normal(0, 0.05, len(actual_sig))
    corr = masked_normalized_cross_correlation(desired_sig, actual_sig, mask, 200)[len(desired_sig) - 1:len(desired_sig) + 20]
    assert np.argmax(corr)  in range(lag_frames - MAX_ERR_FRAMES, lag_frames + MAX_ERR_FRAMES + 1)

    # mask out 40% of the values, and make them noise
-    mask = rng.choice([True, False], size=len(desired_sig), p=[0.6, 0.4])
-    desired_sig[~mask] = rng.normal(0, 1, size=np.sum(~mask))
-    actual_sig[~mask] = rng.normal(0, 1, size=np.sum(~mask))
+    mask = np.random.choice([True, False], size=len(desired_sig), p=[0.6, 0.4])
+    desired_sig[~mask] = np.random.normal(0, 1, size=np.sum(~mask))
+    actual_sig[~mask] = np.random.normal(0, 1, size=np.sum(~mask))
    corr = masked_normalized_cross_correlation(desired_sig, actual_sig, mask, 200)[len(desired_sig) - 1:len(desired_sig) + 20]
    assert np.argmax(corr) in range(lag_frames - MAX_ERR_FRAMES, lag_frames + MAX_ERR_FRAMES + 1)

@@ -174,40 +130,12 @@ class TestLagd:
  def test_estimator_masking(self):
    mocked_CP, lag_frames = car.CarParams(steerActuatorDelay=0.5), random.randint(LAGD_MIN_LAG_FRAMES, LAGD_MAX_LAG_FRAMES - 1)
    estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0, min_valid_block_count=1)
-    masked_frames = int(MIN_OKAY_WINDOW_SEC / DT)
-    process_messages(estimator, lag_frames, masked_frames, rejection_threshold=0.4)
-    process_messages(estimator, lag_frames, masked_frames + BLOCK_SIZE * 2, start_frame=masked_frames)
+    process_messages(estimator, lag_frames, (int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_SIZE) * 2, rejection_threshold=0.4)
    msg = estimator.get_msg(True)
    assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01)
    assert np.allclose(msg.liveDelay.lateralDelayEstimateStd, 0.0, atol=0.01)
    assert msg.liveDelay.calPerc == 100

-  def test_learning_countdown_resets(self):
-    mocked_CP = car.CarParams(steerActuatorDelay=0.3)
-    estimator = LateralLagEstimator(mocked_CP, DT, window_sec=10.0, okay_window_sec=5.0,
-                                    min_recovery_buffer_sec=0.0, min_vego=0.0, min_yr=0.0)
-    process_messages(estimator, 5, 80)
-    assert np.allclose(estimator.get_msg(True).liveDelay.learningCountdownBuckets, [1.0])
-
-    process_messages(estimator, 5, 1, rejection_threshold=1.0, start_frame=80)
-    msg = estimator.get_msg(True).liveDelay
-    assert np.allclose(msg.learningCountdownBuckets, [5.0])
-    assert list(msg.learningResetReasonBuckets) == ["lateral inactive"]
-
-  def test_speed_buckets(self):
-    mocked_CP = car.CarParams(steerActuatorDelay=0.3)
-    estimator = LateralLagEstimator(mocked_CP, DT, block_size=10, min_valid_block_count=1, window_sec=5.0,
-                                    okay_window_sec=2.0, min_recovery_buffer_sec=0.0, min_vego=0.0, min_yr=0.0,
-                                    speed_bucket_edges=np.array([0.0, 20.0]))
-    frame_count = int(5.0 / DT) + 10
-    process_messages(estimator, 5, frame_count, vego=15.0)
-    process_messages(estimator, 9, frame_count, vego=25.0, start_frame=frame_count)
-
-    msg = estimator.get_msg(True).liveDelay
-    assert msg.speedBucket == 1
-    assert np.allclose(msg.lateralDelayBuckets, [5 * DT, 9 * DT], atol=0.01)
-    assert all(blocks > 0 for blocks in msg.validBlocksBuckets)
-
  @pytest.mark.skipif(PC, reason="only on device")
  def test_estimator_performance(self):
    mocked_CP = car.CarParams(steerActuatorDelay=0.5)
@@ -37,9 +37,9 @@ def get_select_fields_data(logs):
  def sig_smooth(signal):
    return masked_symmetric_moving_average(signal, np.ones_like(signal), 5, 1.0)
  def get_nested_keys(msg, keys):
-    val = msg
+    val = None
    for key in keys:
-      val = getattr(val, key) if isinstance(key, str) else val[key]
+      val = getattr(msg if val is None else val, key) if isinstance(key, str) else val[key]
    return val
  lp = [x.livePose for x in logs if x.which() == 'livePose']
  data = defaultdict(list)
@@ -2,7 +2,7 @@ import random
 import numpy as np

 from openpilot.cereal import messaging
-from openpilot.selfdrive.locationd.paramsd import retrieve_initial_vehicle_params
+from openpilot.selfdrive.locationd.paramsd import retrieve_initial_vehicle_params, migrate_cached_vehicle_params_if_needed
 from openpilot.selfdrive.locationd.models.car_kf import CarKalman
 from openpilot.selfdrive.locationd.test.test_locationd_scenarios import TEST_ROUTE
 from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_carParams
@@ -30,9 +30,38 @@ class TestParamsd:
    params.put("LiveParametersV2", msg.to_bytes(), block=True)
    params.put("CarParamsPrevRoute", CP.as_builder().to_bytes(), block=True)

+    migrate_cached_vehicle_params_if_needed(params) # this is not tested here but should not mess anything up or throw an error
    sr, sf, offset, p_init = retrieve_initial_vehicle_params(params, CP, replay=True, debug=True)
    np.testing.assert_allclose(sr, msg.liveParameters.steerRatio)
    np.testing.assert_allclose(sf, msg.liveParameters.stiffnessFactor)
    np.testing.assert_allclose(offset, msg.liveParameters.angleOffsetAverageDeg)
    np.testing.assert_equal(p_init.shape, CarKalman.P_initial.shape)
    np.testing.assert_allclose(np.diagonal(p_init), msg.liveParameters.debugFilterState.std)
+
+  # TODO Remove this test after the support for old format is removed
+  def test_read_saved_params_old_format(self):
+    params = Params()
+
+    lr = migrate(LogReader(TEST_ROUTE), [migrate_carParams])
+    CP = next(m for m in lr if m.which() == "carParams").carParams
+
+    msg = get_random_live_parameters(CP)
+    params.put("LiveParameters", msg.liveParameters.to_dict(), block=True)
+    params.put("CarParamsPrevRoute", CP.as_builder().to_bytes(), block=True)
+    params.remove("LiveParametersV2")
+
+    migrate_cached_vehicle_params_if_needed(params)
+    sr, sf, offset, _ = retrieve_initial_vehicle_params(params, CP, replay=True, debug=True)
+    np.testing.assert_allclose(sr, msg.liveParameters.steerRatio)
+    np.testing.assert_allclose(sf, msg.liveParameters.stiffnessFactor)
+    np.testing.assert_allclose(offset, msg.liveParameters.angleOffsetAverageDeg)
+    assert params.get("LiveParametersV2") is not None
+
+  def test_read_saved_params_corrupted_old_format(self):
+    params = Params()
+    params.put("LiveParameters", {}, block=True)
+    params.remove("LiveParametersV2")
+
+    migrate_cached_vehicle_params_if_needed(params)
+    assert params.get("LiveParameters") is None
+    assert params.get("LiveParametersV2") is None
@@ -2,25 +2,24 @@ from opendbc.car.structs import car
 from openpilot.selfdrive.locationd.torqued import TorqueEstimator


-class TestTorqued:
-  def test_cal_percent(self):
-    est = TorqueEstimator(car.CarParams())
-    msg = est.get_msg()
-    assert msg.liveTorqueParameters.calPerc == 0
+def test_cal_percent():
+  est = TorqueEstimator(car.CarParams())
+  msg = est.get_msg()
+  assert msg.liveTorqueParameters.calPerc == 0

-    for (low, high), min_pts in zip(est.filtered_points.buckets.keys(),
-                                    est.filtered_points.buckets_min_points.values(), strict=True):
-      for _ in range(int(min_pts)):
-        est.filtered_points.add_point((low + high) / 2.0, 0.0)
+  for (low, high), min_pts in zip(est.filtered_points.buckets.keys(),
+                                  est.filtered_points.buckets_min_points.values(), strict=True):
+    for _ in range(int(min_pts)):
+      est.filtered_points.add_point((low + high) / 2.0, 0.0)

-    # enough bucket points, but not enough total points
-    msg = est.get_msg()
-    assert msg.liveTorqueParameters.calPerc == (len(est.filtered_points) / est.min_points_total * 100 + 100) / 2
+  # enough bucket points, but not enough total points
+  msg = est.get_msg()
+  assert msg.liveTorqueParameters.calPerc == (len(est.filtered_points) / est.min_points_total * 100 + 100) / 2

-    # add enough points to bucket with most capacity
-    key = list(est.filtered_points.buckets)[0]
-    for _ in range(est.min_points_total - len(est.filtered_points)):
-      est.filtered_points.add_point((key[0] + key[1]) / 2.0, 0.0)
+  # add enough points to bucket with most capacity
+  key = list(est.filtered_points.buckets)[0]
+  for _ in range(est.min_points_total - len(est.filtered_points)):
+    est.filtered_points.add_point((key[0] + key[1]) / 2.0, 0.0)

-    msg = est.get_msg()
-    assert msg.liveTorqueParameters.calPerc == 100
+  msg = est.get_msg()
+  assert msg.liveTorqueParameters.calPerc == 100
@@ -62,14 +62,14 @@ class TorqueEstimator(ParameterEstimator, TorqueEstimatorExt):
    self.lag = 0.0
    self.track_all_points = track_all_points  # for offline analysis, without max lateral accel or max steer torque filters
    if decimated:
-      self.min_bucket_points: list[float] = (MIN_BUCKET_POINTS / 10).tolist()
+      self.min_bucket_points = MIN_BUCKET_POINTS / 10
      self.min_points_total = MIN_POINTS_TOTAL_QLOG
      self.fit_points = FIT_POINTS_TOTAL_QLOG
      self.factor_sanity = FACTOR_SANITY_QLOG
      self.friction_sanity = FRICTION_SANITY_QLOG

    else:
-      self.min_bucket_points = MIN_BUCKET_POINTS.tolist()
+      self.min_bucket_points = MIN_BUCKET_POINTS
      self.min_points_total = MIN_POINTS_TOTAL
      self.fit_points = FIT_POINTS_TOTAL
      self.factor_sanity = FACTOR_SANITY
@@ -120,10 +120,9 @@ class TorqueEstimator(ParameterEstimator, TorqueEstimatorExt):
              'latAccelOffset': cache_ltp.latAccelOffsetFiltered,
              'frictionCoefficient': cache_ltp.frictionCoefficientFiltered
            }
-          cached_points: list[list[float]] = [list(point) for point in cache_ltp.points]
-          initial_params['points'] = cached_points
+          initial_params['points'] = cache_ltp.points
          self.decay = cache_ltp.decay
-          self.filtered_points.load_points(cached_points)
+          self.filtered_points.load_points(initial_params['points'])
          cloudlog.info("restored torque params from cache")
      except Exception:
        cloudlog.exception("failed to restore cached torque params")
@@ -13,7 +13,6 @@ from collections import namedtuple
 import numpy as np

 from openpilot.selfdrive.modeld.helpers import dump_oob, load_oob
-from openpilot.selfdrive.modeld.usbgpu_link import wait_usbgpu_link

 def _patch_tinygrad_fetch_fw():
  import hashlib
@@ -243,7 +242,7 @@ def compile_jit(jit, make_random_inputs, input_keys, make_queues):
  SEED = 42
  def random_inputs_run(fn, seed, test_val=None, test_buffers=None, expect_match=True):
    input_queues, npy = make_queues(Device.DEFAULT)
-    rng = np.random.default_rng(seed)
+    np.random.seed(seed)
    Tensor.manual_seed(seed)

    testing = test_val is not None or test_buffers is not None
@@ -251,7 +250,7 @@ def compile_jit(jit, make_random_inputs, input_keys, make_queues):

    for i in range(n_runs):
      for v in npy.values():
-        v[:] = rng.standard_normal(v.shape).astype(v.dtype)
+        v[:] = np.random.randn(*v.shape).astype(v.dtype)
      Device.default.synchronize()
      random_inputs = make_random_inputs()
      st = time.perf_counter()
@@ -312,9 +311,6 @@ if __name__ == "__main__":
  p.add_argument('--frame-skip', type=int, required=True)
  args = p.parse_args()

-  if 'USB+AMD' in os.environ.get('DEV', ''):
-    wait_usbgpu_link()
-
  model_path = read_file_chunked_to_disk(args.onnx)
  model_w, model_h = args.model_size

@@ -25,11 +25,9 @@ from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_drivi
 from openpilot.common.file_chunker import open_file_chunked, get_manifest_path
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
 from openpilot.selfdrive.modeld.helpers import usbgpu_present, modeld_pkl_path, get_tg_input_devices, load_oob
-from openpilot.selfdrive.modeld.usbgpu_link import wait_usbgpu_link

 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
-from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController

 PROCESS_NAME = "openpilot.selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
@@ -96,7 +94,7 @@ class ModelState(ModelStateBase):
    self.frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
    self.input_queues, self.npy = make_input_queues(self.input_shapes, self.frame_skip, device=self.QUEUE_DEV)
    self.full_frames: dict[str, Tensor] = {}
-    self._blob_cache: dict[tuple[str, int], Tensor] = {}
+    self._blob_cache: dict[int, Tensor] = {}
    self.parser = Parser()
    self.frame_buf_params = {k: get_nv12_info(cam_w, cam_h) for k in ('img', 'big_img')}
    self.run_policy = jits['run_policy']
@@ -175,8 +173,6 @@ def main(demo=False):
  if use_extra_client:
    cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")

-  if USBGPU:
-    wait_usbgpu_link()
  st = time.monotonic()
  cloudlog.warning("loading model")
  model = ModelState(vipc_client_main.width, vipc_client_main.height, USBGPU)
@@ -214,7 +210,6 @@ def main(demo=False):
  prev_action = log.ModelDataV2.Action()

  DH = DesireHelper()
-  RELC = RoadEdgeLaneChangeController()

  while True:
    # Keep receiving frames until we are at least 1 frame ahead of previous extra frame
@@ -315,8 +310,7 @@ def main(demo=False):
      l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
      r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
      lane_change_prob = l_lane_change_prob + r_lane_change_prob
-      left_edge, right_edge = RELC.update_and_fill(modelv2_send.modelV2, mdv2sp_send.modelDataV2SP, v_ego)
-      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, left_edge, right_edge)
+      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
      modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
      modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
      mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
@@ -41,7 +41,7 @@ class Parser:
    raw = outs[name]
    outs[name] = sigmoid(raw)

-  def parse_mdn(self, name, outs, in_N=0, out_N=1, out_shape=()):
+  def parse_mdn(self, name, outs, in_N=0, out_N=1, out_shape=None):
    if self.check_missing(outs, name):
      return
    raw = outs[name]
@@ -1,34 +0,0 @@
-import time
-from pathlib import Path
-
-from openpilot.common.swaglog import cloudlog
-from openpilot.common.hardware.usb import CHESTNUT_VENDOR_ID, CHESTNUT_PRODUCT_ID, usb_devices, controller, read_int
-
-STABLE_SECONDS = 2.0
-STABLE_THRESHOLD = 5.0  # link errors per second
-
-
-def _chestnut_portli() -> Path | None:
-  for device in usb_devices():
-    if read_int(device / "idVendor", 16) == CHESTNUT_VENDOR_ID and \
-       read_int(device / "idProduct", 16) == CHESTNUT_PRODUCT_ID:
-      ctrl = controller(device)
-      if ctrl is not None and (ctrl / "portli").exists():
-        return ctrl / "portli"
-  return None
-
-
-def wait_usbgpu_link(timeout: float = 30.0) -> None:
-  portli = _chestnut_portli()
-  if portli is None:
-    return
-
-  t0 = time.monotonic()
-  while time.monotonic() - t0 < timeout:
-    start = read_int(portli, 0)
-    time.sleep(STABLE_SECONDS)
-    rate = (read_int(portli, 0) - start) / STABLE_SECONDS
-    if rate <= STABLE_THRESHOLD:
-      return
-    cloudlog.warning(f"usbgpu link not stable: {rate:.0f} errors/s")
-  cloudlog.error("usbgpu link never stabilized")
@@ -41,7 +41,7 @@ class DRIVER_MONITOR_SETTINGS:
    # lockout specs
    self._MAX_ALERT_3 = 2
    self._MAX_NO_RESPONSE = 1
-    self._LOCKOUT_TIMES = [int(60 * n_min / DT_DMON) for n_min in [1, 5, 15, 30]]
+    self._LOCKOUT_TIME = int(1800 / DT_DMON)

    self._TIMEOUT_RECOVERY_FACTOR_MAX = 5.
    self._TIMEOUT_RECOVERY_FACTOR_MIN = 1.25
@@ -152,10 +152,7 @@ class DriverMonitoring:
    self.cnt_since_alert_3 = 0
    self.no_response_timeout = int(self.settings._NO_RESPONSE_TIMEOUT / DT_DMON)
    self.no_response_cnt = 0
-    self.lockout_active = Params().get_bool("DriverTooDistracted")
-    self.lockout_count = Params().get("DriverLockoutCount") or 0
-    self.lockout_duration = self.settings._LOCKOUT_TIMES[min(max(self.lockout_count - 1, 0), len(self.settings._LOCKOUT_TIMES) - 1)]
-    self.lockout_time_elapsed = 0
+    self.lockout_time = 0
    self.step_change = 0.
    self.active_policy = MonitoringPolicy.vision
    self.driver_interacting = False
@@ -166,6 +163,7 @@ class DriverMonitoring:
    self.threshold_alert_2 = 0.
    self.dcam_uncertain_cnt = 0
    self.dcam_reset_cnt = 0
+    self.too_distracted = Params().get_bool("DriverTooDistracted")

    self._reset_awareness()
    self._set_policy(MonitoringPolicy.vision)
@@ -312,20 +310,16 @@ class DriverMonitoring:
    self.driver_interacting = driver_engaged

    if self.alert_3_cnt >= self.settings._MAX_ALERT_3 or self.no_response_cnt >= self.settings._MAX_NO_RESPONSE:
-      if not self.lockout_active:
-        self.lockout_count += 1
-        self.lockout_duration = self.settings._LOCKOUT_TIMES[min(self.lockout_count - 1, len(self.settings._LOCKOUT_TIMES) - 1)]
-        Params().put("DriverLockoutCount", self.lockout_count)
-      self.lockout_active = True
+      self.too_distracted = True

-    if self.lockout_active:
-      self.lockout_time_elapsed += 1
-      if self.lockout_time_elapsed > self.lockout_duration:
-        self.lockout_active = False
+    if self.too_distracted:
+      self.lockout_time += 1
+      if self.lockout_time > self.settings._LOCKOUT_TIME:
+        self.too_distracted = False
        self.alert_3_cnt = 0
        self.cnt_since_alert_3 = 0
        self.no_response_cnt = 0
-        self.lockout_time_elapsed = 0
+        self.lockout_time = 0

    always_on_valid = self.always_on and not wrong_gear
    if (self.driver_interacting and self.awareness > 0 and self.active_policy == MonitoringPolicy.wheeltouch) or \
@@ -385,10 +379,8 @@ class DriverMonitoring:
    dat = messaging.new_message('driverMonitoringState', valid=valid)
    dm = dat.driverMonitoringState

-    dm.lockout = self.lockout_active
-    dm.lockoutCount = self.lockout_count
-    if self.lockout_active:
-      dm.lockoutMinutesRemaining = max(1, round((self.lockout_duration - self.lockout_time_elapsed) * DT_DMON / 60.))
+    dm.lockout = self.too_distracted
+    dm.lockoutRecoveryPercent = to_percent(self.lockout_time / self.settings._LOCKOUT_TIME)
    dm.alert3Count = self.alert_3_cnt
    dm.noResponseCount = self.no_response_cnt
    dm.noResponseForceDecel = self.alert_level == AlertLevel.three and self.cnt_since_alert_3 >= self.no_response_timeout
@@ -86,17 +86,21 @@ class TestMonitoring:
  # engaged, distracted past red and beyond the no-response window -> unavailability response + lockout
  def test_distracted_lockout(self):
    alert_lvls, d_status = self._run_seq(always_distracted, always_false, always_true, always_false)
+    s = d_status.settings
    assert alert_lvls[int(DISTRACTED_SECONDS_TO_RED / DT_DMON)] == 3
-    assert d_status.lockout_active
-    assert d_status.lockout_time_elapsed > 0
-    assert d_status.lockout_count >= 1
+    assert d_status.alert_3_cnt == 1
+    assert d_status.no_response_cnt == s._MAX_NO_RESPONSE
+    assert d_status.too_distracted
+    assert d_status.lockout_time > 0

  # no face -> wheeltouch red, sustained past the no-response timeout -> unavailability response + lockout
  def test_invisible_lockout(self):
    _, d_status = self._run_seq(always_no_face, always_false, always_true, always_false)
+    s = d_status.settings
    assert d_status.active_policy == log.DriverMonitoringState.MonitoringPolicy.wheeltouch
-    assert d_status.lockout_active
-    assert d_status.lockout_count >= 1
+    assert d_status.alert_3_cnt == 1
+    assert d_status.no_response_cnt == s._MAX_NO_RESPONSE
+    assert d_status.too_distracted

  # engaged, no face detected the whole time, no action
  def test_fully_invisible_driver(self):
@@ -271,7 +275,7 @@ def test_run_step_engagement(selfdrive_enabled, lat_active, steering, gas,
    captured['op_engaged'] = op_engaged
    return orig(driver_engaged, op_engaged, lowspeed, wrong_gear)

-  object.__setattr__(dm, '_update_events', spy)
+  dm._update_events = spy
  dm.run_step(sm, demo=False)
  assert captured['op_engaged'] == expected_op_engaged
  assert captured['driver_engaged'] == expected_driver_engaged
@@ -60,7 +60,7 @@ class TestPandad:

  def test_in_reset(self):
    gpio_init(GPIO.STM_RST_N, True)
-    gpio_set(GPIO.STM_RST_N, True)
+    gpio_set(GPIO.STM_RST_N, 1)
    assert not Panda.list()
    self._run_test()

@@ -38,10 +38,10 @@ class TestBoarddSpi:

    total_recv_count = 0
    total_sent_count = 0
-    sent_msgs = {bus: [] for bus in range(3)}
+    sent_msgs = {bus: list() for bus in range(3)}

    st = time.monotonic()
-    ts = {s: [] for s in socks.keys()}
+    ts = {s: list() for s in socks.keys()}
    for _ in range(int(os.getenv("TEST_TIME", "20"))):
      # send some CAN messages
      if not JUNGLE_SPAM:
@@ -26,7 +26,7 @@
    "severity": 1
  },
  "Offroad_CarUnrecognized": {
-    "text": "sunnypilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please select your vehicle manually at https://www.sunnylink.ai/. Need help? Visit https://community.sunnypilot.ai/",
+    "text": "sunnypilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.",
    "severity": 0
  },
  "Offroad_Recalibration": {
@@ -42,7 +42,7 @@
    "severity": 0
  },
  "Offroad_ExcessiveActuation": {
-    "text": "Excessive %1 actuation detected on your last drive. Please visit https://community.sunnypilot.ai/ and share your device's Dongle ID for troubleshooting.",
+    "text": "Excessive %1 actuation detected on your last drive. Please contact support at https://comma.ai/support and share your device's Dongle ID for troubleshooting.",
    "severity": 1,
    "_comment": "Set extra field to lateral or longitudinal."
  },
@@ -7,8 +7,9 @@ from opendbc.car.structs import car
 import openpilot.cereal.messaging as messaging
 from openpilot.common.constants import CV
 from openpilot.common.git import get_short_branch
-from openpilot.common.realtime import DT_CTRL
+from openpilot.common.realtime import DT_CTRL, DT_DMON
 from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
+from openpilot.selfdrive.monitoring.policy import DRIVER_MONITOR_SETTINGS
 from openpilot.system.micd import SAMPLE_RATE, SAMPLE_BUFFER
 from openpilot.selfdrive.ui.feedback.feedbackd import FEEDBACK_MAX_DURATION
 from openpilot.common.hardware import HARDWARE
@@ -24,6 +25,7 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert
 AudibleAlert = log.SelfdriveState.AudibleAlert
 EventName = log.OnroadEvent.EventName

+DMON_LOCKOUT_TIME = DRIVER_MONITOR_SETTINGS()._LOCKOUT_TIME

 # get event name from enum
 EVENT_NAME = {v: k for k, v in EventName.schema.enumerants.items()}
@@ -99,7 +101,7 @@ def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messag

 def too_distracted_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  if sm['driverMonitoringState'].lockout:
-    mins_left = sm['driverMonitoringState'].lockoutMinutesRemaining
+    mins_left = max(1, round((100 - sm['driverMonitoringState'].lockoutRecoveryPercent) / 100 * DMON_LOCKOUT_TIME * DT_DMON / 60.))
    return NoEntryAlert("Too Distracted", f"{mins_left} minute{'s' if mins_left != 1 else ''} Left", priority=Priority.HIGH)
  return NoEntryAlert("Pay Attention to Engage", priority=Priority.HIGH)

@@ -30,7 +30,6 @@ from openpilot.sunnypilot import get_sanitize_int_param
 from openpilot.sunnypilot.selfdrive.car.car_specific import CarSpecificEventsSP
 from openpilot.sunnypilot.selfdrive.car.cruise_helpers import CruiseHelper
 from openpilot.sunnypilot.selfdrive.car.intelligent_cruise_button_management.controller import IntelligentCruiseButtonManagement
-from openpilot.sunnypilot.selfdrive.selfdrived.button_state_tracker import ButtonStateTracker
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP

 REPLAY = "REPLAY" in os.environ
@@ -93,7 +92,7 @@ class SelfdriveD(CruiseHelper):
    # TODO: de-couple selfdrived with card/conflate on carState without introducing controls mismatches
    self.car_state_sock = messaging.sub_sock('carState', timeout=20)

-    ignore = self.sensor_packets + self.gps_packets + ['alertDebug', 'lateralManeuverPlan'] + ['modelDataV2SP', 'longitudinalPlanSP']
+    ignore = self.sensor_packets + self.gps_packets + ['alertDebug', 'lateralManeuverPlan'] + ['modelDataV2SP']
    if SIMULATION:
      ignore += ['driverCameraState', 'managerState']
    if REPLAY:
@@ -178,7 +177,6 @@ class SelfdriveD(CruiseHelper):
    self.car_events_sp = CarSpecificEventsSP(self.CP, self.CP_SP)

    CruiseHelper.__init__(self, self.CP)
-    self.button_state_tracker = ButtonStateTracker()

  def update_events(self, CS):
    """Compute onroadEvents from carState"""
@@ -327,16 +325,9 @@ class SelfdriveD(CruiseHelper):
    # Handle lane change
    if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
      direction = self.sm['modelV2'].meta.laneChangeDirection
-      mdv2sp = self.sm['modelDataV2SP']
-
      if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
         (CS.rightBlindspot and direction == LaneChangeDirection.right):
        self.events.add(EventName.laneChangeBlocked)
-
-      elif (mdv2sp.leftLaneChangeEdgeBlock and direction == LaneChangeDirection.left) or \
-           (mdv2sp.rightLaneChangeEdgeBlock and direction == LaneChangeDirection.right):
-        self.events_sp.add(custom.OnroadEventSP.EventName.laneChangeRoadEdge)
-
      else:
        if direction == LaneChangeDirection.left:
          self.events.add(EventName.preLaneChangeLeft)
@@ -606,8 +597,6 @@ class SelfdriveD(CruiseHelper):
    icbm.sendButton = self.icbm.cruise_button
    icbm.vTarget = self.icbm.v_target

-    self.button_state_tracker.publish(ss_sp)
-
    self.pm.send('selfdriveStateSP', ss_sp_msg)

    # onroadEventsSP - logged every second or on change
@@ -627,7 +616,6 @@ class SelfdriveD(CruiseHelper):
      self.mads.update(CS)
    self.update_alerts(CS)

-    self.button_state_tracker.update(CS)
    self.publish_selfdriveState(CS)

    self.CS_prev = CS
@@ -13,11 +13,11 @@ ALL_STATES = tuple(State.schema.enumerants.values())
 ENABLE_EVENT_TYPES = (ET.ENABLE, ET.PRE_ENABLE, ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL)


-def make_event(event_types: list[str | None]):
-  EVENTS[0] = {}
+def make_event(event_types):
+  event = {}
  for ev in event_types:
-    if ev is not None:
-      EVENTS[0][ev] = NormalPermanentAlert("alert")
+    event[ev] = NormalPermanentAlert("alert")
+  EVENTS[0] = event
  return 0


@@ -7,7 +7,7 @@ from openpilot.common.utils import tabulate

 DEMO_ROUTE = "5beb9b58bd12b691/0000010a--a51155e496"
 MB = 1024 * 1024
-TABULATE_OPTS = {"tablefmt": "simple_grid", "stralign": "center", "numalign": "center"}
+TABULATE_OPTS = dict(tablefmt="simple_grid", stralign="center", numalign="center")


 def _get_procs():
@@ -297,7 +297,7 @@ def migrate_carOutput(msgs):
    co = messaging.new_message('carOutput')
    co.valid = msg.valid
    co.logMonoTime = msg.logMonoTime
-    co.carOutput.actuatorsOutput = msg.carControl.deprecated.actuatorsOutput
+    co.carOutput.actuatorsOutput = msg.carControl.actuatorsOutputDEPRECATED
    add_ops.append(as_reader(co))
  return [], add_ops, []

@@ -323,10 +323,10 @@ def migrate_pandaStates(msgs):
    safety_param = safety_param_migration[fingerprint].value
  elif len(CP.safetyConfigs):
    safety_param = CP.safetyConfigs[0].safetyParam
-    if CP.safetyConfigs[0].deprecated.safetyParam != 0:
-      safety_param = CP.safetyConfigs[0].deprecated.safetyParam
+    if CP.safetyConfigs[0].safetyParamDEPRECATED != 0:
+      safety_param = CP.safetyConfigs[0].safetyParamDEPRECATED
  else:
-    safety_param = CP.deprecated.safetyParam
+    safety_param = CP.safetyParamDEPRECATED

  ops = []
  for index, msg in msgs:
@@ -216,7 +216,8 @@ class ProcessContainer:

  def _start_process(self):
    if self.capture is not None:
-      self.process.launcher = LauncherWithCapture(self.capture, self.process.launcher)  # ty: ignore[invalid-assignment]  # intentional wrapper
+      self.process.launcher = LauncherWithCapture(self.capture, self.process.launcher)
+    self.process.prepare()
    self.process.start()

  def start(
@@ -500,7 +501,7 @@ CONFIGS = [
  ),
  ProcessConfig(
    proc_name="dmonitoringd",
-    pubs=["driverStateV2", "liveCalibration", "carState", "modelV2", "selfdriveState", "carControl"],
+    pubs=["driverStateV2", "liveCalibration", "carState", "modelV2", "selfdriveState"],
    subs=["driverMonitoringState"],
    ignore=["logMonoTime"],
    should_recv_callback=MessageBasedRcvCallback("driverStateV2"),
@@ -511,7 +512,7 @@ CONFIGS = [
    pubs=[
      "cameraOdometry", "accelerometer", "gyroscope", "liveCalibration", "carState"
    ],
-    subs=["livePose"],
+    subs=["liveLocationKalman", "livePose"],
    ignore=["logMonoTime"],
    should_recv_callback=MessageBasedRcvCallback("cameraOdometry"),
    tolerance=NUMPY_TOLERANCE,
@@ -634,10 +635,10 @@ def replay_process(
  fingerprint: str | None = None, return_all_logs: bool = False, custom_params: dict[str, Any] | None = None,
  captured_output_store: dict[str, dict[str, str]] | None = None, disable_progress: bool = False
 ) -> list[capnp._DynamicStructReader]:
-  if isinstance(cfg, ProcessConfig):
-    cfgs = [cfg]
-  else:
+  if isinstance(cfg, Iterable):
    cfgs = list(cfg)
+  else:
+    cfgs = [cfg]

  all_msgs = migrate_all(lr,
                         manager_states=True,
@@ -66,7 +66,7 @@ segments = [
 # dashcamOnly makes don't need to be tested until a full port is done
 excluded_interfaces = ["mock", "body", "psa"]

-BASE_URL = "https://raw.githubusercontent.com/sunnypilot/ci-artifacts/refs/heads/process-replay/"
+BASE_URL = "https://raw.githubusercontent.com/commaai/ci-artifacts/refs/heads/process-replay/"
 REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
 EXCLUDED_PROCS = {"modeld", "dmonitoringmodeld"}

@@ -204,10 +204,7 @@ class FaceAnimator:
      frames_back = round(rewind_elapsed / self._animation.frame_duration)
      frame_index = self._rewind_from - frames_back
      if frame_index <= 0:
-        if self._next is None:
-          self._rewinding = False
-          return self._animation.frames[0]
-        return self._switch_to_next(now, self._next)
+        return self._switch_to_next(now)
      return self._animation.frames[frame_index]

    # Play starting frames first (once)
@@ -226,7 +223,7 @@ class FaceAnimator:

    if self._next is not None:
      if frame_index == 0 and (len(self._animation.frames) == 1 or self._seen_nonzero):
-        return self._switch_to_next(now, self._next)
+        return self._switch_to_next(now)
      # No natural return to frame 0 — start rewinding
      if self._animation.mode in (AnimationMode.ONCE_FORWARD, AnimationMode.REPEAT_FORWARD):
        self._rewinding = True
@@ -235,8 +232,8 @@ class FaceAnimator:

    return self._animation.frames[frame_index]

-  def _switch_to_next(self, now: float, animation: Animation) -> list[tuple[int, int]]:
-    self._animation = animation
+  def _switch_to_next(self, now: float) -> list[tuple[int, int]]:
+    self._animation = self._next
    self._next = None
    self._rewinding = False
    self._seen_nonzero = False
@@ -13,7 +13,6 @@ from openpilot.selfdrive.ui.body.layouts.onroad import BodyLayout

 if gui_app.sunnypilot_ui():
  from openpilot.selfdrive.ui.sunnypilot.layouts.settings.settings import SettingsLayoutSP as SettingsLayout
-  from openpilot.selfdrive.ui.sunnypilot.layouts.home import HomeLayoutSP as HomeLayout


 class MainState(IntEnum):
@@ -35,11 +34,7 @@ class MainLayout(Widget):
    # Initialize layouts
    self._home_layout = HomeLayout()
    self._home_body_layout = BodyLayout()
-    self._layouts: dict[MainState, Widget] = {
-      MainState.HOME: self._home_layout,
-      MainState.SETTINGS: SettingsLayout(),
-      MainState.ONROAD: AugmentedRoadView(),
-    }
+    self._layouts = {MainState.HOME: self._home_layout, MainState.SETTINGS: SettingsLayout(), MainState.ONROAD: AugmentedRoadView()}

    self._sidebar_rect = rl.Rectangle(0, 0, 0, 0)
    self._content_rect = rl.Rectangle(0, 0, 0, 0)
@@ -105,6 +105,7 @@ class DeviceLayout(Widget):

      self._params.remove("CalibrationParams")
      self._params.remove("LiveTorqueParameters")
+      self._params.remove("LiveParameters")
      self._params.remove("LiveParametersV2")
      self._params.remove("LiveDelay")
      self._params.put_bool("OnroadCycleRequested", True, block=True)
@@ -1,5 +1,5 @@
 import pyray as rl
-from dataclasses import dataclass, field
+from dataclasses import dataclass
 from enum import IntEnum
 from collections.abc import Callable
 from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout
@@ -43,7 +43,7 @@ class PanelType(IntEnum):
 class PanelInfo:
  name: str
  instance: Widget
-  button_rect: rl.Rectangle = field(default_factory=lambda: rl.Rectangle(0, 0, 0, 0))
+  button_rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0)


 class SettingsLayout(Widget):
@@ -68,7 +68,7 @@ class Sidebar(Widget, SidebarSP):
  def __init__(self):
    Widget.__init__(self)
    SidebarSP.__init__(self)
-    self._net_type = NETWORK_TYPES[NetworkType.none]
+    self._net_type = NETWORK_TYPES.get(NetworkType.none)
    self._net_strength = 0

    self._temp_status = MetricData(tr_noop("TEMP"), tr_noop("GOOD"), Colors.GOOD)
@@ -251,7 +251,7 @@ class MiciHomeLayout(Widget):
    self._egpu_icon.set_visible(ui_state.usbgpu and ui_state.usbgpu_compiled)
    self._egpu_icon_gray.set_visible(ui_state.usbgpu and not ui_state.usbgpu_compiled)
    self._mic_icon.set_visible(ui_state.recording_audio)
-    self._body_icon.set_visible(bool(ui_state.is_body))
+    self._body_icon.set_visible(ui_state.is_body)

    footer_rect = rl.Rectangle(self.rect.x + HOME_PADDING, self.rect.y + self.rect.height - 48, self.rect.width - HOME_PADDING, 48)
    self._status_bar_layout.render(footer_rect)
@@ -13,7 +13,6 @@ from openpilot.system.ui.lib.application import gui_app

 if gui_app.sunnypilot_ui():
  from openpilot.selfdrive.ui.sunnypilot.mici.layouts.settings import SettingsLayoutSP as SettingsLayout
-  from openpilot.selfdrive.ui.sunnypilot.mici.layouts.home import MiciHomeLayoutSP as MiciHomeLayout

 ONROAD_DELAY = 2.5  # seconds

@@ -149,4 +148,4 @@ class MiciMainLayout(Scroller):

  def _on_body_changed(self):
    self._car_onroad_layout.set_visible(not ui_state.is_body)
-    self._body_onroad_layout.set_visible(bool(ui_state.is_body))
+    self._body_onroad_layout.set_visible(ui_state.is_body)
@@ -250,12 +250,12 @@ class MiciOffroadAlerts(Scroller):
                              {alert_data.key: self.params.get(alert_data.key) for alert_data in self.sorted_alerts})
      time.sleep(REFRESH_INTERVAL)

-  def _refresh(self, pending_params: dict) -> int:
+  def _refresh(self) -> int:
    """Refresh alerts from params and return active count."""
    active_count = 0

    # Handle UpdateAvailable alert specially
-    update_available = pending_params["UpdateAvailable"]
+    update_available = self._pending_params["UpdateAvailable"]
    update_alert_data = next((alert_data for alert_data in self.sorted_alerts if alert_data.key == "UpdateAvailable"), None)

    if update_alert_data:
@@ -263,7 +263,7 @@ class MiciOffroadAlerts(Scroller):
        version_string = ""

        # Get new version description and parse version and date
-        new_desc = pending_params["UpdaterNewDescription"] or ""
+        new_desc = self._pending_params["UpdaterNewDescription"] or ""
        if new_desc:
          # format: "version / branch / commit / date"
          parts = new_desc.split(" / ")
@@ -284,7 +284,7 @@ class MiciOffroadAlerts(Scroller):
        continue  # Skip, already handled above

      text = ""
-      alert_json = pending_params[alert_data.key]
+      alert_json = self._pending_params[alert_data.key]

      if alert_json:
        text = alert_json.get("text", "").replace("%1", alert_json.get("extra", ""))
@@ -311,9 +311,8 @@ class MiciOffroadAlerts(Scroller):
  def _update_state(self):
    """Periodically refresh alerts."""
    # Refresh alerts when thread updates params
-    pending_params = self._pending_params
-    if pending_params is not None:
-      self._refresh(pending_params)
+    if self._pending_params is not None:
+      self._refresh()
      self._pending_params = None

  def _render(self, rect: rl.Rectangle):
@@ -16,7 +16,7 @@ from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets import Widget
 from openpilot.selfdrive.ui.ui_state import device, ui_state
 from openpilot.system.ui.widgets.label import UnifiedLabel
-from openpilot.system.ui.widgets.html_render import HtmlRenderer
+from openpilot.system.ui.widgets.html_render import HtmlModal, HtmlRenderer
 from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID


@@ -160,7 +160,7 @@ class DeviceLayoutMici(NavScroller):
  def __init__(self):
    super().__init__()

-    self._fcc_dialog: MiciFccModal | None = None
+    self._fcc_dialog: HtmlModal | None = None

    def power_off_callback():
      ui_state.params.put_bool("DoShutdown", True, block=True)
@@ -172,6 +172,7 @@ class DeviceLayoutMici(NavScroller):
      params = ui_state.params
      params.remove("CalibrationParams")
      params.remove("LiveTorqueParameters")
+      params.remove("LiveParameters")
      params.remove("LiveParametersV2")
      params.remove("LiveDelay")
      params.put_bool("OnroadCycleRequested", True, block=True)
@@ -219,7 +219,7 @@ class CameraView(Widget):
      [0.0, 0.0, 1.0]
    ])

-  def _render(self, rect: rl.Rectangle, /):
+  def _render(self, rect: rl.Rectangle):
    if self._switching:
      self._handle_switch()

@@ -47,8 +47,8 @@ class ModelPoints:

@dataclass
 class LeadVehicle:
-  glow: list[tuple[float, float]] = field(default_factory=list)
-  chevron: list[tuple[float, float]] = field(default_factory=list)
+  glow: list[float] = field(default_factory=list)
+  chevron: list[float] = field(default_factory=list)
  fill_alpha: int = 0


@@ -41,81 +41,80 @@ def get_child_widgets(widget) -> list:
  return children


-class TestWidgetLeaks:
-  @pytest.mark.skip(reason="segfaults")
-  def test_dialogs_do_not_leak(self):
-    import pyray as rl
-    rl.set_config_flags(rl.ConfigFlags.FLAG_WINDOW_HIDDEN)
-    from openpilot.system.ui.lib.application import gui_app
+@pytest.mark.skip(reason="segfaults")
+def test_dialogs_do_not_leak():
+  import pyray as rl
+  rl.set_config_flags(rl.ConfigFlags.FLAG_WINDOW_HIDDEN)
+  from openpilot.system.ui.lib.application import gui_app

-    # mici dialogs
-    from openpilot.selfdrive.ui.mici.layouts.onboarding import TrainingGuide as MiciTrainingGuide, OnboardingWindow as MiciOnboardingWindow
-    from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import DriverCameraDialog as MiciDriverCameraDialog
-    from openpilot.selfdrive.ui.mici.widgets.pairing_dialog import PairingDialog as MiciPairingDialog
-    from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialog, BigInputDialog
-    from openpilot.selfdrive.ui.mici.layouts.settings.device import MiciFccModal
+  # mici dialogs
+  from openpilot.selfdrive.ui.mici.layouts.onboarding import TrainingGuide as MiciTrainingGuide, OnboardingWindow as MiciOnboardingWindow
+  from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import DriverCameraDialog as MiciDriverCameraDialog
+  from openpilot.selfdrive.ui.mici.widgets.pairing_dialog import PairingDialog as MiciPairingDialog
+  from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialog, BigInputDialog
+  from openpilot.selfdrive.ui.mici.layouts.settings.device import MiciFccModal

-    # tici dialogs
-    from openpilot.selfdrive.ui.onroad.driver_camera_dialog import DriverCameraDialog as TiciDriverCameraDialog
-    from openpilot.selfdrive.ui.layouts.onboarding import OnboardingWindow as TiciOnboardingWindow
-    from openpilot.selfdrive.ui.widgets.pairing_dialog import PairingDialog as TiciPairingDialog
-    from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
-    from openpilot.system.ui.widgets.option_dialog import MultiOptionDialog
-    from openpilot.system.ui.widgets.html_render import HtmlModal
-    from openpilot.system.ui.widgets.keyboard import Keyboard
+  # tici dialogs
+  from openpilot.selfdrive.ui.onroad.driver_camera_dialog import DriverCameraDialog as TiciDriverCameraDialog
+  from openpilot.selfdrive.ui.layouts.onboarding import OnboardingWindow as TiciOnboardingWindow
+  from openpilot.selfdrive.ui.widgets.pairing_dialog import PairingDialog as TiciPairingDialog
+  from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
+  from openpilot.system.ui.widgets.option_dialog import MultiOptionDialog
+  from openpilot.system.ui.widgets.html_render import HtmlModal
+  from openpilot.system.ui.widgets.keyboard import Keyboard

-    gui_app.init_window("ref-test")
+  gui_app.init_window("ref-test")

-    leaked_widgets = set()
+  leaked_widgets = set()

-    for ctor in (
-      # mici
-      MiciDriverCameraDialog, MiciPairingDialog,
-      lambda: MiciTrainingGuide(lambda: None),
-      lambda: MiciOnboardingWindow(lambda: None),
-      lambda: BigDialog("test", "test"),
-      lambda: BigConfirmationDialog("test", gui_app.texture("icons_mici/settings/network/new/trash.png", 54, 64), lambda: None),
-      lambda: BigInputDialog("test"),
-      lambda: MiciFccModal(text="test"),
-      # tici
-      TiciDriverCameraDialog, TiciOnboardingWindow, TiciPairingDialog, Keyboard,
-      lambda: ConfirmDialog("test", "ok"),
-      lambda: MultiOptionDialog("test", ["a", "b"]),
-      lambda: HtmlModal(text="test"),
-    ):
-      widget = ctor()
-      all_refs = [weakref.ref(w) for w in get_child_widgets(widget) + [widget]]
+  for ctor in (
+    # mici
+    MiciDriverCameraDialog, MiciPairingDialog,
+    lambda: MiciTrainingGuide(lambda: None),
+    lambda: MiciOnboardingWindow(lambda: None),
+    lambda: BigDialog("test", "test"),
+    lambda: BigConfirmationDialog("test", gui_app.texture("icons_mici/settings/network/new/trash.png", 54, 64), lambda: None),
+    lambda: BigInputDialog("test"),
+    lambda: MiciFccModal(text="test"),
+    # tici
+    TiciDriverCameraDialog, TiciOnboardingWindow, TiciPairingDialog, Keyboard,
+    lambda: ConfirmDialog("test", "ok"),
+    lambda: MultiOptionDialog("test", ["a", "b"]),
+    lambda: HtmlModal(text="test"),
+  ):
+    widget = ctor()
+    all_refs = [weakref.ref(w) for w in get_child_widgets(widget) + [widget]]

-      del widget
+    del widget

-      for ref in all_refs:
-        if ref() is not None:
-          obj = ref()
-          name = f"{type(obj).__module__}.{type(obj).__qualname__}"
-          leaked_widgets.add(name)
+    for ref in all_refs:
+      if ref() is not None:
+        obj = ref()
+        name = f"{type(obj).__module__}.{type(obj).__qualname__}"
+        leaked_widgets.add(name)

-          print(f"\n===  Widget {name} alive after del")
-          print("  Referrers:")
-          for r in gc.get_referrers(obj):
-            if r is obj:
-              continue
+        print(f"\n===  Widget {name} alive after del")
+        print("  Referrers:")
+        for r in gc.get_referrers(obj):
+          if r is obj:
+            continue

-            if hasattr(r, '__self__') and r.__self__ is not obj:
-              print(f"    bound method: {type(r.__self__).__qualname__}.{r.__name__}")
-            elif hasattr(r, '__func__'):
-              print(f"    method: {r.__name__}")
-            else:
-              print(f"    {type(r).__module__}.{type(r).__qualname__}")
-          del obj
+          if hasattr(r, '__self__') and r.__self__ is not obj:
+            print(f"    bound method: {type(r.__self__).__qualname__}.{r.__name__}")
+          elif hasattr(r, '__func__'):
+            print(f"    method: {r.__name__}")
+          else:
+            print(f"    {type(r).__module__}.{type(r).__qualname__}")
+        del obj

-    gui_app.close()
+  gui_app.close()

-    unexpected = leaked_widgets - KNOWN_LEAKS
-    assert not unexpected, f"New leaked widgets: {unexpected}"
+  unexpected = leaked_widgets - KNOWN_LEAKS
+  assert not unexpected, f"New leaked widgets: {unexpected}"

-    fixed = KNOWN_LEAKS - leaked_widgets
-    assert not fixed, f"These leaks are fixed, remove from KNOWN_LEAKS: {fixed}"
+  fixed = KNOWN_LEAKS - leaked_widgets
+  assert not fixed, f"These leaks are fixed, remove from KNOWN_LEAKS: {fixed}"


 if __name__ == "__main__":
-  TestWidgetLeaks().test_dialogs_do_not_leak()
+  test_dialogs_do_not_leak()
@@ -375,7 +375,6 @@ class GreyBigButton(BigButton):
 class BigMultiParamToggle(BigMultiToggle):
  def __init__(self, text: str, param: str, options: list[str], toggle_callback: Callable | None = None,
               select_callback: Callable | None = None):
-    assert Params is not None
    super().__init__(text, options, toggle_callback, select_callback)
    self._param = param

@@ -393,7 +392,6 @@ class BigMultiParamToggle(BigMultiToggle):

 class BigParamControl(BigToggle):
  def __init__(self, text: str, param: str, toggle_callback: Callable | None = None):
-    assert Params is not None
    super().__init__(text, "", toggle_callback=toggle_callback)
    self.param = param
    self.params = Params()
@@ -411,7 +409,6 @@ class BigParamControl(BigToggle):
 class BigCircleParamControl(BigCircleToggle):
  def __init__(self, icon: rl.Texture, param: str, toggle_callback: Callable | None = None,
               icon_offset: tuple[int, int] = (0, 0)):
-    assert Params is not None
    super().__init__(icon, toggle_callback, icon_offset=icon_offset)
    self._param = param
    self.params = Params()
@@ -39,8 +39,8 @@ class ModelPoints:

@dataclass
 class LeadVehicle:
-  glow: list[tuple[float, float]] = field(default_factory=list)
-  chevron: list[tuple[float, float]] = field(default_factory=list)
+  glow: list[float] = field(default_factory=list)
+  chevron: list[float] = field(default_factory=list)
  fill_alpha: int = 0


@@ -24,7 +24,7 @@ ALERT_RAMP_TIME = 4 # seconds to ramp to max volume for warningImmediate
 SELFDRIVE_STATE_TIMEOUT = 5 # 5 seconds
 FILTER_DT = 1. / (micd.SAMPLE_RATE / micd.FFT_SAMPLES)

-AMBIENT_DB = 26 # DB where MIN_VOLUME is applied
+AMBIENT_DB = 24 # DB where MIN_VOLUME is applied
 DB_SCALE = 30 # AMBIENT_DB + DB_SCALE is where MAX_VOLUME is applied

 VOLUME_BASE = 20
@@ -48,15 +48,14 @@ sound_list: dict[int, tuple[str, int | None, float]] = {
  AudibleAlert.disengage: ("disengage.wav", 1, MAX_VOLUME),
  AudibleAlert.refuse: ("refuse.wav", 1, MAX_VOLUME),

-  AudibleAlert.prompt: ("warning.wav", 1, MAX_VOLUME),
-  AudibleAlert.promptRepeat: ("warning.wav", None, MAX_VOLUME),
-  AudibleAlert.promptDistracted: ("dm_warning.wav", None, MAX_VOLUME),
+  AudibleAlert.prompt: ("prompt.wav", 1, MAX_VOLUME),
+  AudibleAlert.promptRepeat: ("prompt.wav", None, MAX_VOLUME),
+  AudibleAlert.promptDistracted: ("prompt_distracted.wav", None, MAX_VOLUME),

  AudibleAlert.preAlert: ("pre_alert.wav", 1, MAX_VOLUME),
-  AudibleAlert.complete: ("complete.wav", 1, MAX_VOLUME),

-  AudibleAlert.warningSoft: ("critical.wav", None, MAX_VOLUME),
-  AudibleAlert.warningImmediate: ("dm_critical.wav", None, MAX_VOLUME),
+  AudibleAlert.warningSoft: ("warning_soft.wav", None, MAX_VOLUME),
+  AudibleAlert.warningImmediate: ("warning_immediate.wav", None, MAX_VOLUME),

  **sound_list_sp,
 }
@@ -90,7 +89,6 @@ class Soundd(QuietMode):
    self.ramp_start_time = 0.

    self.selfdrive_timeout_alert = False
-    self.pending_stop = False

    self.spl_filter_weighted = FirstOrderFilter(0, 2.5, FILTER_DT, initialized=False)

@@ -129,10 +127,6 @@ class Soundd(QuietMode):
        self.current_sound_frame += frames_to_write
        current_sound_frame = self.current_sound_frame % len(sound_data)
        loops = self.current_sound_frame // len(sound_data)
-        if self.pending_stop and current_sound_frame == 0:
-          self.current_alert = AudibleAlert.none
-          self.pending_stop = False
-          break

    return ret * self.current_volume

@@ -143,15 +137,6 @@ class Soundd(QuietMode):

  def update_alert(self, new_alert):
    current_alert_played_once = self.current_alert == AudibleAlert.none or self.current_sound_frame >= len(self.loaded_sounds[self.current_alert])
-    # let looping sounds finish the current loop instead of cutting off mid tone
-    if new_alert == AudibleAlert.none and self.current_alert != AudibleAlert.none and sound_list[self.current_alert][1] is None:
-      if current_alert_played_once:
-        self.pending_stop = True
-      else:
-        self.current_alert = AudibleAlert.none
-        self.current_sound_frame = 0
-      return
-    self.pending_stop = False
    if self.current_alert != new_alert and (new_alert != AudibleAlert.none or current_alert_played_once):
      if new_alert == AudibleAlert.warningImmediate:
        self.ramp_start_volume = self.current_volume
@@ -1,68 +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 pyray as rl
-from openpilot.selfdrive.ui.layouts.home import HomeLayout, HomeLayoutState, HEAD_BUTTON_FONT_SIZE, SPACING
-from openpilot.system.ui.lib.application import gui_app, FontWeight
-from openpilot.system.ui.lib.text_measure import measure_text_cached
-from openpilot.system.ui.lib.multilang import tr, trn
-from openpilot.system.ui.widgets.label import gui_label
-
-BRAND_FONT_SIZE = 48
-BRAND_DESC_SPACING = 12
-
-
-class HomeLayoutSP(HomeLayout):
-  def _render_header(self):
-    font = gui_app.font(FontWeight.MEDIUM)
-
-    version_text_width = self.header_rect.width
-
-    if self.update_available:
-      version_text_width -= self.update_notif_rect.width
-
-      highlight_color = rl.Color(75, 95, 255, 255) if self.current_state == HomeLayoutState.UPDATE else rl.Color(54, 77, 239, 255)
-      rl.draw_rectangle_rounded(self.update_notif_rect, 0.3, 10, highlight_color)
-
-      text = tr("UPDATE")
-      text_size = measure_text_cached(font, text, HEAD_BUTTON_FONT_SIZE)
-      text_x = self.update_notif_rect.x + (self.update_notif_rect.width - text_size.x) // 2
-      text_y = self.update_notif_rect.y + (self.update_notif_rect.height - text_size.y) // 2
-      rl.draw_text_ex(font, text, rl.Vector2(int(text_x), int(text_y)), HEAD_BUTTON_FONT_SIZE, 0, rl.WHITE)
-
-    if self.alert_count > 0:
-      version_text_width -= self.alert_notif_rect.width
-
-      highlight_color = rl.Color(255, 70, 70, 255) if self.current_state == HomeLayoutState.ALERTS else rl.Color(226, 44, 44, 255)
-      rl.draw_rectangle_rounded(self.alert_notif_rect, 0.3, 10, highlight_color)
-
-      alert_text = trn("{} ALERT", "{} ALERTS", self.alert_count).format(self.alert_count)
-      text_size = measure_text_cached(font, alert_text, HEAD_BUTTON_FONT_SIZE)
-      text_x = self.alert_notif_rect.x + (self.alert_notif_rect.width - text_size.x) // 2
-      text_y = self.alert_notif_rect.y + (self.alert_notif_rect.height - text_size.y) // 2
-      rl.draw_text_ex(font, alert_text, rl.Vector2(int(text_x), int(text_y)), HEAD_BUTTON_FONT_SIZE, 0, rl.WHITE)
-
-    if self.update_available or self.alert_count > 0:
-      version_text_width -= SPACING * 1.5
-
-    version_right = self.header_rect.x + self.header_rect.width
-    version_left = version_right - version_text_width
-
-    brand = "sunnypilot"
-    description = self.params.get("UpdaterCurrentDescription") or ""
-
-    desc_width = 0
-    if description:
-      desc_size = measure_text_cached(gui_app.font(FontWeight.NORMAL), description, BRAND_FONT_SIZE)
-      desc_width = desc_size.x
-      desc_rect = rl.Rectangle(version_right - desc_width, self.header_rect.y, desc_width, self.header_rect.height)
-      gui_label(desc_rect, description, BRAND_FONT_SIZE, rl.WHITE, alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT)
-
-    brand_size = measure_text_cached(gui_app.font(FontWeight.AUDIOWIDE), brand, BRAND_FONT_SIZE)
-    spacing = BRAND_DESC_SPACING if description else 0
-    brand_x = version_right - desc_width - spacing - brand_size.x
-    brand_rect = rl.Rectangle(max(version_left, brand_x), self.header_rect.y, brand_size.x, self.header_rect.height)
-    gui_label(brand_rect, brand, BRAND_FONT_SIZE, rl.WHITE, font_weight=FontWeight.AUDIOWIDE)
@@ -20,7 +20,7 @@ class SunnylinkConsentPage(Widget):
    self._done_callback = done_callback
    self._step = 0

-    self._title = self._child(Label(tr("sunnylink"), font_size=90, font_weight=FontWeight.AUDIOWIDE, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT))
+    self._title = self._child(Label(tr("sunnylink"), font_size=90, font_weight=FontWeight.BOLD, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT))

    self._content = [
      {
@@ -20,6 +20,7 @@ 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
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.external_storage import external_storage_item

 PREBUILT_PATH = os.path.join(Paths.comma_home(), "prebuilt") if PC else "/data/openpilot/prebuilt"

@@ -52,7 +53,11 @@ class DeveloperLayoutSP(DeveloperLayout):

    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,]
+    self.external_storage = external_storage_item(tr("External Storage"), description=tr("Extend your comma device's storage by inserting a USB drive " +
+                                                                                         "into the aux port."))
+
+    self.items: list = [self.show_advanced_controls, self.enable_github_runner_toggle, self.enable_copyparty_toggle, self.prebuilt_toggle,
+                        self.external_storage, self.error_log_btn,]

  @staticmethod
  def _on_prebuilt_toggled(state):
@@ -9,7 +9,7 @@ from enum import IntEnum
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets.scroller_tici import Scroller
-from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp, option_item_sp
+from openpilot.system.ui.sunnypilot.widgets.list_view import option_item_sp
 from openpilot.sunnypilot.system.params_migration import ONROAD_BRIGHTNESS_TIMER_VALUES


@@ -61,26 +61,10 @@ class DisplayLayout(Widget):
                                    f"{value} s" if value < 60 else f"{int(value/60)} m"),
      inline=True
    )
-    self._screensaver_toggle = toggle_item_sp(
-      param="ScreenSaverEnabled",
-      title=lambda: tr("Screen Saver"),
-      description=lambda: tr("Show a screen saver when the device is offroad and idle, instead of turning the screen off."),
-    )
-    self._screensaver_timeout = option_item_sp(
-      param="ScreenSaverTimeout",
-      title=lambda: tr("Screen Saver Duration"),
-      description=lambda: tr("How long the screen saver runs before the screen turns off."),
-      min_value=60,
-      max_value=600,
-      value_change_step=60,
-      label_callback=lambda value: f"{int(value/60)} m"
-    )
    items = [
      self._onroad_brightness,
      self._onroad_brightness_timer,
      self._interactivity_timeout,
-      self._screensaver_toggle,
-      self._screensaver_timeout,
    ]
    return items

@@ -103,8 +87,6 @@ class DisplayLayout(Widget):
    brightness_val = self._onroad_brightness.action_item.current_value
    self._onroad_brightness_timer.action_item.set_enabled(brightness_val not in (OnroadBrightness.AUTO, OnroadBrightness.AUTO_DARK))

-    self._screensaver_timeout.set_visible(self._screensaver_toggle.action_item.get_state())
-
  def _render(self, rect):
    self._scroller.render(rect)

@@ -0,0 +1,261 @@
+"""
+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 pyray as rl
+import threading
+import subprocess
+import copy
+from enum import Enum
+from collections.abc import Callable
+
+from openpilot.common.params import Params
+from openpilot.common.hardware import PC
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.lib.multilang import tr, tr_noop
+from openpilot.system.ui.widgets import DialogResult
+from openpilot.system.ui.widgets.button import Button, ButtonStyle
+from openpilot.system.ui.widgets.confirm_dialog import alert_dialog, ConfirmDialog
+from openpilot.system.ui.widgets.list_view import (
+  ItemAction,
+  ListItem,
+  BUTTON_HEIGHT,
+  BUTTON_BORDER_RADIUS,
+  BUTTON_FONT_SIZE,
+  BUTTON_WIDTH,
+)
+
+VALUE_FONT_SIZE = 48
+
+
+class ExternalStorageState(Enum):
+  DISABLED = tr_noop("DISABLED")
+  LOADING = tr_noop("LOADING")
+  CHECK = tr_noop("CHECK")
+  MOUNT = tr_noop("MOUNT")
+  UNMOUNT = tr_noop("UNMOUNT")
+  FORMAT = tr_noop("FORMAT")
+
+
+class ExternalStorageAction(ItemAction):
+  MAX_WIDTH = 500
+
+  def __init__(self):
+    super().__init__(self.MAX_WIDTH, True)
+
+    self._params = Params()
+    self._error_message = ""
+    self._text_font = gui_app.font(FontWeight.NORMAL)
+
+    self._button = Button(
+      "",
+      click_callback=self._handle_button_click,
+      button_style=ButtonStyle.LIST_ACTION,
+      border_radius=BUTTON_BORDER_RADIUS,
+      font_size=BUTTON_FONT_SIZE,
+    )
+
+    self._value_text = ""
+    self._formatting = False
+    self._refresh_pending = False
+
+    self._state = ExternalStorageState.CHECK
+    self._refresh_state()
+    self.refresh()
+
+  def set_touch_valid_callback(self, callback):
+    def wrapped():
+      if self._state == ExternalStorageState.DISABLED:
+        return False
+      return callback()
+    super().set_touch_valid_callback(wrapped)
+    self._button.set_touch_valid_callback(wrapped)
+
+  def _run(self, cmd: str) -> bool:
+    return subprocess.call(["sh", "-c", cmd]) == 0
+
+  def _run_output(self, cmd: str) -> str:
+    try:
+      out = subprocess.check_output(["sh", "-c", cmd], universal_newlines=True)
+      return out.strip()
+    except Exception:
+      return ""
+
+  def _render(self, rect: rl.Rectangle) -> bool:
+    if self._error_message:
+      msg = copy.copy(self._error_message)
+      gui_app.set_modal_overlay(alert_dialog(msg))
+      self._error_message = ""
+
+    if self._value_text:
+      text_size = measure_text_cached(self._text_font, self._value_text, VALUE_FONT_SIZE)
+      rl.draw_text_ex(
+        self._text_font,
+        self._value_text,
+        (rect.x + rect.width - BUTTON_WIDTH - text_size.x - 30,
+         rect.y + (rect.height - text_size.y) / 2),
+        VALUE_FONT_SIZE,
+        1.0,
+        rl.Color(170, 170, 170, 255),
+      )
+
+    button_rect = rl.Rectangle(
+      rect.x + rect.width - BUTTON_WIDTH,
+      rect.y + (rect.height - BUTTON_HEIGHT) / 2,
+      BUTTON_WIDTH,
+      BUTTON_HEIGHT
+    )
+    self._button.set_rect(button_rect)
+    self._button.set_text(tr(self._state.value))
+    self._button.set_enabled(self._state not in (ExternalStorageState.LOADING,
+                                                 ExternalStorageState.DISABLED))
+    self._button.render(button_rect)
+    return False
+
+  def _refresh_state(self):
+    if PC:
+      self._state = ExternalStorageState.DISABLED
+      self._button.set_enabled(False)
+      self._value_text = ""
+
+  def debounced_refresh(self):
+    if self._refresh_pending:
+      return
+    self._refresh_pending = True
+
+    def _timer():
+      import time
+      time.sleep(0.25)
+      self._refresh_pending = False
+      self.refresh()
+
+    threading.Thread(target=_timer, daemon=True).start()
+
+  def refresh(self):
+    def _work():
+      is_mounted = self._run("findmnt -n /mnt/external_realdata")
+      has_drive = self._run("lsblk -f /dev/sdg")
+      has_fs = self._run("lsblk -f /dev/sdg1 | grep -q ext4")
+      has_label = self._run("blkid /dev/sdg1 | grep -q 'LABEL=\"openpilot\"'")
+
+      info = ""
+      if is_mounted and has_label:
+        info = self._run_output(
+          "df -h /mnt/external_realdata | awk 'NR==2 {print $3 \"/\" $2}'"
+        )
+
+      def apply():
+        if self._formatting:
+          self._value_text = tr("formatting")
+          self._state = ExternalStorageState.FORMAT
+          return
+
+        if not has_drive:
+          self._value_text = tr("insert drive")
+          self._state = ExternalStorageState.CHECK
+
+        elif not has_fs or not has_label:
+          self._value_text = tr("needs format")
+          self._state = ExternalStorageState.FORMAT
+
+        elif is_mounted:
+          self._value_text = info
+          self._state = ExternalStorageState.UNMOUNT
+
+        else:
+          self._value_text = tr("drive detected")
+          self._state = ExternalStorageState.MOUNT
+
+      apply()
+
+    threading.Thread(target=_work, daemon=True).start()
+
+  def _handle_button_click(self):
+    st = self._state
+
+    if st == ExternalStorageState.DISABLED:
+      return
+
+    if st in (ExternalStorageState.CHECK, ExternalStorageState.MOUNT):
+      self.mount_storage()
+
+    elif st == ExternalStorageState.UNMOUNT:
+      self.unmount_storage()
+
+    elif st == ExternalStorageState.FORMAT:
+      dialog = ConfirmDialog(
+          tr("Are you sure you want to format this drive? This will erase all data."),
+          confirm_text=tr("Format"),
+          cancel_text=tr("Cancel"),
+        )
+      gui_app.set_modal_overlay(dialog, callback=self._confirm_format)
+
+  def _confirm_format(self, result: DialogResult):
+    if result == DialogResult.CONFIRM:
+      self.format_storage()
+
+  def mount_storage(self):
+    self._value_text = tr("mounting")
+    self._state = ExternalStorageState.LOADING
+
+    def _work():
+      cmd = """
+        sudo mount -o remount,rw / &&
+        sudo mkdir -p /mnt/external_realdata &&
+        (grep -q '/dev/sdg1 /mnt/external_realdata' /etc/fstab ||
+         echo '/dev/sdg1 /mnt/external_realdata ext4 defaults,nofail 0 2' >> /etc/fstab) &&
+        sudo systemctl daemon-reexec &&
+        sudo mount /mnt/external_realdata &&
+        sudo chown -R comma:comma /mnt/external_realdata &&
+        sudo chmod -R 775 /mnt/external_realdata &&
+        sudo mount -o remount,ro /
+      """
+      subprocess.call(["sh", "-c", cmd])
+      self.debounced_refresh()
+
+    threading.Thread(target=_work, daemon=True).start()
+
+  def unmount_storage(self):
+    self._value_text = tr("unmounting")
+    self._state = ExternalStorageState.LOADING
+
+    def _work():
+      subprocess.call(["sh", "-c", "sudo umount /mnt/external_realdata"])
+      self.debounced_refresh()
+
+    threading.Thread(target=_work, daemon=True).start()
+
+  def format_storage(self):
+    self._formatting = True
+    self._value_text = tr("formatting")
+    self._state = ExternalStorageState.LOADING
+
+    def _work():
+      cmd = """
+        sudo wipefs -a /dev/sdg &&
+        sudo parted -s /dev/sdg mklabel gpt mkpart primary ext4 0% 100% &&
+        sudo mkfs.ext4 -F -L openpilot /dev/sdg1
+      """
+      exitcode = subprocess.call(["sh", "-c", cmd])
+
+      def apply():
+        self._formatting = False
+        if exitcode == 0:
+          self.mount_storage()
+        else:
+          self._value_text = tr("needs format")
+          self._state = ExternalStorageState.FORMAT
+
+      apply()
+
+    threading.Thread(target=_work, daemon=True).start()
+
+def external_storage_item(title: str | Callable[[], str], description: str | Callable[[], str]) -> ListItem:
+  return ListItem(
+    title=title,
+    description=description,
+    action_item=ExternalStorageAction()
+  )
@@ -43,7 +43,7 @@ class ModelsLayout(Widget):
    self._initialize_items()

    self.clear_cache_item.action_item.set_value(f"{self.calculate_cache_size():.2f} MB")
-    for ctrl, key in [(self.lane_turn_value_control, "LaneTurnValue"), (self.delay_control, "LagdToggleDelay"), (self.camera_offset, "CameraOffset")]:
+    for ctrl, key in [(self.lane_turn_value_control, "LaneTurnValue"), (self.delay_control, "LagdToggleDelay")]:
      ctrl.action_item.set_value(int(float(ui_state.params.get(key, return_default=True)) * 100))

    self._scroller = Scroller(self.items, line_separator=True, spacing=0)
@@ -93,14 +93,9 @@ class ModelsLayout(Widget):

    self.lagd_toggle = toggle_item_sp(tr("Live Learning Steer Delay"), "", param="LagdToggle")

-    self.camera_offset = option_item_sp(tr("Adjust Camera Offset"), "CameraOffset", -35, 35,
-                                        tr("Virtually shift camera's perspective to move model's center to Left(+ values) or Right (- values)"),
-                                        1, None, True, "", style.BUTTON_ACTION_WIDTH, None, True,
-                                        lambda v: f"{v / 100:.2f} m")
-
    self.items = [self.current_model_item, self.cancel_download_item, self.supercombo_label, self.vision_label,
-                  self.policy_label, self.off_policy_label, self.on_policy_label, self.refresh_item, self.clear_cache_item,
-                  self.lane_turn_desire_toggle, self.lane_turn_value_control, self.lagd_toggle, self.delay_control, self.camera_offset]
+                  self.policy_label, self.off_policy_label, self.on_policy_label, self.refresh_item, self.clear_cache_item, self.lane_turn_desire_toggle,
+                  self.lane_turn_value_control, self.lagd_toggle, self.delay_control]

  def _update_lagd_description(self, lagd_toggle: bool):
    desc = tr("Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. " +
@@ -237,16 +232,14 @@ class ModelsLayout(Widget):
    advanced_controls: bool = ui_state.params.get_bool("ShowAdvancedControls")
    turn_desire: bool = ui_state.params.get_bool("LaneTurnDesire")
    live_delay: bool = ui_state.params.get_bool("LagdToggle")
-    camera_offset: bool = ui_state.params.get("ModelManager_ActiveBundle") is not None

    self.lane_turn_desire_toggle.action_item.set_state(turn_desire)
    self.lane_turn_value_control.set_visible(turn_desire and advanced_controls)
    self.lagd_toggle.action_item.set_state(live_delay)
    self.delay_control.set_visible(not live_delay and advanced_controls)
    new_step = int(round(100 / CV.MPH_TO_KPH)) if ui_state.is_metric else 100
-    if self.lane_turn_value_control.action_item is not None and self.lane_turn_value_control.action_item.value_change_step != new_step:
+    if self.lane_turn_value_control.action_item.value_change_step != new_step:
      self.lane_turn_value_control.action_item.value_change_step = new_step
-    self.camera_offset.set_visible(camera_offset)

    self._update_lagd_description(live_delay)
    self.model_manager = ui_state.sm["modelManagerSP"]
@@ -38,8 +38,8 @@ class NetworkUISP(NetworkUI):
      self.scan_button.set_text(tr("Scan"))
      self.scan_button.set_enabled(True)

-  def _render(self, _):
-    super()._render(_)
+  def _render(self, rect: rl.Rectangle):
+    super()._render(rect)

    if self._current_panel == PanelType.WIFI:
      self.scan_button.set_position(self._rect.x, self._rect.y + 20)
@@ -37,7 +37,7 @@ from openpilot.system.ui.widgets.scroller_tici import Scroller
 OP.PANEL_COLOR = rl.Color(10, 10, 10, 255)
 ICON_SIZE = 70

-OP.PanelType = IntEnum(  # type: ignore[assignment] # ty: ignore[invalid-assignment]
+OP.PanelType = IntEnum(
  "PanelType",
  [es.name for es in OP.PanelType] + [
    "SUNNYLINK",
@@ -180,18 +180,20 @@ class SettingsLayoutSP(OP.SettingsLayout):
      self._sidebar_scroller.render(nav_rect)
      return

-  def _handle_mouse_release(self, mouse_pos: MousePos) -> None:
+  def _handle_mouse_release(self, mouse_pos: MousePos) -> bool:
    # Check close button
    if rl.check_collision_point_rec(mouse_pos, self._close_btn_rect):
      if self._close_callback:
        self._close_callback()
-      return
+      return True

    # Check navigation buttons
    for panel_type, panel_info in self._panels.items():
      if rl.check_collision_point_rec(mouse_pos, panel_info.button_rect) and self._sidebar_scroller.scroll_panel.is_touch_valid():
        self.set_current_panel(panel_type)
-        return
+        return True
+
+    return False

  def show_event(self):
    super().show_event()
--- a/Show More
+++ b/Show More