Merge remote-tracking branch 'sunnypilot/sunnypilot/master' into hkg-angle-steering-2025

# Conflicts: # opendbc_repo
Sync: commaai/openpilot:master → sunnypilot/sunnypilot:master (#1913 )
2026-08-20 02:53:44 +08:00 · 2026-08-17 10:29:01 -04:00 · 2026-08-17 01:43:11 -04:00 · 2026-08-17 00:38:50 -04:00 · 2026-08-16 21:40:16 -04:00 · 2026-08-16 18:38:12 -07:00
57 changed files with 3138 additions and 731 deletions
@@ -2,5 +2,6 @@ Wen
 REGIST
 PullRequest
 cancelled
+indeces
 FOF
 NoO
@@ -7,6 +7,19 @@ on:
        description: 'Minimum selector version required for the models (see helpers.py or readme.md)'
        required: true
        type: string
+      target_hardware:
+        description: 'Hardware target to compile for (qcom or usbgpu)'
+        required: true
+        type: choice
+        default: 'qcom'
+        options:
+          - qcom
+          - usbgpu
+      hf_repo:
+        description: 'Hugging Face dataset repository'
+        required: false
+        type: string
+        default: 'sunnypilot/sunnypilot_models_v1'

 jobs:
  setup:
@@ -46,13 +59,14 @@ jobs:
        id: get-json
        run: |
          cd docs/docs
-          latest=$(ls driving_models_v*.json | sed -E 's/.*_v([0-9]+)\.json/\1/' | sort -n | tail -1)
+          PREFIX="driving_models_${{ inputs.target_hardware == 'usbgpu' && 'usbgpu_' || '' }}v"
+          latest=$(ls ${PREFIX}*.json | sed -E "s/${PREFIX}([0-9]+)\.json/\1/" | sort -n | tail -1)
          next=$((latest+1))
-          json_file="driving_models_v${next}.json"
-          cp "driving_models_v${latest}.json" "$json_file"
+          json_file="${PREFIX}${next}.json"
+          cp "${PREFIX}${latest}.json" "$json_file"
          echo "json_file=docs/docs/$json_file" >> $GITHUB_OUTPUT
          echo "json_version=$((next+0))" >> $GITHUB_OUTPUT
-          echo "SRC_JSON_FILE=docs/docs/driving_models_v${latest}.json" >> $GITHUB_ENV
+          echo "SRC_JSON_FILE=docs/docs/${PREFIX}${latest}.json" >> $GITHUB_ENV

      - name: Extract tinygrad models
        id: set-matrix
@@ -61,45 +75,23 @@ jobs:
          jq -c '[.bundles[] | select(.runner=="tinygrad") | {ref, display_name: (.display_name | gsub(" \\([^)]*\\)"; "")), is_20hz}]' "$(basename "${SRC_JSON_FILE}")" > matrix.json
          echo "model_matrix=$(cat matrix.json)" >> $GITHUB_OUTPUT

-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-      - run: |
-          mkdir -p ~/.ssh
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-
-      - name: Clone GitLab docs repo and create new recompiled dir
+      - name: Get next recompiled dir number
        id: create-recompiled-dir
        env:
-          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
+          HF_REPO: ${{ github.event.inputs.hf_repo }}
        run: |
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
-          cd gitlab_docs
-          git checkout main
-          git sparse-checkout set --no-cone models/
-          cd models
-          latest_dir=$(ls -d recompiled* 2>/dev/null | sed -E 's/recompiled([0-9]+)/\1/' | sort -n | tail -1)
-          if [[ -z "$latest_dir" ]]; then
-            next_dir=1
-          else
-            next_dir=$((latest_dir+1))
-          fi
-          recompiled_dir="${next_dir}"
-          mkdir -p "recompiled${recompiled_dir}"
-          touch "recompiled${recompiled_dir}/.gitkeep"
-          cd ../..
+          pip install huggingface_hub
+          recompiled_dir=$(python3 -c "
+          from huggingface_hub import HfApi
+          import re, sys
+          api = HfApi()
+          files = api.list_repo_files(repo_id=sys.argv[1], repo_type='dataset')
+          dirs = [re.search(r'models/recompiled([0-9]+)', f) for f in files]
+          nums = [int(m.group(1)) for m in dirs if m]
+          print(max(nums) + 1)
+          " "$HF_REPO")
          echo "recompiled_dir=$recompiled_dir" >> $GITHUB_OUTPUT

-      - name: Push empty recompiled dir to GitLab
-        run: |
-          cd gitlab_docs
-          git add models/recompiled${{ steps.create-recompiled-dir.outputs.recompiled_dir }}
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git commit -m "Add recompiled${{ steps.create-recompiled-dir.outputs.recompiled_dir }} for build-all" || echo "No changes to commit"
-          git push origin main
-
      - name: Push new JSON to GitHub docs repo
        run: |
          cd docs
@@ -123,25 +115,30 @@ jobs:
      is_20hz: ${{ matrix.model.is_20hz }}
      recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
      json_version: ${{ needs.setup.outputs.json_version }}
+      target_hardware: ${{ github.event.inputs.target_hardware }}
+      hf_repo: ${{ github.event.inputs.hf_repo }}
+      set_min_version: ${{ github.event.inputs.set_min_version }}
+      tinygrad_ref: ${{ needs.setup.outputs.tinygrad_ref }}
    secrets: inherit

  retry_failed_models:
    needs: [setup, get_and_build]
    runs-on: ubuntu-latest
-    if: ${{ needs.setup.result != 'failure' && !cancelled() }}
+    if: ${{ !cancelled() && needs.setup.result == 'success' && (needs.get_and_build.result == 'success' || needs.get_and_build.result == 'failure') }}
    outputs:
      retry_matrix: ${{ steps.set-retry-matrix.outputs.retry_matrix }}
    steps:
      - uses: actions/download-artifact@v4
        with:
-          pattern: model-*
+          pattern: artifact-name-*
          path: output
+        continue-on-error: true

      - id: set-retry-matrix
        run: |
          echo '${{ needs.setup.outputs.model_matrix }}' > matrix.json
-          built=(); while IFS= read -r line; do built+=("$line"); done < <(
-            find output -maxdepth 1 -name 'model-*' -printf "%f\n" | sed -E 's/^model-//' | sed -E 's/-[0-9]+$//' | sed -E 's/ \([^)]*\)//' | awk '{gsub(/^ +| +$/, ""); print}'
+          built=(); while IFS= read -r line; do [ -n "$line" ] && built+=("$line"); done < <(
+            find output -maxdepth 1 -name 'artifact-name-*' -printf "%f\n" 2>/dev/null | sed -E 's/^artifact-name-//' | awk '{gsub(/^ +| +$/, ""); print}'
          )
          jq -c --argjson built "$(printf '%s\n' "${built[@]}" | jq -R . | jq -s .)" \
            'map(select(.display_name as $n | ($built | index($n | gsub("^ +| +$"; "")) | not)))' matrix.json > retry_matrix.json
@@ -149,7 +146,7 @@ jobs:

  retry_get_and_build:
    needs: [setup, get_and_build, retry_failed_models]
-    if: ${{ needs.get_and_build.result == 'failure' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '') }}
+    if: ${{ !cancelled() && needs.retry_failed_models.result == 'success' && needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '' }}
    strategy:
      matrix:
        model: ${{ fromJson(needs.retry_failed_models.outputs.retry_matrix) }}
@@ -161,146 +158,9 @@ jobs:
      is_20hz: ${{ matrix.model.is_20hz }}
      recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
      json_version: ${{ needs.setup.outputs.json_version }}
+      target_hardware: ${{ github.event.inputs.target_hardware }}
      artifact_suffix: -retry
+      hf_repo: ${{ github.event.inputs.hf_repo }}
+      set_min_version: ${{ github.event.inputs.set_min_version }}
+      tinygrad_ref: ${{ needs.setup.outputs.tinygrad_ref }}
    secrets: inherit
-
-  publish_models:
-    name: Publish models sequentially
-    needs: [setup, get_and_build, retry_failed_models, retry_get_and_build]
-    if: ${{ !cancelled() && (needs.get_and_build.result != 'failure' || needs.retry_get_and_build.result == 'success' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '')) }}
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      max-parallel: 1
-      matrix:
-        model: ${{ fromJson(needs.setup.outputs.model_matrix) }}
-    env:
-      RECOMPILED_DIR: recompiled${{ needs.setup.outputs.recompiled_dir }}
-      JSON_FILE: ${{ needs.setup.outputs.json_file }}
-      ARTIFACT_NAME_INPUT: ${{ matrix.model.display_name }}
-    steps:
-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-
-      - name: Add GitLab.com SSH key to known_hosts
-        run: |
-          mkdir -p ~/.ssh
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-
-      - name: Clone GitLab docs repo
-        env:
-          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
-        run: |
-          echo "Cloning GitLab"
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
-          cd gitlab_docs
-          echo "checkout models/${RECOMPILED_DIR}"
-          git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
-          git checkout main
-          cd ..
-
-      - name: Checkout docs repo
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/sunnypilot-models
-          ref: gh-pages
-          path: docs
-          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
-
-      - name: Validate recompiled dir and JSON version
-        run: |
-          if [ ! -d "gitlab_docs/models/$RECOMPILED_DIR" ]; then
-            echo "Recompiled dir $RECOMPILED_DIR does not exist in GitLab repo"
-            exit 1
-          fi
-          if [ ! -f "$JSON_FILE" ]; then
-            echo "JSON file $JSON_FILE does not exist!"
-            exit 1
-          fi
-
-      - name: Download artifact name file
-        uses: actions/download-artifact@v4
-        with:
-          name: artifact-name-${{ env.ARTIFACT_NAME_INPUT }}
-          path: artifact_name
-
-      - name: Read artifact name
-        id: read-artifact-name
-        run: |
-          ARTIFACT_NAME=$(cat artifact_name/artifact_name.txt)
-          echo "artifact_name=$ARTIFACT_NAME" >> $GITHUB_OUTPUT
-
-      - name: Download model artifact
-        uses: actions/download-artifact@v4
-        with:
-          name: ${{ steps.read-artifact-name.outputs.artifact_name }}
-          path: output
-
-      - name: Remove onnx files bc not needed for recompiled dir since they already exist from single build
-        run: |
-          find output -type f -name '*.onnx' -delete
-          find output -type f -name 'big_*.pkl' -delete
-          find output -type f -name 'dmonitoring_model_tinygrad.pkl' -delete
-
-      - name: Copy model artifacts to gitlab
-        env:
-          ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
-        run: |
-          ARTIFACT_DIR="gitlab_docs/models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
-          mkdir -p "$ARTIFACT_DIR"
-          for path in output/*; do
-            if [ "$(basename "$path")" = "artifact_name.txt" ]; then
-              continue
-            fi
-            name="$(basename "$path")"
-            if [ -d "$path" ]; then
-              mkdir -p "$ARTIFACT_DIR/$name"
-              cp -r "$path"/* "$ARTIFACT_DIR/$name/"
-              echo "Copied dir $name -> $ARTIFACT_DIR/$name"
-            else
-              cp "$path" "$ARTIFACT_DIR/"
-              echo "Copied file $name -> $ARTIFACT_DIR/"
-            fi
-          done
-
-      - name: Push recompiled dir to GitLab
-        env:
-          GITLAB_SSH_PRIVATE_KEY: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-        run: |
-          cd gitlab_docs
-          git checkout main
-          git pull origin main
-          for d in models/"$RECOMPILED_DIR"/*/; do
-            git sparse-checkout add "$d"
-          done
-          git add models/"$RECOMPILED_DIR"
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git commit -m "Update $RECOMPILED_DIR with model from build-all-tinygrad-models" || echo "No changes to commit"
-          git push origin main
-      - run: |
-          cd docs
-          git pull origin gh-pages
-
-      - name: update json
-        run: |
-          ARGS=""
-          [ -n "${{ inputs.set_min_version }}" ] && ARGS="$ARGS --set-min-version \"${{ inputs.set_min_version }}\""
-          ARGS="$ARGS --sort-by-date"
-          ARGS="$ARGS --tinygrad-ref \"${{ needs.setup.outputs.tinygrad_ref }}\""
-          eval python3 docs/json_parser.py \
-            --json-path "$JSON_FILE" \
-            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
-            $ARGS
-
-      - name: Push updated json to GitHub
-        run: |
-          cd docs
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git checkout gh-pages
-          git add docs/"$(basename $JSON_FILE)"
-          git commit -m "Update $(basename $JSON_FILE) after recompiling model" || echo "No changes to commit"
-          git push origin gh-pages
@@ -29,11 +29,24 @@ on:
        required: false
        type: boolean
        default: true
-      bypass_push:
-        description: 'Bypass pushing to GitLab for build-all'
+      target_hardware:
+        description: 'Hardware target to compile for (qcom or usbgpu)'
        required: false
-        default: true
-        type: boolean
+        type: string
+        default: 'qcom'
+      hf_repo:
+        description: 'Hugging Face dataset repository (e.g. sunnypilot/sunnypilot_models_v1)'
+        required: false
+        type: string
+        default: 'sunnypilot/sunnypilot_models_v1'
+      set_min_version:
+        description: 'Minimum selector version'
+        required: false
+        type: string
+      tinygrad_ref:
+        description: 'Tinygrad reference'
+        required: false
+        type: string
  workflow_dispatch:
    inputs:
      upstream_branch:
@@ -65,8 +78,8 @@ on:
          - None
          - Master Models
          - Release Models
-          - 2025 World Models
          - 2026 World Models
+          - 2026 Deep RL Models
          - Custom Merge Models
          - Other
      custom_model_folder:
@@ -81,9 +94,22 @@ on:
        description: 'Minimum selector version'
        required: false
        type: string
+      target_hardware:
+        description: 'Hardware target to compile for'
+        required: false
+        type: choice
+        default: 'qcom'
+        options:
+          - qcom
+          - usbgpu
+      hf_repo:
+        description: 'Hugging Face dataset repository'
+        required: false
+        type: string
+        default: 'sunnypilot/sunnypilot_models_v1'
 env:
  RECOMPILED_DIR: recompiled${{ inputs.recompiled_dir }}
-  JSON_FILE: docs/docs/driving_models_v${{ inputs.json_version }}.json
+  JSON_FILE: docs/docs/driving_models_${{ inputs.target_hardware == 'usbgpu' && 'usbgpu_v' || 'v' }}${{ inputs.json_version }}.json

 jobs:
  build_model:
@@ -93,38 +119,20 @@ jobs:
      custom_name: ${{ inputs.custom_name || inputs.upstream_branch }}
      is_20hz: ${{ inputs.is_20hz }}
      artifact_suffix: ${{ inputs.artifact_suffix }}
+      target_hardware: ${{ inputs.target_hardware }}
    secrets: inherit

  publish_model:
-    if: ${{ !inputs.bypass_push && !cancelled() }}
+    if: ${{ !cancelled() && needs.build_model.result == 'success' }}
    concurrency:
-      group: gitlab-push-${{ inputs.recompiled_dir }}
+      group: hf-push-${{ inputs.recompiled_dir }}
      cancel-in-progress: false
    needs: build_model
    runs-on: ubuntu-latest
+    permissions:
+      id-token: write
+      contents: write
    steps:
-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-
-      - name: Add GitLab.com SSH key to known_hosts
-        run: |
-          mkdir -p ~/.ssh
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-
-      - name: Clone GitLab docs repo
-        env:
-          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
-        run: |
-          echo "Cloning GitLab"
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
-          cd gitlab_docs
-          echo "checkout models/${RECOMPILED_DIR}"
-          git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
-          git checkout main
-          cd ..
-
      - name: Checkout docs repo
        uses: actions/checkout@v4
        with:
@@ -133,16 +141,28 @@ jobs:
          path: docs
          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}

-      - name: Validate recompiled dir and JSON version
+      - name: Install huggingface_hub
+        run: pip install --upgrade "huggingface_hub>=0.22.0"
+
+      - name: Validate hf_repo and JSON version
+        env:
+          HF_OIDC_RESOURCE: datasets/${{ inputs.hf_repo }}
        run: |
-          if [ ! -d "gitlab_docs/models/$RECOMPILED_DIR" ]; then
-            echo "Recompiled dir $RECOMPILED_DIR does not exist in GitLab repo"
-            exit 1
-          fi
          if [ ! -f "$JSON_FILE" ]; then
            echo "JSON file $JSON_FILE does not exist!"
            exit 1
          fi
+          python3 -c "
+          import sys
+          from huggingface_hub import HfApi
+          try:
+              api = HfApi()
+              api.repo_info(repo_id=sys.argv[1], repo_type='dataset')
+              print(f'Success: Repo {sys.argv[1]} exists.')
+          except Exception as e:
+              print('HF validation failed:', e)
+              sys.exit(1)
+          " "${{ inputs.hf_repo }}"

      - name: Download artifact name file
        uses: actions/download-artifact@v4
@@ -162,49 +182,26 @@ jobs:
          name: ${{ steps.read-artifact-name.outputs.artifact_name }}
          path: output

-      - name: Remove unwanted files
-        run: |
-          find output -type f -name 'dmonitoring_model_tinygrad.pkl' -delete
-          find output -type f -name 'dmonitoring_model.onnx' -delete
-
-      - name: Copy model artifact(s) to GitLab recompiled dir
+      - name: Create models folder
        env:
          ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
        run: |
-          ARTIFACT_DIR="gitlab_docs/models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
-          mkdir -p "$ARTIFACT_DIR"
-          for path in output/*; do
-            if [ "$(basename "$path")" = "artifact_name.txt" ]; then
-              continue
-            fi
-            name="$(basename "$path")"
-            if [ -d "$path" ]; then
-              mkdir -p "$ARTIFACT_DIR/$name"
-              cp -r "$path"/* "$ARTIFACT_DIR/$name/"
-              echo "Copied dir $name -> $ARTIFACT_DIR/$name"
-            else
-              cp "$path" "$ARTIFACT_DIR/"
-              echo "Copied file $name -> $ARTIFACT_DIR/"
-            fi
-          done
+          mkdir -p "local_models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
+          cp -r output/* "local_models/${RECOMPILED_DIR}/${ARTIFACT_NAME}/"
+          rm -f "local_models/${RECOMPILED_DIR}/${ARTIFACT_NAME}/artifact_name.txt"

-      - name: Push recompiled dir to GitLab
+      - name: Upload to Hugging Face
        env:
-          GITLAB_SSH_PRIVATE_KEY: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
+          HF_OIDC_RESOURCE: datasets/${{ inputs.hf_repo }}
+          ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
        run: |
-          cd gitlab_docs
-          git checkout main
-          git pull origin main
-          for d in models/"$RECOMPILED_DIR"/*/; do
-            git sparse-checkout add "$d"
-          done
-          git add models/"$RECOMPILED_DIR"
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git commit -m "Create/Update $RECOMPILED_DIR with new/updated model from build-single-tinygrad-model" || echo "No changes to commit"
-          git push origin main
+          hf upload ${{ inputs.hf_repo }} \
+            output/ \
+            "models/${RECOMPILED_DIR}/${ARTIFACT_NAME}/" \
+            --repo-type=dataset

-      - run: |
+      - name: Pull gh-pages
+        run: |
          cd docs
          git pull origin gh-pages

@@ -220,9 +217,11 @@ jobs:
          fi
          [ -n "${{ inputs.generation }}" ] && ARGS="$ARGS --generation \"${{ inputs.generation }}\""
          [ -n "${{ inputs.version }}" ] && ARGS="$ARGS --version \"${{ inputs.version }}\""
+          [ -n "${{ inputs.set_min_version }}" ] && ARGS="$ARGS --set-min-version \"${{ inputs.set_min_version }}\""
+          [ -n "${{ inputs.tinygrad_ref }}" ] && ARGS="$ARGS --tinygrad-ref \"${{ inputs.tinygrad_ref }}\""
          eval python3 docs/json_parser.py \
            --json-path "$JSON_FILE" \
-            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
+            --recompiled-dir "local_models/$RECOMPILED_DIR" \
            --sort-by-date \
            $ARGS

@@ -80,6 +80,7 @@ jobs:
        with:
          repository: commaai/openpilot
          ref: ${{ inputs.upstream_branch }}
+          fetch-depth: 1
          submodules: recursive
          path: openpilot

@@ -89,18 +90,25 @@ jobs:
        with:
          repository: sunnypilot/sunnypilot
          ref: ${{ inputs.upstream_branch }}
+          fetch-depth: 1
          submodules: recursive
          path: openpilot
      - name: Get commit date
        id: commit-date
        run: |
-          cd ${{ github.workspace }}/openpilot
+          cd ${{ github.workspace }}/openpilot/openpilot
          commit_date=$(git log -1 --format=%cd --date=format:'%B %d, %Y')
          echo "model_date=${commit_date}" >> $GITHUB_OUTPUT
          cat $GITHUB_OUTPUT
      - run: |
-          cd ${{ github.workspace }}/openpilot
-          git lfs pull
+          cd ${{ github.workspace }}/openpilot/openpilot
+          if [ "${{ inputs.target_hardware }}" != "usbgpu" ]; then
+            git lfs pull -X "selfdrive/modeld/models/big_*.onnx" -X "selfdrive/modeld/models/dmonitoring_*.onnx"
+            rm -f selfdrive/modeld/models/big_*.onnx selfdrive/modeld/models/dmonitoring_*.onnx
+          else
+            git lfs pull -I "selfdrive/modeld/models/big_*.onnx"
+            find selfdrive/modeld/models -name "*.onnx" ! -name "big_*.onnx" -delete
+          fi
      - name: 'Upload Artifact'
        uses: actions/upload-artifact@v4
        with:
@@ -116,24 +124,10 @@ jobs:
    steps:
      - uses: actions/checkout@v4
        with:
+          fetch-depth: 1
          submodules: recursive

      - run: git lfs pull
-      - name: Cache SCons
-        uses: actions/cache@v4
-        with:
-          path: ${{env.SCONS_CACHE_DIR}}
-          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model-${{ github.sha }}
-          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.)
-          #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
-          restore-keys: |
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}-model
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}-model
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}

      - name: Set environment variables
        id: set-env
@@ -144,7 +138,7 @@ jobs:
          export UV_PYTHON_PREFERENCE=managed
          export UV_PYTHON_INSTALL_DIR=${HOME}/uv/python
          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          uv sync
+          uv sync --frozen
          printenv >> $GITHUB_ENV
          if [[ "${{ runner.debug }}" == "1" ]]; then
            cat $GITHUB_OUTPUT
@@ -173,8 +167,6 @@ jobs:
        with:
          name: models-${{ 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

      - name: Build Model
        run: |
@@ -191,7 +183,7 @@ jobs:
          if [ "${{ inputs.target_hardware }}" == "usbgpu" ]; then
            echo "USBGPU build"
            export USBGPU=1
-            TG_FLAGS="DEV=AMD USBGPU=1 IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
+            TG_FLAGS="DEBUG=2 DEV=USB+AMD:LLVM WARP_DEV=QCOM FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2"
            OUTPUT_PKL="${{ env.MODELS_DIR }}/big_driving_tinygrad.pkl"
          else
            echo "QCOM build"
@@ -254,10 +246,8 @@ jobs:
          # Copy the model files
          rsync -avm \
            --include='*.dlc' \
-            --include='*.pkl' \
            --include='*.chunk*' \
            --include='*.chunkmanifest' \
-            --include='*.onnx' \
            --exclude='*' \
            --delete-excluded \
            --chown=comma:comma \
@@ -21,5 +21,12 @@
        </clean>
      </configuration>
    </target>
+    <target id="f2590b2b-9b93-49f9-8510-da3f3724a2ae" name="replay" defaultType="TOOL">
+      <configuration id="d475264f-6f4c-4092-9b4e-6773309f38b7" name="replay" toolchainName="Default">
+        <build type="TOOL">
+          <tool actionId="Tool_External Tools_uv build tools replay" />
+        </build>
+      </configuration>
+    </target>
  </component>
 </project>
@@ -20,4 +20,11 @@
      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
    </exec>
  </tool>
+  <tool name="uv build tools replay" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
+    <exec>
+      <option name="COMMAND" value="bash" />
+      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) tools/replay/&quot;" />
+      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
+    </exec>
+  </tool>
 </toolSet>
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
+  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
    <envs>
      <env name="QT_DBL_CLICK_DIST" value="150" />
    </envs>
@@ -0,0 +1,27 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Debug Route Controls" type="PythonConfigurationType" factoryName="Python">
+    <module name="openpilot-special" />
+    <option name="ENV_FILES" value="" />
+    <option name="INTERPRETER_OPTIONS" value="" />
+    <option name="PARENT_ENVS" value="true" />
+    <envs>
+      <env name="PYTHONUNBUFFERED" value="1" />
+      <env name="FINGERPRINT" value="KIA_EV9" />
+      <env name="SKIP_FW_QUERY" value="1" />
+    </envs>
+    <option name="SDK_HOME" value="" />
+    <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$/selfdrive/car" />
+    <option name="IS_MODULE_SDK" value="true" />
+    <option name="ADD_CONTENT_ROOTS" value="true" />
+    <option name="ADD_SOURCE_ROOTS" value="true" />
+    <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
+    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/selfdrive/car/card.py" />
+    <option name="PARAMETERS" value="" />
+    <option name="SHOW_COMMAND_LINE" value="false" />
+    <option name="EMULATE_TERMINAL" value="true" />
+    <option name="MODULE_MODE" value="false" />
+    <option name="REDIRECT_INPUT" value="false" />
+    <option name="INPUT_FILE" value="" />
+    <method v="2" />
+  </configuration>
+</component>
@@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Replay for controls + ui" type="Multirun" separateTabs="false" reuseTabsWithFailures="false" startOneByOne="true" markFailedProcess="true" hideSuccessProcess="false" delayTime="0.0">
+    <runConfiguration name="replay for controls" type="Native Application" />
+    <runConfiguration name="Build Debug" type="Custom Build Application" />
+    <method v="2" />
+  </configuration>
+</component>
@@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="replay for controls" type="CLionNativeAppRunConfigurationType" focusToolWindowBeforeRun="true" PROGRAM_PARAMS="&quot;$Prompt$&quot; --block &quot;sendcan,carState,carParams,carOutput,liveTracks,carParamsSP,carStateSP,bookmarkButton&quot;" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="true" WORKING_DIR="file://$ProjectFileDir$/tools/replay" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="replay" CONFIG_NAME="replay" version="1" RUN_PATH="replay">
+    <method v="2">
+      <option name="CLION.COMPOUND.BUILD" enabled="true" />
+    </method>
+  </configuration>
+</component>
@@ -22,6 +22,7 @@ shopt -s huponexit # kill all child processes when the shell exits

 export CI=1
 export PYTHONWARNINGS=error
+export COMMA_CACHE=/data/tmp/comma_download_cache
 #export LOGPRINT=debug # this has gotten too spammy...
 export TEST_DIR=${env.TEST_DIR}
 export SOURCE_DIR=${env.SOURCE_DIR}
@@ -4,7 +4,7 @@

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

-# 342 Supported Cars
+# 345 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|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -34,6 +34,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">Buy Here</a></sub></details>|||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |CUPRA[<sup>12</sup>](#footnotes)|Ateca 2018-23|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=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
+|CUPRA[<sup>12</sup>](#footnotes)|Born 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>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=CUPRA Born 2021-23">Buy Here</a></sub></details>|||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
 |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 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=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 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=Ford Escape 2020-22">Buy Here</a></sub></details>|||
@@ -82,7 +83,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |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|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>||
+|Honda|Civic 2022-26|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 2022-26">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 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 Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 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 Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback 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 Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
@@ -158,7 +159,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Tucson Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>|||
 |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Veloster 2019-20">Buy Here</a></sub></details>|||
 |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2019-21">Buy Here</a></sub></details>|||
 |Kia|Carnival 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2022-24">Buy Here</a></sub></details>|||
 |Kia|Carnival (China only) 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival (China only) 2023">Buy Here</a></sub></details>|||
 |Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed 2019-21">Buy Here</a></sub></details>|||
@@ -242,20 +243,20 @@ A supported vehicle is one that just works when you install a comma device. All
 |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>|||
-|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</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 Subaru A 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=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A 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=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</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 Subaru A 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=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|Stock|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 Subaru A 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=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A 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=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|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 Subaru A 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=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A 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=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</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 Subaru A 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=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A 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=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</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 Subaru A 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=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|Stock|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 Subaru A 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=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A 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=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|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 Subaru A 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=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A 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=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Legacy 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 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 Subaru B 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=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A 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=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A 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=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Outback 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 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 Subaru B 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=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A 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=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</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 Subaru A 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=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A 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=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|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 Subaru A 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=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Škoda|Fabia 2022-23[<sup>15</sup>](#footnotes)|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=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
 |Škoda|Kamiq 2021-23[<sup>13,15</sup>](#footnotes)|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=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
 |Škoda[<sup>12</sup>](#footnotes)|Karoq 2019-23[<sup>15</sup>](#footnotes)|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=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
@@ -334,6 +335,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Volkswagen[<sup>12</sup>](#footnotes)|Golf R 2015-19|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=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
 |Volkswagen[<sup>12</sup>](#footnotes)|Golf SportsVan 2015-20|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=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
 |Volkswagen[<sup>12</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|ID.4 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>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=Volkswagen ID.4 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|ID.4 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>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=Volkswagen ID.4 2024-25">Buy Here</a></sub></details>|||
 |Volkswagen[<sup>12</sup>](#footnotes)|Jetta 2019-23|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=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
 |Volkswagen[<sup>12</sup>](#footnotes)|Jetta GLI 2021-23|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=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
 |Volkswagen|Passat 2015-22[<sup>14</sup>](#footnotes)|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=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
@@ -15,7 +15,7 @@ public:

  static std::string get_serial() { return "cccccc"; }

-  static std::map<std::string, std::string> get_init_logs() {
+  static std::map<std::string, std::string> get_init_logs(bool route_log = false) {
    return {};
  }

@@ -59,7 +59,7 @@ public:
    std::ofstream("/sys/class/leds/led:switch_2/brightness") << value << "\n";
  }

-  static std::map<std::string, std::string> get_init_logs() {
+  static std::map<std::string, std::string> get_init_logs(bool route_log = false) {
    std::map<std::string, std::string> ret = {
      {"/BUILD", util::read_file("/BUILD")},
      {"lsblk", util::check_output("lsblk -o NAME,SIZE,STATE,VENDOR,MODEL,REV,SERIAL")},
@@ -73,12 +73,14 @@ public:
    temp.erase(temp.find_last_not_of(std::string("\0\r\n", 3))+1);
    ret["boot temp"] = temp;

-    // TODO: log something from system and boot
-    for (std::string part : {"xbl", "abl", "aop", "devcfg", "xbl_config"}) {
-      for (std::string slot : {"a", "b"}) {
-        std::string partition = part + "_" + slot;
-        std::string hash = util::check_output("sha256sum /dev/disk/by-partlabel/" + partition);
-        ret[partition] = hash.substr(0, hash.find_first_of(" "));
+    // TODO: these are too slow to do on route log inits. need to do it async?
+    if (!route_log) {
+      for (std::string part : {"xbl", "abl", "aop", "devcfg", "xbl_config"}) {
+        for (std::string slot : {"a", "b"}) {
+          std::string partition = part + "_" + slot;
+          std::string hash = util::check_output("sha256sum /dev/disk/by-partlabel/" + partition);
+          ret[partition] = hash.substr(0, hash.find_first_of(" "));
+        }
      }
    }

@@ -91,10 +91,10 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"ObdMultiplexingChanged", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
    {"ObdMultiplexingEnabled", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
    {"Offroad_CarUnrecognized", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
+    {"Offroad_ChestnutBranch", {CLEAR_ON_MANAGER_START, JSON}},
    {"Offroad_ConnectivityNeeded", {CLEAR_ON_MANAGER_START, JSON}},
    {"Offroad_ConnectivityNeededPrompt", {CLEAR_ON_MANAGER_START, JSON}},
    {"Offroad_ExcessiveActuation", {PERSISTENT, JSON}},
-    {"Offroad_NeosUpdate", {CLEAR_ON_MANAGER_START, JSON}},
    {"Offroad_NoFirmware", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
    {"Offroad_Recalibration", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
    {"Offroad_TemperatureTooHigh", {CLEAR_ON_MANAGER_START, JSON}},
@@ -195,11 +195,14 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {

    // Model Manager params
    {"ModelManager_ActiveBundle", {PERSISTENT, JSON}},
+    {"ModelManager_ActiveJson", {CLEAR_ON_MANAGER_START, STRING}},
    {"ModelManager_ClearCache", {CLEAR_ON_MANAGER_START, BOOL}},
    {"ModelManager_DownloadIndex", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, INT}},
    {"ModelManager_Favs", {PERSISTENT | BACKUP, STRING}},
    {"ModelManager_LastSyncTime", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
+    {"ModelManager_LastSyncTime_USBGPU", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
    {"ModelManager_ModelsCache", {PERSISTENT | BACKUP, JSON}},
+    {"ModelManager_ModelsCache_USBGPU", {PERSISTENT | BACKUP, JSON}},

    // Neural Network Lateral Control
    {"NeuralNetworkLateralControl", {PERSISTENT | BACKUP, BOOL, "0"}},
@@ -28,6 +28,8 @@ SP_BRANCH_MIGRATIONS = {
  ("tizi", "release3-staging"): "release-tizi-staging",
  ("mici", "release3"): "release-mici",
  ("mici", "release3-staging"): "release-mici-staging",
+  ("tici", "hkg-angle-steering-2025"): "hkg-angle-steering-2025-tici",
+  ("tici", "hkg-angle-steering-2025-prebuilt"): "hkg-angle-steering-2025-tici-prebuilt"
 }

 BUILD_METADATA_FILENAME = "build.json"
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c4c38772e6080aa4b8bf5212d3619e949775468c64f3edb88a1a426d767c38d2
-size 1579
+oid sha256:190e196eba6feffec125ac66cf7e77620b759e346fa69b80e3a3884a5694cb15
+size 3225
@@ -44,8 +44,7 @@ class LongControl:
    self.CP = CP
    self.CP_SP = CP_SP
    self.long_control_state = LongCtrlState.off
-    self.pid = PIDController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV),
-                             (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
+    self.pid = PIDController(0.0, (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
                             rate=1 / DT_CTRL)
    self.last_output_accel = 0.0

@@ -35,6 +35,7 @@ build_files = [f'{gen}/acados_solver_long.c'] + casadi_model + casadi_cost_y + c

 # extra generated files used to trigger a rebuild
 generated_files = [
+  'acados_ocp_long.json',
  f'{gen}/Makefile',

  f'{gen}/main_long.c',
@@ -79,7 +79,9 @@ for usbgpu in [False, True] if USBGPU else [False]:
  file_prefix, cmd_flags = ('big_', usbgpu_tg_flags) if usbgpu else ('big_' if os.getenv('BIG_INTO_SMALL') else '', tg_flags)
  driving_onnx_deps = get_existing_chunks(File(f"models/{file_prefix}driving_supercombo.onnx").abspath)
  camera_res_args = ' '.join(f'{cw}x{ch}' for cw, ch in CAMERA_CONFIGS)
-  cmd = (f'{cmd_flags} {mac_brew_string} python3 {modeld_dir}/compile_modeld.py '
+  # CPU 7 is isolated with isolcpus on AGNOS, so explicitly pin the compiler to it.
+  taskset = 'taskset -c 7 ' if arch == 'comma_arm64' else ''
+  cmd = (f'{cmd_flags} {mac_brew_string} {taskset}python3 {modeld_dir}/compile_modeld.py '
        f'--model-size {model_w}x{model_h} '
        f'--camera-resolutions {camera_res_args} '
        f'--onnx {File(f"models/{file_prefix}driving_supercombo.onnx").abspath} '
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:10926f2c0911821ca0e72439c1c3bf3ec11f0a08789aa14b7ee8f25379b2afa4
-size 1753235978
+oid sha256:a501760a9d1d5fef0eab2b8c5d122d06124fc26dc8e0782e0aa94b82a208f0ff
+size 1757355221
@@ -102,7 +102,6 @@ class TestBoarddSpi(OpenpilotTestCase):
        edt = 1e3 / SERVICE_LIST[service].frequency
        assert edt*0.9 < np.mean(dts) < edt*1.1
        assert np.max(dts) < edt*8
-        assert np.min(dts) < edt
        assert len(dts) >= ((et-0.5)*SERVICE_LIST[service].frequency*0.8)

    with subtests.test(msg="CAN traffic"):
@@ -17,8 +17,8 @@
    "severity": 1,
    "_comment": "Set extra field to the failed reason."
  },
-  "Offroad_NeosUpdate": {
-    "text": "An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install.",
+  "Offroad_ChestnutBranch": {
+    "text": "Chestnut detected! Switch to the release-chestnut branch to use chestnut-class models.",
    "severity": 0
  },
  "Offroad_UnregisteredHardware": {
@@ -234,7 +234,8 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
  },

  EventName.bigModelFailed: {
-    ET.PERMANENT: NormalPermanentAlert("Big Model Failed ", "Restart the car to retry,\nnow driving on small model", duration=20.),
+    ET.SOFT_DISABLE: soft_disable_alert("Big Model Failed"),
+    ET.PERMANENT: NormalPermanentAlert("Big Model Failed ", "Restart the car to retry,\nsmall model is still available", duration=20.),
  },

  EventName.lateralManeuver: {
@@ -337,7 +337,7 @@ class SelfdriveD(CruiseHelper):
      device_motion = Pose.from_device_motion(self.sm['deviceMotion'])
      self.calibrated_pose = self.pose_calibrator.build_calibrated_pose(device_motion)

-    if self.calibrated_pose is not None:
+    if self.calibrated_pose is not None and not self.CP.notCar:
      excessive_actuation = self.excessive_actuation_check.update(self.sm, CS, self.calibrated_pose)
      if not self.excessive_actuation and excessive_actuation is not None:
        set_offroad_alert("Offroad_ExcessiveActuation", True, extra_text=str(excessive_actuation))
@@ -397,6 +397,9 @@ class SelfdriveD(CruiseHelper):
    # All events here should at least have NO_ENTRY and SOFT_DISABLE.
    num_events = len(self.events)

+    if self.big_model_active and big_failed:
+      self.events.add(EventName.bigModelFailed)
+
    not_running = {p.name for p in self.sm['managerState'].processes if not p.running and p.shouldBeRunning}
    if self.sm.recv_frame['managerState'] and len(not_running):
      if not_running != self.not_running_prev:
@@ -7,7 +7,7 @@ import traceback
 from collections import defaultdict
 from tqdm import tqdm
 from typing import Any
-from opendbc.car.car_helpers import interface_names
+from opendbc.car.car_helpers import interface_names, interfaces
 from openpilot.common.git import get_commit
 from openpilot.tools.lib.openpilotci import get_url
 from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
@@ -64,7 +64,8 @@ segments = [
 ]

 # dashcamOnly makes don't need to be tested until a full port is done
-excluded_interfaces = ["mock", "body", "psa"]
+excluded_interfaces = {brand for brand, platforms in interface_names.items()
+                       if all(interfaces[platform].get_non_essential_params(platform).dashcamOnly for platform in platforms)} | {"body"}

 BASE_URL = "https://raw.githubusercontent.com/sunnypilot/ci-artifacts/refs/heads/process-replay/"
 REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
@@ -67,7 +67,7 @@ PROCS = {
  "openpilot.selfdrive.pandad.pandad": 0,
  "openpilot.system.loggerd.uploader": 15.0,
  "openpilot.system.loggerd.deleter": 1.0,
-  "./pandad": 19.0,
+  "./pandad": 40.0,
  "openpilot.system.qcomgpsd.qcomgpsd": 1.0,
  "openpilot.common.hardware.comma.modem": 10.0,
 }
@@ -107,6 +107,10 @@ def cputime_total(ct):
 class TestOnroad(OpenpilotTestCase):
  COMMA_HARDWARE_TEST = True

+  def setUp(self):
+    # Hardware setup is handled once for the full onroad test in setup_class.
+    unittest.TestCase.setUp(self)
+
  @classmethod
  def setup_class(cls):
    if "DEBUG" in os.environ:
@@ -332,26 +336,34 @@ class TestOnroad(OpenpilotTestCase):
            assert np.all(eof_sof_diff < 50*1e6)

        first_fid = {min(self.ts[c]['frameId']) for c in cams}
-        assert len(first_fid) == 1, "Cameras don't start on same frame ID"
-        if cam.endswith('CameraState'):
+        if cams[0].endswith('CameraState'):
          # camerad guarantees that all cams start on frame ID 0
          # (note loggerd also needs to start up fast enough to catch it)
-          assert next(iter(first_fid)) < 100, "Cameras start on frame ID too high"
+          assert min(first_fid) < 100, "Cameras start on frame ID too high"
+        else:
+          # encoderd synchronizes all camera encoders to the same starting frame
+          assert len(first_fid) == 1, "Camera encoders don't start on same frame ID"

        # we don't do a full segment rotation, so these might not match exactly
        last_fid = {max(self.ts[c]['frameId']) for c in cams}
        assert max(last_fid) - min(last_fid) < 10

-        start, end = min(first_fid), min(last_fid)
-        for i in range(end-start):
+        timestamps = {
+          cam: dict(zip(self.ts[cam]['frameId'], self.ts[cam]['timestampSof'], strict=True))
+          for cam in cams
+        }
+        common_frame_ids = set.intersection(*(set(ts) for ts in timestamps.values()))
+        assert common_frame_ids, "Cameras have no overlapping frame IDs"
+
+        for frame_id in sorted(common_frame_ids):
          # road and wide cameras (first two) should be synced within 2ms
-          ts = {c: round(self.ts[c]['timestampSof'][i]/1e6, 1) for c in cams[:2]}
-          diff = (max(ts.values()) - min(ts.values()))
-          assert diff < 2, f"Cameras not synced properly: frame_id={start+i}, {diff=:.1f}ms, {ts=}"
+          ts = {cam: timestamps[cam][frame_id] / 1e6 for cam in cams[:2]}
+          diff = max(ts.values()) - min(ts.values())
+          assert diff < 2, f"Cameras not synced properly: {frame_id=}, {diff=:.1f}ms, {ts=}"

          # cabin camera should be staggered ~25ms from road camera
-          offset_ms = abs(self.ts[cams[2]]['timestampSof'][i] - self.ts[cams[0]]['timestampSof'][i]) / 1e6
-          assert 20 < offset_ms < 30, f"cabin camera stagger out of range at frame {start+i}: {offset_ms:.1f}ms"
+          offset_ms = abs(timestamps[cams[2]][frame_id] - timestamps[cams[0]][frame_id]) / 1e6
+          assert 20 < offset_ms < 30, f"cabin camera stagger out of range at frame {frame_id}: {offset_ms:.1f}ms"

  def test_camera_encoder_matches(self, subtests):
    # sanity check that the frame metadata is consistent with the encoded frames
@@ -47,7 +47,7 @@ class SoftwareInfoLayoutMici(Widget):

    self._branch_label = UnifiedLabel("branch", 48, max_width=max_width, font_weight=FontWeight.DISPLAY, wrap_text=False)
    self._branch_text_label = UnifiedLabel("", 32, max_width=max_width, text_color=subheader_color,
-                                           font_weight=FontWeight.ROMAN, wrap_text=False)
+                                           font_weight=FontWeight.ROMAN, wrap_text=False, scroll=True)

  def _update_state(self):
    desc = _split_description(ui_state.params.get("UpdaterCurrentDescription") or "")
@@ -132,7 +132,7 @@ class AlertRenderer(Widget, SpeedLimitAlertRenderer):

      # 1. Never received selfdriveState since going onroad
      waiting_for_startup = recv_frame < ui_state.started_frame
-      if waiting_for_startup and time_since_onroad > 5:
+      if waiting_for_startup and time_since_onroad > 10:
        return ALERT_STARTUP_PENDING

      # 2. Lost communication with selfdriveState after receiving it
@@ -150,8 +150,8 @@ class BigButton(Widget):
    super().set_touch_valid_callback(lambda: touch_callback() and self._grow_animation_until is None)

  def _width_hint(self) -> int:
-    # Single line if scrolling, so hide behind icon if exists
-    icon_size = self._txt_icon.width if self._txt_icon and self._scroll and self.value else 0
+    # A value moves the title to the top, where it shares space with the icon.
+    icon_size = self._txt_icon.width if self._txt_icon and self.value else 0
    return int(self._rect.width - self.LABEL_HORIZONTAL_PADDING * 2 - icon_size)

  def _get_label_font_size(self):
@@ -92,7 +92,7 @@ class AlertRenderer(Widget):

      # 1. Never received selfdriveState since going onroad
      waiting_for_startup = recv_frame < ui_state.started_frame
-      if waiting_for_startup and time_since_onroad > 5:
+      if waiting_for_startup and time_since_onroad > 10:
        return ALERT_STARTUP_PENDING

      # 2. Lost communication with selfdriveState after receiving it
@@ -20,14 +20,14 @@ class TestSoundd(OpenpilotTestCase):
    sm.update(100)
    assert sm.updated['selfdriveState']

-    received_at = sm.recv_time['selfdriveState']
-    clock = mocker.patch("openpilot.selfdrive.ui.soundd.time.monotonic", return_value=received_at + SELFDRIVE_STATE_TIMEOUT)
+    sm.recv_time['selfdriveState'] = 0
+    clock = mocker.patch("openpilot.selfdrive.ui.soundd.time.monotonic", return_value=SELFDRIVE_STATE_TIMEOUT)
    assert not check_selfdrive_timeout_alert(sm)

-    clock.return_value = received_at + SELFDRIVE_STATE_TIMEOUT + 0.1
+    clock.return_value = SELFDRIVE_STATE_TIMEOUT + 0.1
    assert check_selfdrive_timeout_alert(sm)

-    clock.return_value = received_at + SELFDRIVE_STATE_TIMEOUT + 10
+    clock.return_value = SELFDRIVE_STATE_TIMEOUT + 10
    assert not check_selfdrive_timeout_alert(sm)

  def test_check_selfdrive_timeout_alert_mads_lateral_only(self):
@@ -1,3 +1,2 @@
 SConscript(['common/transformations/SConscript'])
-SConscript(['modeld_v2/SConscript'])
 SConscript(['selfdrive/locationd/SConscript'])
@@ -1,84 +0,0 @@
-import os
-import glob
-
-from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
-from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE
-from openpilot.common.hardware import HARDWARE, PC
-
-Import('env', 'arch', 'release')
-lenv = env.Clone()
-tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x]
-
-
-def get_camera_configs():
-  DEVICE_RESOLUTIONS = {
-    "tici": (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
-    "tizi": (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
-    "mici": (_os_fisheye.width, _os_fisheye.height),
-  }
-  if release or PC or 'CI' in os.environ:
-    return set(DEVICE_RESOLUTIONS.values())
-  return [DEVICE_RESOLUTIONS[HARDWARE.get_device_type()]]
-
-CAMERA_CONFIGS = get_camera_configs()
-
-tg_flags = {
-  'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0',
-  'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")}',
-}.get(arch, 'DEV=CPU:LLVM')
-
-image_flag = {
-  'larch64': 'IMAGE=2',
-}.get(arch, 'IMAGE=0')
-
-model_w, model_h = MEDMODEL_INPUT_SIZE
-from openpilot.selfdrive.modeld.constants import ModelConstants
-frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
-camera_res_args = ' '.join(f'{cw}x{ch}' for cw, ch in CAMERA_CONFIGS)
-
-pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + ':' + env.Dir("#").abspath + '"'
-compile_modeld_script = File("compile_modeld.py").abspath
-upstream_compile_script = File(Dir("#openpilot/selfdrive/modeld").File("compile_modeld.py").abspath)
-script_deps = [File("compile_modeld.py"), upstream_compile_script]
-
-def compile_combined(model_type, onnx_args, output_name):
-  output_pkl = File(f"models/{output_name}").abspath
-  cmd = (f'{pythonpath_string} {tg_flags} {image_flag} python3 {compile_modeld_script} '
-         f'--model-type {model_type} '
-         f'--model-size {model_w}x{model_h} '
-         f'--camera-resolutions {camera_res_args} '
-         f'{onnx_args} '
-         f'--frame-skip {frame_skip} '
-         f'--output {output_pkl}')
-  onnx_files = [f for f in onnx_args.split() if f.endswith('.onnx')]
-  return lenv.Command(output_pkl, tinygrad_files + script_deps + [File(f) for f in onnx_files if os.path.isfile(f)], cmd)
-
-# Vision + Policy (stock default model)
-vision_onnx = File("models/driving_vision.onnx").abspath
-policy_onnx = File("models/driving_policy.onnx").abspath
-if os.path.isfile(vision_onnx) and os.path.isfile(policy_onnx):
-  compile_combined('vision_policy',
-                   f'--vision-onnx {vision_onnx} --policy-onnx {policy_onnx}',
-                   'driving_combined_tinygrad.pkl')
-
-# Vision + Off-Policy
-off_policy_onnx = File("models/driving_off_policy.onnx").abspath
-if os.path.isfile(vision_onnx) and os.path.isfile(off_policy_onnx):
-  policy_arg = f'--policy-onnx {policy_onnx}' if os.path.isfile(policy_onnx) else ''
-  compile_combined('vision_multi_policy',
-                   f'--vision-onnx {vision_onnx} {policy_arg} --off-policy-onnx {off_policy_onnx}',
-                   'driving_combined_multi_tinygrad.pkl')
-
-# Vision + On-Policy + Off-Policy
-on_policy_onnx = File("models/driving_on_policy.onnx").abspath
-if os.path.isfile(vision_onnx) and os.path.isfile(on_policy_onnx) and os.path.isfile(off_policy_onnx):
-  compile_combined('vision_multi_policy',
-                   f'--vision-onnx {vision_onnx} --off-policy-onnx {off_policy_onnx} --on-policy-onnx {on_policy_onnx}',
-                   'driving_combined_tri_tinygrad.pkl')
-
-# Supercombo
-supercombo_onnx = File("models/supercombo.onnx").abspath
-if os.path.isfile(supercombo_onnx):
-  compile_combined('supercombo',
-                   f'--supercombo-onnx {supercombo_onnx}',
-                   'driving_combined_supercombo_tinygrad.pkl')
@@ -8,10 +8,10 @@ See the LICENSE.md file in the root directory for more details.

 import argparse
 import os
-import pickle
+import tempfile
 import time
-from collections import defaultdict
 from functools import partial
+from openpilot.selfdrive.modeld.helpers import dump_oob, load_oob
 import numpy as np
 os.environ['GMMU'] = '0'

@@ -38,6 +38,9 @@ from tinygrad.engine.jit import TinyJit
 from tinygrad.tensor import Tensor

 MODEL_TYPES = ('vision_policy', 'supercombo', 'vision_multi_policy')
+WARP_INPUTS = ['tfm', 'big_tfm']
+POLICY_INPUTS = ['img_q', 'big_img_q', 'feat_q', 'desire_q', 'packed_npy_inputs']
+WARP_DEV = os.getenv('WARP_DEV')


 def _detect_desire_key(shapes: dict) -> str | None:
@@ -76,7 +79,7 @@ def get_policy_npy_shapes(input_shapes: dict, is_supercombo: bool = False) -> tu


 def generate_queues_and_npy(input_shapes: dict, frame_skip: int, device: str = Device.DEFAULT,
-                            is_supercombo: bool = False, use_packed: bool = True) -> tuple[dict, dict]:
+                            is_supercombo: bool = False) -> tuple[dict, dict]:
  road_key, _ = _detect_vision_keys(input_shapes)
  if not road_key:
    raise ValueError("Vision road key missing from input shapes.")
@@ -92,74 +95,75 @@ def generate_queues_and_npy(input_shapes: dict, frame_skip: int, device: str = D
  desire_shape = input_shapes[desire_key]
  features_buffer = input_shapes.get('features_buffer')

-  if use_packed:  # remove packed detection block after all models are recompiled
-    npy_arrays = {
-      'tfm': np.zeros((3, 3), dtype=np.float32),
-      'big_tfm': np.zeros((3, 3), dtype=np.float32)
-    }
+  npy_arrays = {
+    'tfm': np.zeros((3, 3), dtype=np.float32),
+    'big_tfm': np.zeros((3, 3), dtype=np.float32)
+  }

-    shapes, sizes = get_policy_npy_shapes(input_shapes, is_supercombo=is_supercombo)
-    packed_npy_inputs = np.zeros(sum(sizes), dtype=np.float32)
+  shapes, sizes = get_policy_npy_shapes(input_shapes, is_supercombo=is_supercombo)
+  packed_npy_inputs = np.zeros(sum(sizes), dtype=np.float32)

-    split_indices = np.cumsum(sizes[:-1]) if len(sizes) > 1 else []
-    split_views = np.split(packed_npy_inputs, split_indices) if len(sizes) > 0 else []
-    for (k, s), v in zip(shapes.items(), split_views, strict=True):
-      npy_arrays[k] = v.reshape(s)
+  split_indices = np.cumsum(sizes[:-1]) if len(sizes) > 1 else []
+  split_views = np.split(packed_npy_inputs, split_indices) if len(sizes) > 0 else []
+  for (k, s), v in zip(shapes.items(), split_views, strict=True):
+    npy_arrays[k] = v.reshape(s)

-    queues = {
-      'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
-      'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
-      'desire_q': Tensor(np.zeros((frame_skip * desire_shape[1], desire_shape[0], desire_shape[2]),
-                    dtype=np.float32), device=device).contiguous().realize(),
-      'packed_npy_inputs': Tensor(packed_npy_inputs, device='NPY').realize(),
-    }
+  queues = {
+    'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+    'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+    'desire_q': Tensor(np.zeros((frame_skip * desire_shape[1], desire_shape[0], desire_shape[2]),
+                  dtype=np.float32), device=device).contiguous().realize(),
+    'packed_npy_inputs': Tensor(packed_npy_inputs, device='NPY').realize(),
+  }

-    if features_buffer:
-      queues['feat_q'] = Tensor(np.zeros((frame_skip * (features_buffer[1] - 1) + 1, features_buffer[0], features_buffer[2]),
-                         dtype=np.float32), device=device).contiguous().realize()
+  if features_buffer:
+    queues['feat_q'] = Tensor(np.zeros((frame_skip * (features_buffer[1] - 1) + 1, features_buffer[0], features_buffer[2]),
+                       dtype=np.float32), device=device).contiguous().realize()

-    queues.update({key: Tensor(value, device='NPY').realize() for key, value in npy_arrays.items() if key in ('tfm', 'big_tfm')})
-  else:
-    # TODO-SP: Remove legacy queuing fallback else block after all models are recompiled
-    npy_arrays = {
-      'desire': np.zeros(desire_shape[2], dtype=np.float32),
-      'tfm': np.zeros((3, 3), dtype=np.float32),
-      'big_tfm': np.zeros((3, 3), dtype=np.float32)
-    }
-
-    for key, shape in input_shapes.items():
-      if key not in npy_arrays and 'img' not in key and key not in ('features_buffer', desire_key):
-        npy_arrays[key] = np.zeros(shape, dtype=np.float32)
-
-    queues = {
-      'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
-      'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
-      'desire_q': Tensor(np.zeros((frame_skip * desire_shape[1], desire_shape[0], desire_shape[2]),
-                    dtype=np.float32), device=device).contiguous().realize()
-    }
-
-    if features_buffer:
-      queues['feat_q'] = Tensor(np.zeros((frame_skip * (features_buffer[1] - 1) + 1, features_buffer[0], features_buffer[2]),
-                         dtype=np.float32), device=device).contiguous().realize()
-
-    queues.update({key: Tensor(value, device='NPY').realize() for key, value in npy_arrays.items()})
+  queues.update({key: Tensor(value, device='NPY').realize() for key, value in npy_arrays.items() if key in ('tfm', 'big_tfm')})

  return queues, npy_arrays


 def make_split_input_queues(vision_input_shapes: dict, policy_input_shapes: dict,
-                            frame_skip: int, device: str = Device.DEFAULT, use_packed: bool = True) -> tuple[dict, dict]:
-  return generate_queues_and_npy({**vision_input_shapes, **policy_input_shapes}, frame_skip, device, is_supercombo=False, use_packed=use_packed)
+                            frame_skip: int, device: str = Device.DEFAULT) -> tuple[dict, dict]:
+  return generate_queues_and_npy({**vision_input_shapes, **policy_input_shapes}, frame_skip, device, is_supercombo=False)


 def make_supercombo_input_queues(input_shapes: dict, frame_skip: int,
-                                 device: str = Device.DEFAULT, use_packed: bool = True) -> tuple[dict, dict]:
-  return generate_queues_and_npy(input_shapes, frame_skip, device, is_supercombo=True, use_packed=use_packed)
+                                 device: str = Device.DEFAULT) -> tuple[dict, dict]:
+  return generate_queues_and_npy(input_shapes, frame_skip, device, is_supercombo=True)


-def create_jit_runner(vision_runner, policy_runners: list, nv12: NV12Frame, model_size: tuple[int, int],
-            features_slice: slice, frame_skip: int, input_shapes: dict, prepare_only: bool):
-  frame_prepare = make_frame_prepare(nv12, *model_size)
+def make_random_images(keys, shape, device):
+  return {k: Tensor.randint(shape, low=0, high=256, dtype=dtypes.uint8, device=device).realize() for k in keys}
+
+
+def make_warp_queues(device=Device.DEFAULT):
+  npy = {
+    'tfm': np.zeros((3, 3), dtype=np.float32),
+    'big_tfm': np.zeros((3, 3), dtype=np.float32),
+  }
+  queues = {k: Tensor(v, device='NPY').realize() for k, v in npy.items()}
+  return queues, npy
+
+
+def make_warp(nv12: NV12Frame, model_w: int, model_h: int):
+  frame_prepare = make_frame_prepare(nv12, model_w, model_h)
+  WARP_DEV = os.getenv('WARP_DEV', Device.DEFAULT)
+
+  def warp(tfm, big_tfm, frame, big_frame):
+    tfm = tfm.to(WARP_DEV)
+    big_tfm = big_tfm.to(WARP_DEV)
+    Tensor.realize(tfm, big_tfm)
+
+    warped_frame = frame_prepare(frame, tfm).unsqueeze(0)
+    warped_big_frame = frame_prepare(big_frame, big_tfm).unsqueeze(0)
+    return Tensor.cat(warped_frame, warped_big_frame)
+  return warp
+
+
+def make_run_policy(vision_runner, policy_runners: list, features_slice: slice, frame_skip: int, input_shapes: dict):
  sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
  sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)

@@ -172,20 +176,14 @@ def create_jit_runner(vision_runner, policy_runners: list, nv12: NV12Frame, mode
  is_supercombo = vision_runner is None
  npy_shapes, npy_sizes = get_policy_npy_shapes(input_shapes, is_supercombo=is_supercombo)

-  def runner(img_q, big_img_q, feat_q, packed_npy_inputs, frame, big_frame, tfm, big_tfm, **kwargs):
+  def run_policy(warped, img_q, big_img_q, feat_q, packed_npy_inputs, **kwargs):
    desire_q = kwargs['desire_q']
-
    packed_npy_inputs_dev = packed_npy_inputs.to(Device.DEFAULT)
-    tfm_dev = tfm.to(Device.DEFAULT)
-    big_tfm_dev = big_tfm.to(Device.DEFAULT)
+    warped_dev = warped.to(Device.DEFAULT)
+    Tensor.realize(packed_npy_inputs_dev, warped_dev)

-    Tensor.realize(packed_npy_inputs_dev, tfm_dev, big_tfm_dev)
-
-    img = shift_and_sample(img_q, frame_prepare(frame, tfm_dev).unsqueeze(0), sample_skip_fn).realize()
-    big_img = shift_and_sample(big_img_q, frame_prepare(big_frame, big_tfm_dev).unsqueeze(0), sample_skip_fn).realize()
-
-    if prepare_only:
-      return img, big_img
+    img = shift_and_sample(img_q, warped_dev[0:1], sample_skip_fn).realize()
+    big_img = shift_and_sample(big_img_q, warped_dev[1:2], sample_skip_fn).realize()

    unpacked_tensors = [tensor.reshape(shape) for tensor, shape in zip(packed_npy_inputs_dev.split(npy_sizes), npy_shapes.values(), strict=True)]
    unpacked_dict = dict(zip(npy_shapes.keys(), unpacked_tensors, strict=True))
@@ -220,42 +218,52 @@ def create_jit_runner(vision_runner, policy_runners: list, nv12: NV12Frame, mode
      shift_and_sample(feat_q, new_feat, sample_skip_fn).realize()
    return policy_out

-  return runner
+  return run_policy


-def compile_and_warmup(nv12: NV12Frame, model_size: tuple[int, int], prepare_only: bool, frame_skip: int, vision_runner, policy_runners: list, metadata: dict):
-  print(f"Compiling combined JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")
+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)
+    Tensor.manual_seed(seed)

-  all_shapes = {key: value for meta in metadata.values() for key, value in meta['input_shapes'].items()}
+    testing = test_val is not None or test_buffers is not None
+    n_runs = 1 if testing else 3

-  feat_meta = metadata.get('vision') or metadata.get('model') or metadata.get('policy')
-  if not feat_meta:
-    raise ValueError("Could not find vision, model, or policy metadata.")
+    for i in range(n_runs):
+      for v in npy.values():
+        v[:] = rng.standard_normal(v.shape).astype(v.dtype)
+      Device.default.synchronize()
+      random_inputs = make_random_inputs()
+      st = time.perf_counter()
+      outs = fn(**{k: input_queues[k] for k in input_keys if k in input_queues}, **random_inputs)
+      mt = time.perf_counter()
+      Device.default.synchronize()
+      et = time.perf_counter()
+      print(f"  [{i+1}/{n_runs}] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")

-  features_slice = feat_meta['output_slices']['hidden_state']
-  WARP_DEV = 'CPU' if "USBGPU" in os.environ else Device.DEFAULT
+      if i == 0:
+        val = [np.copy(v.numpy()) for v in (outs if isinstance(outs, tuple) else [outs])] if outs is not None else []
+        buffers = [np.copy(v.numpy().copy()) for v in input_queues.values()]

-  is_supercombo = vision_runner is None
-  run_func = create_jit_runner(vision_runner, policy_runners, nv12, model_size, features_slice, frame_skip, all_shapes, prepare_only)
-  run_jit = TinyJit(run_func, prune=True)
-  queues, npy_arrays = generate_queues_and_npy(all_shapes, frame_skip, Device.DEFAULT, is_supercombo=is_supercombo)
+    if test_val is not None:
+      match = all(np.array_equal(a, b) for a, b in zip(val, test_val, strict=True))
+      assert match == expect_match, f"outputs {'differ from' if expect_match else 'match'} baseline (seed={seed})"
+    if test_buffers is not None:
+      match = all(np.array_equal(a, b) for a, b in zip(buffers, test_buffers, strict=True))
+      assert match == expect_match, f"buffers {'differ from' if expect_match else 'match'} baseline (seed={seed})"
+    return val, buffers

-  for i in range(3):
-    rng = np.random.default_rng(42 + i)
-    frame = Tensor.randint(nv12.size, low=0, high=256, dtype=dtypes.uint8, device=WARP_DEV).realize()
-    big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype=dtypes.uint8, device=WARP_DEV).realize()
-    for arr in npy_arrays.values():
-      arr[:] = rng.standard_normal(arr.shape).astype(arr.dtype)
-
-    Device.default.synchronize()
-    start_time = time.perf_counter()
-    run_jit(**queues, frame=frame, big_frame=big_frame)
-    mid_time = time.perf_counter()
-    Device.default.synchronize()
-    print(f"  [{i + 1}/3] enqueue {(mid_time - start_time) * 1e3:6.2f} ms -- total {(time.perf_counter() - start_time) * 1e3:6.2f} ms")
-
-  # TODO-SP: switch to dump_oob/load_oob on next full recompile of all models
-  return pickle.loads(pickle.dumps(run_jit)) if not prepare_only else run_jit
+  print('capture + replay')
+  test_val, test_buffers = random_inputs_run(jit, SEED)
+  print('pickle round trip')
+  with tempfile.TemporaryFile(dir=".") as f:
+    dump_oob(jit, f)
+    f.seek(0)
+    deserialized_jit = load_oob(f)
+  random_inputs_run(deserialized_jit, SEED, test_val=test_val, test_buffers=test_buffers)
+  return deserialized_jit


 def _parse_size(size_str: str) -> tuple[int, int]:
@@ -277,19 +285,6 @@ def read_file_chunked_to_shm(path):
  return shm_path


-def _compile_for_resolutions(camera_resolutions: list, model_size: tuple[int, int], frame_skip: int,
-               vision_runner, policy_runners: list, metadata: dict) -> dict:
-  from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
-  return {
-    (cam_w, cam_h): {
-      name: compile_and_warmup(NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h)), model_size, prepare_only,
-                   frame_skip, vision_runner, policy_runners, metadata)
-      for name, prepare_only in [('warp_enqueue', True), ('run_policy', False)]
-    }
-    for cam_w, cam_h in camera_resolutions
-  }
-
-
 def _load_policy_runners(args: argparse.Namespace) -> tuple[list, list]:
  runners, keys = [], []
  for name, onnx_arg in [('policy', args.policy_onnx), ('off_policy', args.off_policy_onnx), ('on_policy', args.on_policy_onnx)]:
@@ -300,7 +295,18 @@ def _load_policy_runners(args: argparse.Namespace) -> tuple[list, list]:


 if __name__ == "__main__":
+  if 'USB' in os.getenv('DEV', '') or os.getenv('USBGPU'):
+    from openpilot.system.hardware.chestnut.flash import link_up
+    for _ in range(10):
+      if link_up():
+        break
+      time.sleep(1)
+    else:
+      raise RuntimeError("Chestnut not ready, skipping big model build")
+
+  from openpilot.common.file_chunker import chunk_file, get_chunk_targets
  from openpilot.selfdrive.modeld.get_model_metadata import make_metadata_dict
+  from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
  from tinygrad.nn.onnx import OnnxRunner

  parser = argparse.ArgumentParser(description="Compile combined JIT pkl for sunnypilot modeld_v2")
@@ -317,7 +323,8 @@ if __name__ == "__main__":
  parser.add_argument('--supercombo-onnx', help='supercombo ONNX (for supercombo)')

  args = parser.parse_args()
-  output_data = defaultdict(dict)
+  model_w, model_h = args.model_size
+  output_data = {}

  args.vision_onnx = read_file_chunked_to_shm(args.vision_onnx)
  args.policy_onnx = read_file_chunked_to_shm(args.policy_onnx)
@@ -348,17 +355,31 @@ if __name__ == "__main__":
  vision_meta = output_data['metadata'].get('vision', {})

  derived_frame_skip = args.frame_skip or derive_frame_skip(vision_meta.get('input_shapes', {}), first_policy_meta.get('input_shapes', {}))
-  output_data.update(_compile_for_resolutions(args.camera_resolutions, args.model_size, derived_frame_skip,
-                        vision_runner, policy_runners, output_data['metadata']))
+  all_shapes = {key: value for meta in output_data['metadata'].values() for key, value in meta['input_shapes'].items()}
+  feat_meta = output_data['metadata'].get('vision') or output_data['metadata'].get('model') or output_data['metadata'].get('policy')
+  assert feat_meta is not None
+  features_slice = feat_meta['output_slices']['hidden_state']
+  is_supercombo = vision_runner is None
+
+  print(f"Compiling run_policy JIT (model_size={model_w}x{model_h}, frame_skip={derived_frame_skip})...")
+  run_policy_func = make_run_policy(vision_runner, policy_runners, features_slice, derived_frame_skip, all_shapes)
+  run_policy_jit = TinyJit(run_policy_func, prune=True)
+  make_policy_queues = partial(generate_queues_and_npy, all_shapes, derived_frame_skip, is_supercombo=is_supercombo)
+  make_random_model_inputs = partial(make_random_images, keys=['warped'], shape=(2, 6, model_h // 2, model_w // 2), device=WARP_DEV)
+  output_data['run_policy'] = compile_jit(run_policy_jit, make_random_model_inputs, POLICY_INPUTS, make_policy_queues)
+
+  for cam_w, cam_h in args.camera_resolutions:
+    print(f"Compiling warp JIT for {cam_w}x{cam_h}...")
+    nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
+    make_random_warp_inputs = partial(make_random_images, keys=['frame', 'big_frame'], shape=nv12.size, device=WARP_DEV)
+    warp = TinyJit(make_warp(nv12, model_w, model_h), prune=True)
+    output_data[(cam_w, cam_h)] = compile_jit(warp, make_random_warp_inputs, WARP_INPUTS, make_warp_queues)

  with open(args.output, "wb") as file:
-    # TODO-SP: switch to dump_oob from openpilot/selfdrive/helpers on next full recompile of all models
-    pickle.dump(output_data, file)
+    dump_oob(output_data, file)

  pkl_size = os.path.getsize(args.output)
  print(f"Saved combined JIT to {args.output} ({pkl_size / 1e6:.2f} MB)")
-
-  from openpilot.common.file_chunker import chunk_file, get_chunk_targets
  chunk_targets = get_chunk_targets(args.output, pkl_size)
  chunk_file(args.output, chunk_targets)
  print(f"Chunked into {len(chunk_targets) - 1} file(s)")
@@ -9,17 +9,13 @@ See the LICENSE.md file in the root directory for more details.
 import os
 os.environ['GMMU'] = '0'
 from openpilot.common.hardware import COMMA_HARDWARE
-os.environ['DEV'] = 'QCOM' if COMMA_HARDWARE else 'CPU'
-USBGPU = "USBGPU" in os.environ
-if USBGPU:
-  os.environ['DEV'] = 'AMD'
-  os.environ['AMD_IFACE'] = 'USB'
-import pickle
+from openpilot.selfdrive.modeld.helpers import usbgpu_present, load_oob
 import time
 import numpy as np
 import openpilot.cereal.messaging as messaging
 from openpilot.cereal import log
 from opendbc.car.structs import car
+from openpilot.cereal.services import SERVICE_LIST
 from setproctitle import setproctitle
 from openpilot.cereal.messaging import PubMaster, SubMaster
 from openpilot.cereal.visionipc import VisionStreamType
@@ -27,7 +23,6 @@ from msgq.visionipc import VisionIpcClient, VisionBuf
 from opendbc.car.car_helpers import get_demo_car_params

 from tinygrad.tensor import Tensor
-from tinygrad.device import Device

 from openpilot.common.file_chunker import open_file_chunked
 from openpilot.common.swaglog import cloudlog
@@ -40,12 +35,13 @@ from openpilot.system import sentry
 from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value
+from openpilot.selfdrive.modeld.modeld import ChestnutState

 from openpilot.sunnypilot.modeld_v2.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState, get_curvature_from_output
 from openpilot.sunnypilot.modeld_v2.constants import Plan
 from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants
 from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelper
-from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, make_split_input_queues
+from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, make_split_input_queues, make_supercombo_input_queues, WARP_INPUTS, POLICY_INPUTS

 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
@@ -88,7 +84,7 @@ class ModelState(ModelStateBase):
  inputs: dict[str, np.ndarray]
  prev_desire: np.ndarray

-  def __init__(self, cam_w: int, cam_h: int):
+  def __init__(self, cam_w: int, cam_h: int, usbgpu: bool = False):
    ModelStateBase.__init__(self)

    env_pkl = os.environ.get('COMBINED_MODEL_PKL')
@@ -103,6 +99,7 @@ class ModelState(ModelStateBase):
    self.LONG_SMOOTH_SECONDS = float(overrides.get('long', ".0"))
    self.MIN_LAT_CONTROL_SPEED = 0.3
    self.PLANPLUS_CONTROL: float = 1.0
+    self.usbgpu = usbgpu

    pkl_path = _find_driving_pkl(model_bundle)
    assert pkl_path is not None, "No driving pkl found — all models must be compiled with compile_modeld.py"
@@ -110,24 +107,20 @@ class ModelState(ModelStateBase):

  def _init_combined(self, pkl_path, cam_w, cam_h, bundle):
    cloudlog.warning(f"loading combined pkl: {pkl_path}")
-    # TODO-SP: switch to load_oob from openpilot/selfdrive/helpers on next full recompile of all models
-    jits = pickle.load(open_file_chunked(pkl_path))
+    jits = load_oob(open_file_chunked(pkl_path))

-    self.DEV = Device.DEFAULT
-    self.WARP_DEV = 'CPU' if USBGPU else self.DEV
+    self.WARP_DEV = 'QCOM' if COMMA_HARDWARE else 'CPU'
+    self.DEV = 'AMD' if self.usbgpu else self.WARP_DEV
    self.QUEUE_DEV = self.DEV
-
    metadata = jits['metadata']

-    self._run_policy = jits[(cam_w, cam_h)]['run_policy']
-    self._warp_enqueue = jits[(cam_w, cam_h)]['warp_enqueue']
-
-    # TODO-SP: Remove legacy use_packed detection block after all models are recompiled
-    captured = getattr(self._run_policy, 'captured', None)
-    if captured is not None:
-      use_packed = 'packed_npy_inputs' in getattr(captured, 'expected_names', [])
+    self.is_legacy_model = 'run_policy' not in jits  # remove after next recompile
+    if self.is_legacy_model:
+      self.warp = jits[(cam_w, cam_h)]['warp_enqueue']
+      self.run_policy = jits[(cam_w, cam_h)]['run_policy']
    else:
-      use_packed = True
+      self.run_policy = jits['run_policy']
+      self.warp = jits[(cam_w, cam_h)]

    if 'model' in metadata:
      model_metadata = metadata['model']
@@ -136,10 +129,9 @@ class ModelState(ModelStateBase):
      self._policy_slices_list = []
      self._combined_model_type = 'supercombo'
      self._vision_input_names = [key for key in model_metadata['input_shapes'] if 'img' in key]
-      from openpilot.sunnypilot.modeld_v2.compile_modeld import make_supercombo_input_queues
      frame_skip = derive_frame_skip({}, model_metadata['input_shapes'])
      self.input_queues, self.numpy_inputs = make_supercombo_input_queues(model_metadata['input_shapes'],
-                                                                          frame_skip, device=self.QUEUE_DEV, use_packed=use_packed)
+                                                                          frame_skip, device=self.QUEUE_DEV)
    else:
      vision_metadata = metadata['vision']
      policy_keys = [k for k in metadata if k != 'vision']
@@ -152,13 +144,12 @@ class ModelState(ModelStateBase):
      self._policy_slices_list = [metadata[k]['output_slices'] for k in policy_keys]
      self.policy_output_slices = self._policy_slices_list[0]
      self._has_on_policy = any('on' in k.lower() for k in policy_keys)
-      first_policy_metadata = metadata[policy_keys[0]]
-      vision_input_shapes = vision_metadata['input_shapes']
-      policy_input_shapes = first_policy_metadata['input_shapes']
-      self._vision_input_names = [k for k in vision_input_shapes if 'img' in k]
-      frame_skip = derive_frame_skip(vision_input_shapes, policy_input_shapes)
-      self.input_queues, self.numpy_inputs = make_split_input_queues(vision_input_shapes, policy_input_shapes,
-                                                                     frame_skip, device=self.QUEUE_DEV, use_packed=use_packed)
+      self._vision_input_names = [key for key in vision_metadata['input_shapes'] if 'img' in key]
+      first_policy_meta = metadata[policy_keys[0]]
+      frame_skip = derive_frame_skip(vision_metadata['input_shapes'], first_policy_meta['input_shapes'])
+      self.input_queues, self.numpy_inputs = make_split_input_queues(vision_metadata['input_shapes'],
+                                                                     first_policy_meta['input_shapes'],
+                                                                     frame_skip, device=self.QUEUE_DEV)

    self._desire_key = next(key for key in self.numpy_inputs if key.startswith('desire'))
    self._road_key = next(key for key in self._vision_input_names if 'big' not in key)
@@ -186,10 +177,33 @@ class ModelState(ModelStateBase):
    self.frame_buf_params = dict.fromkeys(self._vision_input_names, nv12_info)

    yuv_size = self.frame_buf_params[self._road_key][3]
-    self._warp_enqueue(
-      **self.input_queues,
-      frame=Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.WARP_DEV).contiguous().realize(),
-      big_frame=Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.WARP_DEV).contiguous().realize())
+    frame_tensor = Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.WARP_DEV).contiguous().realize()
+    big_frame_tensor = Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.WARP_DEV).contiguous().realize()
+
+    if self.is_legacy_model: # Remove this conditional hack after recompile
+      self.warp(**self.input_queues, frame=frame_tensor, big_frame=big_frame_tensor)
+    else:
+      self.warp(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=frame_tensor, big_frame=big_frame_tensor)
+
+    if self.usbgpu:
+      self.warmup()
+
+  def warmup(self) -> None:
+    dummy_frames = {k: np.zeros(self.frame_buf_params[k][3], dtype=np.uint8) for k in self._vision_input_names}
+    transforms = {k: np.eye(3, dtype=np.float32) for k in [self._road_key, self._wide_key] if k}
+
+    dummy_inputs = {}
+    for k, v in self.numpy_inputs.items():
+      if k not in ['tfm', 'big_tfm', 'prev_feat']:
+        dummy_inputs[k] = np.zeros(v.shape, dtype=v.dtype)
+
+    self.run(dummy_frames, transforms, dummy_inputs, prepare_only=False)
+
+    for v in self.numpy_inputs.values():
+      v[:] = 0
+    self.prev_desire[:] = 0
+    self.full_frames.clear()
+    self._blob_cache.clear()


  @property
@@ -227,11 +241,17 @@ class ModelState(ModelStateBase):
    self.numpy_inputs['tfm'][:, :] = transforms[road_key].reshape(3, 3)
    self.numpy_inputs['big_tfm'][:, :] = transforms[wide_key].reshape(3, 3)

-    if prepare_only:
-      self._warp_enqueue(**self.input_queues, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key])
-      return None
-
-    raw_outputs = self._run_policy(**self.input_queues, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key])
+    if self.is_legacy_model:  # remove after next recompile
+      if prepare_only:
+        self.warp(**self.input_queues, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key])
+        return None
+      raw_outputs = self.run_policy(**self.input_queues, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key])
+    else:
+      if prepare_only:
+        self.warp(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key])
+        return None
+      warped = self.warp(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key])
+      raw_outputs = self.run_policy(**{k: self.input_queues[k] for k in POLICY_INPUTS if k in self.input_queues}, warped=warped)

    if self._combined_model_type == 'supercombo':
      model_output = raw_outputs.numpy().flatten()
@@ -267,10 +287,9 @@ class ModelState(ModelStateBase):
      buf[0, :-1] = buf[0, 1:]
      buf[0, -1, :] = outputs['desired_curvature'][0, :] if not self.mlsim else 0

-    # TODO-SP: This is a hack to prevent GPU corruption by calculating in CPU space, it can be removed on next recompile
-    if 'prev_feat' not in self.numpy_inputs and 'feat_q' in self.input_queues:
-      feat_val = self.input_queues['feat_q'].numpy()
-      self.input_queues['feat_q'].assign(feat_val).realize()
+    if self.usbgpu and not np.all(np.isfinite(outputs.get('plan', np.array([0.])))):
+      cloudlog.error("model output not finite, dropping frame")
+      return None

    return outputs

@@ -278,8 +297,8 @@ class ModelState(ModelStateBase):
                            lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
    if 'action' not in model_output:
      plan = model_output['plan'][0]
-      desired_accel, should_stop = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], self.constants.T_IDXS,
-                                                       action_t=long_action_t)
+      desired_accel = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], self.constants.T_IDXS,
+                                          action_t=long_action_t)

      curvature_plan = (plan + (self.PLANPLUS_CONTROL - 1.0) * model_output['planplus'][0]
                        if 'planplus' in model_output and self.PLANPLUS_CONTROL != 1.0 else plan)
@@ -287,8 +306,8 @@ class ModelState(ModelStateBase):
    else:
      desired_accel = model_output['action'][0, 1]
      desired_curvature = model_output['action'][0, 0] / (max(1.0, v_ego))**2
-      should_stop = (v_ego < 0.3 and desired_accel < 0.1)

+    stop = v_ego < 0.3 and desired_accel < 0.1
    desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)

    if self.generation is not None and self.generation >= 10: # smooth curvature for post FOF models
@@ -297,7 +316,7 @@ class ModelState(ModelStateBase):
      else:
        desired_curvature = prev_action.desiredCurvature

-    return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature),desiredAcceleration=float(desired_accel), shouldStop=bool(should_stop))
+    return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature), desiredAcceleration=float(desired_accel), shouldStop=bool(stop))


 def main(demo=False):
@@ -308,6 +327,14 @@ def main(demo=False):
  setproctitle(PROCESS_NAME)
  config_realtime_process(7, 54)

+  USBGPU = usbgpu_present()
+  if USBGPU:
+    os.environ['HCQDEV_WAIT_TIMEOUT_MS'] = '3000'
+
+  params = Params()
+  params.put_bool("UsbGpuLoading", USBGPU)
+  params.remove("UsbGpuActive")
+
  # visionipc clients
  while True:
    available_streams = VisionIpcClient.available_streams("camerad", block=False)
@@ -332,15 +359,34 @@ def main(demo=False):
    cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")

  cloudlog.warning("loading model")
-  model = ModelState(cam_w=vipc_client_main.width, cam_h=vipc_client_main.height)
-  cloudlog.warning("models loaded, modeld starting")
+  st = time.monotonic()
+
+  model = None
+  if USBGPU:
+    import threading
+    def load():
+      nonlocal model
+      model = ModelState(cam_w=vipc_client_main.width, cam_h=vipc_client_main.height, usbgpu=True)
+    t = threading.Thread(target=load, daemon=True)
+    t.start()
+    t.join(60)
+    if model is None:
+      params.put_bool("UsbGpuActive", False)
+      raise RuntimeError("eGPU model load failed or timed out (60s)")
+    params.put_bool("UsbGpuActive", True)
+  else:
+    model = ModelState(cam_w=vipc_client_main.width, cam_h=vipc_client_main.height, usbgpu=False)
+
+  params.put_bool("UsbGpuLoading", False)
+  cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting")

  # messaging
-  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"])
+  pub_socks = ["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"] + (["chestnutState"] if USBGPU else [])
+  pm = PubMaster(pub_socks)
  sm = SubMaster(["deviceState", "carState", "narrowRoadCameraState", "extrinsicsCalibration", "driverMonitoringState", "carControl", "lateralDelay"])

  publish_state = PublishState()
-  params = Params()
+  chestnut_state = ChestnutState(pm, USBGPU) if USBGPU else None

  # setup filter to track dropped frames
  frame_dropped_filter = FirstOrderFilter(0., 10., 1. / model.constants.MODEL_FREQ)
@@ -478,6 +524,7 @@ def main(demo=False):
      fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                     publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
                     frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen, meta_constants)
+      modelv2_send.modelV2.big = model.usbgpu

      desire_state = modelv2_send.modelV2.meta.desireState
      l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
@@ -498,6 +545,8 @@ def main(demo=False):
      pm.send('modelDataV2SP', mdv2sp_send)
    last_vipc_frame_id = meta_main.frame_id

+    if chestnut_state is not None and run_count % round(model.constants.MODEL_FREQ / SERVICE_LIST['chestnutState'].frequency) == 0:
+      chestnut_state.send()

 if __name__ == "__main__":
  try:
@@ -6,7 +6,6 @@ See the LICENSE.md file in the root directory for more details.
 """

 import pathlib
-import pickle
 import tempfile

 import openpilot.sunnypilot.models.helpers as helpers
@@ -164,14 +163,16 @@ ARCHETYPES = {
 def make_pkl_data(archetype):
  return {
    'metadata': archetype.metadata_structure,
-    (CAM_W, CAM_H): {'run_policy': _noop_jit, 'warp_enqueue': _noop_jit},
+    'run_policy': _noop_jit,
+    (CAM_W, CAM_H): _noop_jit,
  }


 def write_pkl(tmp_path, archetype):
+  from openpilot.selfdrive.modeld.helpers import dump_oob
  pkl_path = tmp_path / 'driving_test_tinygrad.pkl'
  with open(pkl_path, 'wb') as f:
-    pickle.dump(make_pkl_data(archetype), f)
+    dump_oob(make_pkl_data(archetype), f)
  return pkl_path


@@ -33,7 +33,7 @@ class TestRecoveryPower(OpenpilotTestCase):

    def mock_accel(plan_vel, plan_accel, t_idxs, action_t=0.0):
      recorded_vel.append(plan_vel.copy())
-      return 0.0, False
+      return 0.0

    def mock_curvature(output, plan, vego, lat_action_t, mlsim):
      recorded_curv_plans.append(plan.copy())
@@ -13,6 +13,7 @@ from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.hardware.hw import Paths
 from openpilot.sunnypilot.models.helpers import is_bundle_version_compatible
+from openpilot.selfdrive.modeld.helpers import usbgpu_present

 from openpilot.cereal import custom

@@ -103,11 +104,11 @@ class ModelParser:
 class ModelCache:
  """Handles caching of model data to avoid frequent remote fetches"""

-  def __init__(self, params: Params, cache_timeout: int = int(3600 * 1e9)):
+  def __init__(self, params: Params, cache_timeout: int = int(3600 * 1e9), suffix: str = ""):
    self.params = params
    self.cache_timeout = cache_timeout
-    self._LAST_SYNC_KEY = "ModelManager_LastSyncTime"
-    self._CACHE_KEY = "ModelManager_ModelsCache"
+    self._LAST_SYNC_KEY = f"ModelManager_LastSyncTime{suffix}"
+    self._CACHE_KEY = f"ModelManager_ModelsCache{suffix}"

  def _is_expired(self) -> bool:
    """Checks if the cache has expired"""
@@ -139,24 +140,37 @@ class ModelCache:

 class ModelFetcher:
  """Handles fetching and caching of model data from remote source"""
-  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v18.json"
+  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v19.json"
+  MODEL_URL_USBGPU = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_usbgpu_v19.json"

  def __init__(self, params: Params):
    self.params = params
-    self.model_cache = ModelCache(params)
    self.model_parser = ModelParser()
+    self._is_usbgpu: bool | None = None
+    self.model_cache = ModelCache(params)
+    self.model_url = self.MODEL_URL
+    self._update_model_source()
+
+  def _update_model_source(self) -> None:
+    """Updates what json to use based on usbgpu availability"""
+    is_usbgpu = usbgpu_present()
+    if is_usbgpu != self._is_usbgpu:
+      self._is_usbgpu = is_usbgpu
+      self.model_cache = ModelCache(self.params, suffix="_USBGPU" if is_usbgpu else "")
+      self.model_url = self.MODEL_URL_USBGPU if is_usbgpu else self.MODEL_URL
+      self.params.put("ModelManager_ActiveJson", self.model_url, block=True)

  def _fetch_and_cache_models(self) -> list[custom.ModelManagerSP.ModelBundle] | None:
    """Fetches fresh model data from remote and updates cache.
    Returns None on transport errors. Raises on 404 and other fatal HTTP errors.
    """
    try:
-      response = requests.get(self.MODEL_URL, timeout=10)
+      response = requests.get(self.model_url, timeout=10)

      # Explicitly handle 404 differently
      if response.status_code == 404:
-        cloudlog.error(f"Models URL returned 404 Not Found: {self.MODEL_URL}")
-        raise HTTPError(f"404 Not Found: {self.MODEL_URL}", response=response)
+        cloudlog.error(f"Models URL returned 404 Not Found: {self.model_url}")
+        raise HTTPError(f"404 Not Found: {self.model_url}", response=response)

      # Raise for any other 4xx/5xx
      response.raise_for_status()
@@ -179,6 +193,7 @@ class ModelFetcher:

  def get_available_bundles(self) -> list[custom.ModelManagerSP.ModelBundle]:
    """Gets the list of available models, with smart cache handling"""
+    self._update_model_source()
    cached_data, is_expired = self.model_cache.get()

    if cached_data and not is_expired:
@@ -202,10 +217,7 @@ if __name__ == "__main__":
  for bundle in bundles:
    for model in bundle.models:
      model_overrides = {override.key: override.value for override in bundle.overrides}
-      # Print model details
      print(f"Bundle: {bundle.internalName}, Type: {model.type}, Status: {bundle.status}, Overrides: {model_overrides}")
-      # Print artifact details
      print(f"Artifact: {model.artifact.fileName}, Download URI: {model.artifact.downloadUri.uri}")
-      # Print metadata details
      if model.artifact.chunks:
        print(f"Contains {len(model.artifact.chunks)} chunks.")
@@ -18,7 +18,7 @@ from openpilot.sunnypilot.models.constants import Meta, MetaSimPose, MetaTombRai
 from openpilot.common.hardware.hw import Paths

 # SET ME TO THE EXACT JSON VERSION WE SET IN SUNNYPILOT_MODELS REPO
-REQUIRED_JSON_VERSION = 16
+REQUIRED_JSON_VERSION = 17

 CUSTOM_MODEL_PATH = Paths.model_root()
 METADATA_PATH = Path(__file__).parent / '../models/supercombo_metadata.pkl'
@@ -1,12 +1,13 @@
 import requests

+from openpilot.common.params import Params
 from openpilot.sunnypilot.models.tinygrad_ref import get_tinygrad_ref
 from openpilot.sunnypilot.models.fetcher import ModelFetcher
 from openpilot.common.test import OpenpilotTestCase

-
 def fetch_tinygrad_ref():
-  response = requests.get(ModelFetcher.MODEL_URL, timeout=10)
+  fetcher = ModelFetcher(Params())
+  response = requests.get(fetcher.model_url, timeout=10)
  response.raise_for_status()
  json_data = response.json()
  return json_data.get("tinygrad_ref")
@@ -33,6 +33,7 @@ USBDEVFS_SETCONFIGURATION = 0x80045505
 USBDEVFS_CLAIMINTERFACE = 0x8004550F
 USBDEVFS_RESET = 0x5514
 USBDEVFS_CLEAR_HALT = 0x80045515
+MAX_REGISTER_READ_SIZE = 255

 _deadline = float("inf")

@@ -146,6 +147,7 @@ def claim_interface(path, setup=False):
 class Flash:
  def __init__(self):
    self.fd = -1
+    self.max_register_read_size = MAX_REGISTER_READ_SIZE

  def close(self):
    if self.fd >= 0:
@@ -160,6 +162,9 @@ class Flash:
      if in_rom_bootloader(vid_pid, product):
        raise RomFallback("chestnut fell back to the ROM bootloader")
      if path is not None:
+        speed = int(open(path + "/speed").read())
+        # USB2 firmware truncates larger reads to one full packet without a terminating ZLP.
+        self.max_register_read_size = 64 if speed < 5000 else MAX_REGISTER_READ_SIZE
        self.fd = claim_interface(path)
        return
      time.sleep(0.1)
@@ -231,8 +236,8 @@ class Flash:
    while len(out) < length:
      n = min(4096, length - len(out))
      self.transaction(0x03, addr + len(out), max(4096, n))
-      for off in range(0, n, 255):
-        out += self.reg_read(0x7000 + off, min(255, n - off))
+      for off in range(0, n, self.max_register_read_size):
+        out += self.reg_read(0x7000 + off, min(self.max_register_read_size, n - off))
    return bytes(out)

  def erase_sector(self, addr):
@@ -238,6 +238,8 @@ def hardware_thread(end_event, hw_queue) -> None:

  fan_controller = FanController(int(1./DT_HW))
  chestnut = Chestnut()
+  big_model_available = os.path.isfile(os.path.join(BASEDIR, "openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx")) or \
+                        os.path.isfile(os.path.join(BASEDIR, "openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl.chunkmanifest"))

  while not end_event.is_set():
    sm.update(PANDA_STATES_TIMEOUT)
@@ -299,6 +301,7 @@ def hardware_thread(end_event, hw_queue) -> None:

    set_usb_state(msg.deviceState, last_hw_state.usb_state)
    chestnut.update(started_ts is None, last_hw_state.usb_state)
+    set_offroad_alert_if_changed("Offroad_ChestnutBranch", msg.deviceState.chestnutPresent and not big_model_available)

    # this subset is only used for offroad
    temp_sources = [
@@ -14,7 +14,7 @@
 #include "sunnypilot/common/version.h"

 // ***** log metadata *****
-kj::Array<capnp::word> logger_build_init_data() {
+kj::Array<capnp::word> logger_build_init_data(bool route_log) {
  uint64_t wall_time = nanos_since_epoch();

  MessageBuilder msg;
@@ -72,7 +72,7 @@ kj::Array<capnp::word> logger_build_init_data() {
    "df -h",  // usage for all filesystems
  };

-  auto hw_logs = Hardware::get_init_logs();
+  auto hw_logs = Hardware::get_init_logs(route_log);

  auto commands = init.initCommands().initEntries(log_commands.size() + hw_logs.size());
  for (int i = 0; i < log_commands.size(); i++) {
@@ -166,7 +166,7 @@ static void log_sentinel(LoggerState *log, SentinelType type, int exit_signal =
 LoggerState::LoggerState(const std::string &log_root) {
  route_name = logger_get_identifier("RouteCount");
  route_path = log_root + "/" + route_name;
-  init_data = logger_build_init_data();
+  init_data = logger_build_init_data(true);
 }

 LoggerState::~LoggerState() {
@@ -32,6 +32,6 @@ protected:
  std::unique_ptr<ZstdFileWriter> rlog, qlog;
 };

-kj::Array<capnp::word> logger_build_init_data();
+kj::Array<capnp::word> logger_build_init_data(bool route_log = false);
 std::string logger_get_identifier(std::string key);
 std::string zstd_decompress(const std::string &in);
@@ -3,11 +3,12 @@ import sys
 import time
 import signal
 import struct
+import threading
 import requests
 import urllib.parse
 from datetime import datetime, UTC

-from openpilot.cereal import messaging
+from openpilot.cereal import log, messaging
 from openpilot.common.api import Api
 from openpilot.common.time_helpers import system_time_valid
 from openpilot.common.params import Params
@@ -46,7 +47,6 @@ def get_assistnow_messages() -> list[bytes]:
  params = Params()
  if token := params.get('AssistNowToken'):
    cloudlog.warning("Downloading AssistNow data directly from u-blox")
-    # TODO: implement adding the last known location
    r = requests.get("https://online-live2.services.u-blox.com/GetOnlineData.ashx", params=urllib.parse.urlencode({
      'token': token,
      'gnss': 'gps,glo',
@@ -240,14 +240,6 @@ def init_pigeon(pigeon: TTYPigeon) -> bool:
        ))
        pigeon.send_with_ack(msg, ack=UBLOX_ASSIST_ACK)

-      # A configured u-blox token takes precedence over comma's AGPS proxy.
-      try:
-        for msg in get_assistnow_messages():
-          pigeon.send_with_ack(msg, ack=UBLOX_ASSIST_ACK)
-        cloudlog.warning("AssistNow messages sent")
-      except Exception:
-        cloudlog.warning("failed to get AssistNow messages")
-
      cloudlog.warning("Pigeon GPS on!")
      break
    except TimeoutError:
@@ -287,12 +279,38 @@ def run_receiving(duration: int = 0):

  start_time = time.monotonic()
  last_almanac_save = time.monotonic()
+  assist_attempted = False
+  assist_messages = None
+
+  def download_assistnow() -> None:
+    nonlocal assist_messages
+    sm = messaging.SubMaster(['deviceState'])
+    while assist_messages is None:
+      sm.update(1000)
+      if system_time_valid() and sm['deviceState'].networkType != log.DeviceState.NetworkType.none:
+        try:
+          assist_messages = get_assistnow_messages()
+        except Exception:
+          cloudlog.warning("failed to get AssistNow messages")
+      time.sleep(10.)
+  threading.Thread(target=download_assistnow, daemon=True).start()
+
  while (duration == 0) or (time.monotonic() - start_time < duration):
+    if assist_messages is not None and not assist_attempted:
+      assist_attempted = True
+      try:
+        for msg in assist_messages:
+          pigeon.send_with_ack(msg, ack=UBLOX_ASSIST_ACK)
+        cloudlog.warning("AssistNow messages sent")
+      except Exception:
+        cloudlog.warning("failed to send AssistNow messages")
+
    dat = pigeon.receive()
    if len(dat) > 0:
      if dat[0] == 0x00:
        cloudlog.warning("received invalid data from ublox, re-initing!")
        init(pigeon)
+        assist_attempted = False
        continue

      # send out to socket
@@ -207,13 +207,10 @@ def handle_agnos_update() -> None:
  set_consistent_flag(False)

  cloudlog.info(f"Beginning background installation for AGNOS {updated_version}")
-  set_offroad_alert("Offroad_NeosUpdate", True)

  manifest_path = os.path.join(OVERLAY_MERGED, "openpilot/system/hardware/comma/agnos.json")
  target_slot_number = get_target_slot_number()
  flash_agnos_update(manifest_path, target_slot_number, cloudlog)
-  set_offroad_alert("Offroad_NeosUpdate", False)
-


 class Updater:
@@ -48,6 +48,11 @@ def create_short_name(full_name: str) -> str:
  return result[:8]


+def create_pkl_name(full_name: str) -> str:
+  pkl = re.sub(r'[^a-zA-Z0-9]+', '_', full_name).strip('_').lower()
+  return pkl
+
+
 def _read_pkl_bytes(pkl_path: Path) -> bytes:
  manifest = Path(f"{pkl_path}.chunkmanifest")
  if manifest.exists():
@@ -154,14 +159,15 @@ if __name__ == "__main__":
  _output_dir = Path(args.output_dir)
  _output_dir.mkdir(exist_ok=True, parents=True)
  _short_name = create_short_name(args.custom_name) if args.custom_name else None
+  _pkl = create_pkl_name(args.custom_name) if args.custom_name else None

  _driving_pkl = _find_driving_pkl(_output_dir)
  if not _driving_pkl:
    print(f"No driving_tinygrad.pkl found in {_output_dir}", file=sys.stderr)
    sys.exit(1)

-  if _short_name:
-    new_pkl = _output_dir / f"driving_{_short_name.lower()}_tinygrad.pkl"
+  if _pkl:
+    new_pkl = _output_dir / f"driving_{_pkl}_tinygrad.pkl"
    if not new_pkl.exists():
      _driving_pkl = _rename_pkl_with_chunks(_driving_pkl, new_pkl)
    else:
@@ -2,15 +2,14 @@
 set -e
 set -x

-# git diff --name-status origin/release3-staging | grep "^A" | less
-
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-
 cd $DIR

 BUILD_DIR=/data/openpilot
 SOURCE_DIR="$(git rev-parse --show-toplevel)"

+export PYTHONPATH="$BUILD_DIR:$BUILD_DIR/msgq_repo:$BUILD_DIR/opendbc_repo:$BUILD_DIR/rednose_repo:$BUILD_DIR/teleoprtc_repo:$BUILD_DIR/tinygrad_repo"
+
 if [ -z "$RELEASE_BRANCH" ]; then
  echo "RELEASE_BRANCH is not set"
  exit 1
@@ -23,33 +22,36 @@ BUILD_BRANCH=release-mici-staging
 source $DIR/identity.sh

 echo "[-] Setting up repo T=$SECONDS"
-rm -rf $BUILD_DIR
-mkdir -p $BUILD_DIR
+if ! git -C "$SOURCE_DIR" worktree remove --force "$BUILD_DIR" 2>/dev/null; then
+  rm -rf $BUILD_DIR
+fi
+git -C "$SOURCE_DIR" worktree prune
+git -C "$SOURCE_DIR" worktree add --detach --no-checkout "$BUILD_DIR"
 cd $BUILD_DIR
-git init
-git remote add origin git@github.com:commaai/openpilot.git
-git checkout --orphan $BUILD_BRANCH
+git update-ref -d "refs/heads/$BUILD_BRANCH"
+git symbolic-ref HEAD "refs/heads/$BUILD_BRANCH"
+git read-tree --empty

 # do the files copy
 echo "[-] copying files T=$SECONDS"
 cd $SOURCE_DIR
-cp -pR --parents $(./tools/release/release_files.py) $BUILD_DIR/
+./tools/release/release_files.py | xargs -0 cp -pR --parents -t "$BUILD_DIR" --

 # in the directory
 cd $BUILD_DIR

-rm -f panda/board/obj/panda.bin.signed
-rm -f panda/board/obj/panda_h7.bin.signed
+# use the full CPU available for speeding up the build.
+# openpilot resets the CPU frequencies when test_onroad.py runs below.
+for policy in /sys/devices/system/cpu/cpufreq/policy*; do
+  [ -d "$policy" ] || continue
+  hardware_max="$(cat "$policy/cpuinfo_max_freq")"
+  echo "$hardware_max" | sudo tee "$policy/scaling_max_freq" >/dev/null
+done

-VERSION=$(cat openpilot/sunnypilot/common/version.h | awk -F[\"-]  '{print $2}')
-echo "[-] committing version $VERSION T=$SECONDS"
-git add -f .
-git commit -a -m "openpilot v$VERSION release"
-
-# Build and test before launch_chffrplus.sh creates the on-device package
-# symlinks. SConstruct uses the same package roots for build subprocesses.
-export PYTHONPATH="$BUILD_DIR:$BUILD_DIR/msgq_repo:$BUILD_DIR/opendbc_repo:$BUILD_DIR/rednose_repo:$BUILD_DIR/teleoprtc_repo:$BUILD_DIR/tinygrad_repo"
 scons
+if [ -n "$INCLUDE_BIG_MODEL" ]; then
+  test -f openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl.chunkmanifest
+fi

 if [ -z "$PANDA_DEBUG_BUILD" ]; then
  # release panda fw
@@ -72,7 +74,6 @@ find . -name '*.a' -delete
 find . -name '*.o' -delete
 find . -name '*.os' -delete
 find . -name '*.pyc' -delete
-find . -name 'moc_*' -delete
 find . -name '__pycache__' -delete
 rm -rf .sconsign.dblite Jenkinsfile tools/release/
 rm -f openpilot/selfdrive/modeld/models/*.onnx*
@@ -88,9 +89,11 @@ git checkout openpilot/third_party/
 # Mark as prebuilt release
 touch prebuilt

+VERSION=$(cat openpilot/sunnypilot/common/version.h | awk -F[\"-]  '{print $2}')
 # Add built files to git
-git add -f .
-git commit --amend -m "openpilot v$VERSION"
+# writing larger objects is faster than compressing them on-device
+git -c core.compression=0 add -f .
+git -c core.compression=0 -c gc.auto=0 commit -m "openpilot v$VERSION"

 # Run tests
 cd $BUILD_DIR
@@ -102,6 +105,7 @@ REFS=()
 for branch in ${RELEASE_BRANCH//,/ }; do
  REFS+=("$BUILD_BRANCH:$branch")
 done
-git push -f origin "${REFS[@]}"
+# uploading the larger pack is faster than spending CPU to optimize it
+git -c pack.window=0 -c pack.depth=0 -c pack.compression=0 push -f origin "${REFS[@]}"

 echo "[-] done T=$SECONDS"
@@ -30,20 +30,14 @@ git submodule deinit -f --all
 git rm -rf --cached .
 find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \;

-# cleanup before the copy
-cd $SOURCE_DIR
-git clean -xdff
-git submodule foreach --recursive git clean -xdff
-
 # do the files copy
 echo "[-] copying files T=$SECONDS"
 cd $SOURCE_DIR
-./tools/release/release_files.py | xargs -d '\n' cp -pR --parents -t "$TARGET_DIR"
+./tools/release/release_files.py | xargs -0 cp -pR --parents -t "$TARGET_DIR" --

 # in the directory
 cd $TARGET_DIR
 rm -rf .git/modules/
-rm -f panda/board/obj/panda.bin.signed

 find openpilot/selfdrive/modeld/models -name '*.onnx' -size +95M -exec ./openpilot/common/file_chunker.py {} \;

@@ -57,9 +51,10 @@ echo -n "$GIT_HASH" > git_src_commit
 echo -n "$GIT_COMMIT_DATE" > git_src_commit_date

 echo "[-] committing version $VERSION T=$SECONDS"
-git add -f .
+# writing larger objects is faster than compressing them on-device
+git -c core.compression=0 add -f .
 git status
-git commit -a -m "sunnypilot v$VERSION release
+git -c core.compression=0 commit -a -m "sunnypilot v$VERSION release

 date: $DATETIME
 master commit: $GIT_HASH
@@ -83,7 +78,8 @@ fi

 if [ ! -z "$BRANCH" ]; then
  echo "[-] Pushing to $BRANCH T=$SECONDS"
-  git push -f origin tmp:$BRANCH
+  # uploading the larger pack is faster than spending CPU to optimize it
+  git -c pack.window=0 -c pack.depth=0 -c pack.compression=0 push -f origin tmp:$BRANCH
 fi

 echo "[-] done T=$SECONDS, ready at $TARGET_DIR"
@@ -1,20 +1,19 @@
 #!/usr/bin/env python3
 import os
 import re
-from pathlib import Path
+import subprocess
+import sys

 HERE = os.path.abspath(os.path.dirname(__file__))
 ROOT = os.path.abspath(os.path.join(HERE, "../.."))

 blacklist = [
  ".git/",
+  ".venv/",
  ".github/workflows/",

  "matlab.*.md",

-  # skip big model for now
-  "openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx",
-
  # no LFS or submodules in release
  ".lfsconfig",
  ".gitattributes",
@@ -30,14 +29,17 @@ whitelist: list[str] = [


 if __name__ == "__main__":
-  for f in Path(ROOT).rglob("**/*"):
-    if not (f.is_file() or f.is_symlink()):
+  tracked_files = subprocess.check_output(["git", "ls-files", "-z", "--recurse-submodules"], cwd=ROOT).split(b"\0")
+  for tracked_file in tracked_files:
+    if not tracked_file:
      continue

-    rf = str(f.relative_to(ROOT))
+    rf = os.fsdecode(tracked_file)
+    if not os.getenv("INCLUDE_BIG_MODEL") and rf.startswith("openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx"):
+      continue
    blacklisted = any(re.search(p, rf) for p in blacklist)
    whitelisted = any(re.search(p, rf) for p in whitelist)
    if blacklisted and not whitelisted:
      continue

-    print(rf)
+    sys.stdout.buffer.write(tracked_file + b"\0")
@@ -52,24 +52,43 @@ wheels = [

 [[package]]
 name = "charset-normalizer"
-version = "3.4.9"
+version = "3.5.1"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/bd/2a/23f34ec9d04624958e137efdc394888716353190e75f25dd22c7a2c7a8aa/charset_normalizer-3.4.9.tar.gz", hash = "sha256:673611bbd43f0810bec0b0f028ddeaaa501190339cac411f347ac76917c3ae7b", size = 152439, upload-time = "2026-07-07T14:34:58.454Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/e5/3f/143b048436775b0f76ac3eec145c019e8173ccc2885c8f20319b996d5e83/charset_normalizer-3.5.1.tar.gz", hash = "sha256:6117b84ea48435e5356dc737f5121485c30920ba43375fa7b434fd753df0eac3", size = 171764, upload-time = "2026-08-15T08:20:44.807Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/70/4a/ecbd131485c07fcdfad54e28946d513e3da22ef3b4bd854dcafae54ec739/charset_normalizer-3.4.9-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:45b0cc4e3556cd875e09102988d1ab8356c998b596c9fced84547c8138b487a0", size = 319300, upload-time = "2026-07-07T14:33:15.666Z" },
-    { url = "https://files.pythonhosted.org/packages/ec/96/5d9364e3342d69f3a045e1777bc47c85c383e6e9466d561b33fdb419d1f9/charset_normalizer-3.4.9-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:9b2aff1c7b3884512b9512c3eaadd9bab39fb45042ffaaa1dd08ff2b9f8109d9", size = 215802, upload-time = "2026-07-07T14:33:17.031Z" },
-    { url = "https://files.pythonhosted.org/packages/4b/4c/5361f9aa7f2cb58d94f2ab831b3d493f69efb1d239654b4744e3c09527cb/charset_normalizer-3.4.9-cp312-cp312-manylinux2014_ppc64le.manylinux_2_17_ppc64le.manylinux_2_28_ppc64le.whl", hash = "sha256:9104ed0bd76a429d46f9ec0dbc9b08ad1d2dcdf2b00a5a0daa1c145329b35b44", size = 237171, upload-time = "2026-07-07T14:33:18.576Z" },
-    { url = "https://files.pythonhosted.org/packages/50/78/ce342ca4ff30b2eb49fe6d9578df85974f90c67d294113e94efdd9664cbd/charset_normalizer-3.4.9-cp312-cp312-manylinux2014_s390x.manylinux_2_17_s390x.manylinux_2_28_s390x.whl", hash = "sha256:7b86a2b16095d250c6f58b3d9b2eee6f4147754344f3dab0922f7c9bf7d226c9", size = 233075, upload-time = "2026-07-07T14:33:20.084Z" },
-    { url = "https://files.pythonhosted.org/packages/01/c4/4fa4c8b3097a11f3c5f09a35b72ed6855fb1d332469504962ab7bafcc702/charset_normalizer-3.4.9-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:5e226f6218febc71f6c1fc2fafb91c226f75bdc1d8fb12d66823716e891608fd", size = 224256, upload-time = "2026-07-07T14:33:21.747Z" },
-    { url = "https://files.pythonhosted.org/packages/87/3a/ad914516df7e358a81aae018caa5e0470ba827fa6d763b1d2e87d920a5f6/charset_normalizer-3.4.9-cp312-cp312-manylinux_2_31_armv7l.whl", hash = "sha256:90c44bc373b7687f6948b693cceaea1348ae0975d7474746559494468e3c1d84", size = 208784, upload-time = "2026-07-07T14:33:23.313Z" },
-    { url = "https://files.pythonhosted.org/packages/d7/74/3c12f9755717dfe5c5c87da63f35d765fa0c00382ec26bf23f7fae34f2ba/charset_normalizer-3.4.9-cp312-cp312-manylinux_2_31_riscv64.manylinux_2_39_riscv64.whl", hash = "sha256:9cdef90ae47919cae358d8ab15797a800ed41da7aba5d72419fb510729e2ed4b", size = 219928, upload-time = "2026-07-07T14:33:24.814Z" },
-    { url = "https://files.pythonhosted.org/packages/33/9a/895095b83e7907abd6d3d99aad3a38ad0d9686cc186cb0c94c24320fe63e/charset_normalizer-3.4.9-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:60f44ade2cf573dad7a277e6f8ca9a51a21dda572b13bd7d8539bb3cd5dbedde", size = 218489, upload-time = "2026-07-07T14:33:26.42Z" },
-    { url = "https://files.pythonhosted.org/packages/a1/34/ef5c05f412f42520d7709b7d3784d19640839eb7366ded1755511585429f/charset_normalizer-3.4.9-cp312-cp312-musllinux_1_2_armv7l.whl", hash = "sha256:a1786910334ed46ab1dd73222f2cd1e05c2c3bb39f6dddb4f8b36fc382058a39", size = 210267, upload-time = "2026-07-07T14:33:27.952Z" },
-    { url = "https://files.pythonhosted.org/packages/83/dc/9b29fa4412b318bf3bfea985c35d67eb55e04b59a7c3f2237168b0e0be6f/charset_normalizer-3.4.9-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:03d07803992c6c7bbc976327f34b18b6160327fc81cb82c9d504720ac0be3b62", size = 226030, upload-time = "2026-07-07T14:33:29.397Z" },
-    { url = "https://files.pythonhosted.org/packages/0e/42/6dbc00b8cd16011691203e33570fa42ed5746599a2e878112d16eab403a3/charset_normalizer-3.4.9-cp312-cp312-win32.whl", hash = "sha256:78841cccf1af7b40f6f716338d50c0902dbe88d9f800b3c973b7a9a0a693a642", size = 151185, upload-time = "2026-07-07T14:33:30.781Z" },
-    { url = "https://files.pythonhosted.org/packages/80/cc/f920afd1a23c58ccd53c1d36085a71893a4737ff5e66e0371efab6809850/charset_normalizer-3.4.9-cp312-cp312-win_amd64.whl", hash = "sha256:4b3dac63058cc36820b0dd072f89898604e2d39686fe05321729d00d8ac185a0", size = 162557, upload-time = "2026-07-07T14:33:32.176Z" },
-    { url = "https://files.pythonhosted.org/packages/f0/e6/0386d43a261ff4e4b30c5857af7df877254b46bec7b9d1b74b6bf969a90b/charset_normalizer-3.4.9-cp312-cp312-win_arm64.whl", hash = "sha256:78fa18e436a1a0e58dbd7e02fc4473f3f32cceb12df9dfca542d075961c307d2", size = 152665, upload-time = "2026-07-07T14:33:33.711Z" },
-    { url = "https://files.pythonhosted.org/packages/98/2b/f97f1c193fb855c345d678f5077d6926034db0722df74c8f057020e05a25/charset_normalizer-3.4.9-py3-none-any.whl", hash = "sha256:68e5f26a1ad57ded6d1cfb85331d1c1a195314756471d97758c48498bb4dcdf5", size = 64538, upload-time = "2026-07-07T14:34:56.993Z" },
+    { url = "https://files.pythonhosted.org/packages/30/27/78873dc8b6a56357517b74b6bb9568b80450e7bb4f6ef7e3fa9d22aa0bd7/charset_normalizer-3.5.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:5b6d1386bf0096d26d3a863dc0a487a5b4eb9aa93cf5ba69683d29dde6b9d60f", size = 344456, upload-time = "2026-08-15T08:17:10.072Z" },
+    { url = "https://files.pythonhosted.org/packages/9a/4c/be49ada26b1f0232d57aa89bbebf997a5cc2332a5616b6eca26ff680044d/charset_normalizer-3.5.1-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:4582c27e8c889d64811987b5967fbd3ae0c823fe1fd933b543d55ac20bb475fa", size = 238530, upload-time = "2026-08-15T08:17:11.563Z" },
+    { url = "https://files.pythonhosted.org/packages/76/84/6f1290fa07ae6978d3960caa3eb1b8019bf9284ab7c2297b00c099ef4250/charset_normalizer-3.5.1-cp312-cp312-manylinux2014_armv7l.manylinux_2_17_armv7l.manylinux_2_31_armv7l.whl", hash = "sha256:1d1c7a53a6c2103925cdd6d7229f8c567379f211c869793df679f2e9f738c369", size = 230200, upload-time = "2026-08-15T08:17:12.919Z" },
+    { url = "https://files.pythonhosted.org/packages/e7/a0/47b18adeed31c8f16ba9700f32c1b18594cfa09f47eb672a488c273c22bf/charset_normalizer-3.5.1-cp312-cp312-manylinux2014_ppc64le.manylinux_2_17_ppc64le.manylinux_2_28_ppc64le.whl", hash = "sha256:e6621fb2a4988d6e53eedc455e5903e2679f3967b8acb3d639f1b63c14a2e893", size = 262222, upload-time = "2026-08-15T08:17:14.571Z" },
+    { url = "https://files.pythonhosted.org/packages/38/fe/341861ac118dae06f3ec0eb487488af52128f2ef2faf0b11003944d22259/charset_normalizer-3.5.1-cp312-cp312-manylinux2014_s390x.manylinux_2_17_s390x.manylinux_2_28_s390x.whl", hash = "sha256:7c0c10730342b0c9b35dd1d619beb8214e520bd96a1f870f452680b238aab3e0", size = 258951, upload-time = "2026-08-15T08:17:16.158Z" },
+    { url = "https://files.pythonhosted.org/packages/6f/89/bb5108dc6c3651dca963f2b0a3ba19bbcb370c94e1b6d3e0e844a58e6dca/charset_normalizer-3.5.1-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:b9af956078716df40d985fb0dfeb2c2120c5ca92ba4ff4b388acfd01cdc14d08", size = 248801, upload-time = "2026-08-15T08:17:17.683Z" },
+    { url = "https://files.pythonhosted.org/packages/b1/ba/ef83ae3aca816393decfa3530976f38a79812d707b80b580ac33b83f9877/charset_normalizer-3.5.1-cp312-cp312-manylinux_2_31_riscv64.manylinux_2_39_riscv64.whl", hash = "sha256:f9f8405c2c758532c74fed975dbee57be1f31a6e865c031870c79a6ed3212ada", size = 244070, upload-time = "2026-08-15T08:17:19.191Z" },
+    { url = "https://files.pythonhosted.org/packages/f6/0b/c5292a2462d69b7378ea89793bbb5b2b6fcf6f7dd6d1667f9619094ad553/charset_normalizer-3.5.1-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:96fef3e886d6a9874b14f27fc193fbdc69d5d8035783d86aa4e1cea594e695f9", size = 240110, upload-time = "2026-08-15T08:17:20.547Z" },
+    { url = "https://files.pythonhosted.org/packages/46/22/111e5be3b740d5c2a5bfcedb3d237b6591e5c2e82ae9d6ffcb121fe0909c/charset_normalizer-3.5.1-cp312-cp312-musllinux_1_2_armv7l.whl", hash = "sha256:5d8531a6569d025f68e2321e7638fb7978f23db58e5f69f56913837aae03816e", size = 232836, upload-time = "2026-08-15T08:17:21.895Z" },
+    { url = "https://files.pythonhosted.org/packages/f9/d2/d2aad6fe0dbb44b194bf3becb60f5a0ac48446ade999a47fe7bb41eb09a7/charset_normalizer-3.5.1-cp312-cp312-musllinux_1_2_ppc64le.whl", hash = "sha256:aae2ee51122d3ae968a3837d97dc24a0aeebb0dea23694422cd172bd30017cd6", size = 262712, upload-time = "2026-08-15T08:17:23.727Z" },
+    { url = "https://files.pythonhosted.org/packages/35/5a/337e4663a5eae6de99db940ee8066d4145caafb61327db62deda15313cce/charset_normalizer-3.5.1-cp312-cp312-musllinux_1_2_riscv64.whl", hash = "sha256:7235dc28fc6dd9d832ac7c7bce95367dedb85929f17368a0c2bee1e080b9acbf", size = 242977, upload-time = "2026-08-15T08:17:25.157Z" },
+    { url = "https://files.pythonhosted.org/packages/ca/85/f82f8a92e31c7519410e2e1afdc630f28ec47490ce2c09a11c1a43cbb459/charset_normalizer-3.5.1-cp312-cp312-musllinux_1_2_s390x.whl", hash = "sha256:4abdc5f9ad448c1ecbfae2974b820535d6bc6e7eef63babbab3d81cf46968c71", size = 260207, upload-time = "2026-08-15T08:17:26.602Z" },
+    { url = "https://files.pythonhosted.org/packages/b7/52/643d11ffd60e9ac2fd1fb87e167a19285b9eefeff4a40e63c87cbfbeab36/charset_normalizer-3.5.1-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:ba501e667c17d8411f98e67a022d9604ef179aff0e459b7e292c796837c13573", size = 250562, upload-time = "2026-08-15T08:17:27.971Z" },
+    { url = "https://files.pythonhosted.org/packages/62/16/46556278c2168d12df9da7fede5dc6fc70e60301b26a82bbeec238c9cfe3/charset_normalizer-3.5.1-cp312-cp312-win32.whl", hash = "sha256:cfa1c0cc3a8f9f53f1243a5a99ac36fd003880199383b37672e86ddda9cb07e2", size = 178507, upload-time = "2026-08-15T08:17:29.277Z" },
+    { url = "https://files.pythonhosted.org/packages/9d/7a/4c6c298171e6b3e745633180ff59350fc0ca0db1ffd28df1e369e0579f71/charset_normalizer-3.5.1-cp312-cp312-win_amd64.whl", hash = "sha256:3617ac3cfd8b9888f145ad89dd6e692285834b0201c6074a5eeaad3fd4d668c2", size = 200551, upload-time = "2026-08-15T08:17:30.668Z" },
+    { url = "https://files.pythonhosted.org/packages/cd/d7/eb95a042f0dd22e304b0b6472b154f3546a1a039a9ee89ccb2a7f61591fc/charset_normalizer-3.5.1-cp312-cp312-win_arm64.whl", hash = "sha256:88e85ab89cb822c1e635f51d6d32e488f94e002e70e2f492bdb8b945543f345a", size = 180700, upload-time = "2026-08-15T08:17:32.028Z" },
+    { url = "https://files.pythonhosted.org/packages/5b/97/fb4e82231aba271ffd775a1b4993b0defc4e3059f286ae41d9433409fe85/charset_normalizer-3.5.1-cp37-abi3-macosx_10_9_universal2.whl", hash = "sha256:41876ee62a3dddf48ff1121ad8f0798032aa03f2fd35f21f34a4cab14f18d8d2", size = 331467, upload-time = "2026-08-15T08:19:50.959Z" },
+    { url = "https://files.pythonhosted.org/packages/9f/2f/fe3f187327aac18e2d54e9d2b08e15d27bf9b642d9e51c219f130fc34d1a/charset_normalizer-3.5.1-cp37-abi3-manylinux1_x86_64.manylinux_2_28_x86_64.manylinux_2_5_x86_64.whl", hash = "sha256:a6dac12ff6b846103483683f60c5f8fee205121adc58ffd87e90a90a3af69e99", size = 253057, upload-time = "2026-08-15T08:19:52.654Z" },
+    { url = "https://files.pythonhosted.org/packages/d7/c7/9e48cee5c161fe24da823b61bf381921d77cb994a0a4de148e95018c1984/charset_normalizer-3.5.1-cp37-abi3-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:cee5dd7c6fb5dd52a0fe2a740f9bc6e3593f5f8b1788bde49de02086f30182b2", size = 240930, upload-time = "2026-08-15T08:19:54.163Z" },
+    { url = "https://files.pythonhosted.org/packages/49/e0/716601f3cc69be7b198951150c75ead1ece33c3c8036ff6ffa46029659a0/charset_normalizer-3.5.1-cp37-abi3-manylinux2014_armv7l.manylinux_2_17_armv7l.manylinux_2_31_armv7l.whl", hash = "sha256:343fb4f2821043bd87095f7b08a1a181febc8e36ac64212143bbfd0a0e1bc235", size = 230822, upload-time = "2026-08-15T08:19:55.807Z" },
+    { url = "https://files.pythonhosted.org/packages/d3/05/71bfc5caa0abcc45aea1f6a4d50ac68e59605ddc7666fe8494f4cd229665/charset_normalizer-3.5.1-cp37-abi3-manylinux2014_ppc64le.manylinux_2_17_ppc64le.manylinux_2_28_ppc64le.whl", hash = "sha256:ae4a097991662cd4fff0ddc74e0fe7874f82e00042fa0ea00855645ed0c79598", size = 260037, upload-time = "2026-08-15T08:19:57.312Z" },
+    { url = "https://files.pythonhosted.org/packages/c3/92/de7e32ed05341e7a9c4c877c318418197b7f2d66a3b68d561bf2ac57ca3e/charset_normalizer-3.5.1-cp37-abi3-manylinux2014_s390x.manylinux_2_17_s390x.manylinux_2_28_s390x.whl", hash = "sha256:4b599739b93b2cbeded49645ae3c8d1405c29ddfbceac1545c87a3f9580a9e96", size = 255097, upload-time = "2026-08-15T08:19:59.056Z" },
+    { url = "https://files.pythonhosted.org/packages/f5/7b/ade0a122600319dfa0b1000ab0f9731c94a817904cf3c5de408c73a4ede7/charset_normalizer-3.5.1-cp37-abi3-manylinux_2_31_riscv64.manylinux_2_39_riscv64.whl", hash = "sha256:b39b69b347e5e47a3b5b8cfc005c68c1ba347474e3960236c4944a8ecd174962", size = 250166, upload-time = "2026-08-15T08:20:00.612Z" },
+    { url = "https://files.pythonhosted.org/packages/75/9c/019fbb9f4834491a160951349b1a3714439376f66e5f7cf18b4f18f0c7aa/charset_normalizer-3.5.1-cp37-abi3-musllinux_1_2_aarch64.whl", hash = "sha256:a2028475ba855475b8b4d3cfeb4994269c967aea8b9892dfba907f4263a863a3", size = 241821, upload-time = "2026-08-15T08:20:02.321Z" },
+    { url = "https://files.pythonhosted.org/packages/2b/b8/11d4840bfc99330cc7fbcc2681ee5a044553a6e77655508d8f9b2bff7b34/charset_normalizer-3.5.1-cp37-abi3-musllinux_1_2_armv7l.whl", hash = "sha256:36047af20e17097c3bb9476c2b7655f2f7aa51322c0ba58c07695bedf755a950", size = 232529, upload-time = "2026-08-15T08:20:04.008Z" },
+    { url = "https://files.pythonhosted.org/packages/18/96/2b3a21492d9f65171ac75d872f5018260013d00bfa0ff70ec9f179148cbd/charset_normalizer-3.5.1-cp37-abi3-musllinux_1_2_ppc64le.whl", hash = "sha256:4c4fb141a727957c93edfe5c32a26ceb6b5f6461d67146e2d39f51e16170bea8", size = 260348, upload-time = "2026-08-15T08:20:05.877Z" },
+    { url = "https://files.pythonhosted.org/packages/d6/aa/a69a2028e8bd052476c245460ab19d7de595de084dd968f2d75cd50c3e25/charset_normalizer-3.5.1-cp37-abi3-musllinux_1_2_riscv64.whl", hash = "sha256:2f293479cce755c75f1697e87c409b7ae4c555c7dfecb6e988ad13abba943031", size = 247234, upload-time = "2026-08-15T08:20:07.487Z" },
+    { url = "https://files.pythonhosted.org/packages/35/8a/3d130aeabcaf3d2466af76b7b141c08d9e89c9016ab4b7cdd0f7dc2d1c62/charset_normalizer-3.5.1-cp37-abi3-musllinux_1_2_s390x.whl", hash = "sha256:3588e376b3ea2eea84976f67273d679f229e24c66dce7b82ae45aef04ff6e072", size = 256917, upload-time = "2026-08-15T08:20:09.142Z" },
+    { url = "https://files.pythonhosted.org/packages/80/c2/a7379b840292d0c1ab9fbd17d1f3967aa81794dc95bc74be8999d7fedcf7/charset_normalizer-3.5.1-cp37-abi3-musllinux_1_2_x86_64.whl", hash = "sha256:e199fb99720074809a7720f1c0b4d919eea8b87e88713e0f8f602f7bef543d9d", size = 254846, upload-time = "2026-08-15T08:20:10.727Z" },
+    { url = "https://files.pythonhosted.org/packages/01/65/d43b714731bb2f40d4053dfa00ecfc1c5a301f8e3316c5db3a09af59fe94/charset_normalizer-3.5.1-cp37-abi3-win32.whl", hash = "sha256:dd732602a7009217f658d5863d12d79d373a4de0eebc111094bcdd3bb8e0a6cc", size = 174216, upload-time = "2026-08-15T08:20:12.334Z" },
+    { url = "https://files.pythonhosted.org/packages/35/4f/b911ed898b26a09789eba9c9200c999aff6c61b4bafaf4838e56d1a1e1a3/charset_normalizer-3.5.1-cp37-abi3-win_amd64.whl", hash = "sha256:70055ff39b97c99e7ae40ea3e393fb62aa2e44dbd9b29f8d14f42fb0025c3959", size = 199764, upload-time = "2026-08-15T08:20:13.908Z" },
+    { url = "https://files.pythonhosted.org/packages/f0/a7/920baf467bfd9bf689f3b318340f37aee4572a71f162bd8db51da55ba4fa/charset_normalizer-3.5.1-cp37-abi3-win_arm64.whl", hash = "sha256:87e4f41d375c0b9be2fb5251aee4b8a689169e134535aed81bf085c3b647451e", size = 287318, upload-time = "2026-08-15T08:20:15.551Z" },
+    { url = "https://files.pythonhosted.org/packages/cc/61/d01fc49b8dea277640b55a9e15960dbca9fdc8c9fde18e572d39c59f4019/charset_normalizer-3.5.1-py3-none-any.whl", hash = "sha256:6df0ec430f9a831772c23ca5a224cba36517a58a84bb32c32bb59a9fa67c47f6", size = 68658, upload-time = "2026-08-15T08:20:43.306Z" },
 ]

 [[package]]
@@ -1092,49 +1111,49 @@ wheels = [

 [[package]]
 name = "ruff"
-version = "0.16.2"
+version = "0.16.3"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/73/e1/4508a569211b35599016e84ba65c1a992b7a4004b4b6c4bea02a851cba1b/ruff-0.16.2.tar.gz", hash = "sha256:c3d7828d12e8927a6fc65fe38e2c2541b9e762d360a1786d752cb1b8883b3c9c", size = 4885811, upload-time = "2026-08-07T13:31:01.432Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/61/b3/3213589383f8f1b3938781bd1278713f6d18621a14992b3e81fefb8a5ef9/ruff-0.16.3.tar.gz", hash = "sha256:e76d33a347661a84b5be6d043d0347fdc745dfdcf825a8f4fed64b5e26eebdf2", size = 4891904, upload-time = "2026-08-13T15:17:13.381Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/14/57/db19951540f98859c956b50bdb4d31089b4d91e9f15e2968e7d5193806d5/ruff-0.16.2-py3-none-linux_armv6l.whl", hash = "sha256:3c8de4cf2181f01d57946d87d777aa52916976fc09942aed89938fab5e013318", size = 10847925, upload-time = "2026-08-07T13:30:14.468Z" },
-    { url = "https://files.pythonhosted.org/packages/13/5a/995fe85a8470d3e391ac0f7fa8054bb454eaf33ee138196d6172ed1079c0/ruff-0.16.2-py3-none-macosx_10_12_x86_64.whl", hash = "sha256:9a48cc05c6fbc811ca81b5d7ba95375affea6582d1b8024e455e41afbbf55344", size = 11072662, upload-time = "2026-08-07T13:30:18.143Z" },
-    { url = "https://files.pythonhosted.org/packages/32/53/370d767c61c71a971a4ace36703a7ecd8c393956349a7325d7fab2b56827/ruff-0.16.2-py3-none-macosx_11_0_arm64.whl", hash = "sha256:a2c0d14fcbb26c91f0f867a6dc9bd71bbc30b1b6151829c884f23faeab2e5700", size = 10566771, upload-time = "2026-08-07T13:30:20.899Z" },
-    { url = "https://files.pythonhosted.org/packages/85/d6/9d96948caf5a632be62d62202d5ec914d6856f204fd79eb036e5915e79ea/ruff-0.16.2-py3-none-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:335c621622c4650330be50842561c6586ac6971bb8ab5407fe34dcc9efb16bbe", size = 10975825, upload-time = "2026-08-07T13:30:23.517Z" },
-    { url = "https://files.pythonhosted.org/packages/3b/92/ea87129b3414acb0b5770563779c51804d37ac67675c7ba35447ddb14773/ruff-0.16.2-py3-none-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:20e66910f2c37cc753f9ef6580c914a621b80c4fa3549d3e3521e29d0f5bfc3f", size = 10649437, upload-time = "2026-08-07T13:30:26.097Z" },
-    { url = "https://files.pythonhosted.org/packages/ac/43/f8f291dcd4af5bb7872b74fdfa41a7cd7c856ca1d4069670971cf1b9f5cb/ruff-0.16.2-py3-none-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:c7e36fbfba65510548156902bcf1350a979a958ce0347ce0f90d73894036b39f", size = 11446761, upload-time = "2026-08-07T13:30:28.752Z" },
-    { url = "https://files.pythonhosted.org/packages/71/4a/ef991fb2fcf516ab71f0808adcdd8da5e18c8cde447f4ceaf5f47a5132a5/ruff-0.16.2-py3-none-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:f0eab35f80df8f134aae5d1630e751901321d317cc8e50dc39e36fa3ed34cd12", size = 12336364, upload-time = "2026-08-07T13:30:31.468Z" },
-    { url = "https://files.pythonhosted.org/packages/f3/24/f615e74f307e6ca0e56a482872477b856c70d530aa356abfb6dfe5ca8a80/ruff-0.16.2-py3-none-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:40ea8c0594feb894e89c8c61ab9c103d38b0ea72dfde6c594107147ca31b1140", size = 11630720, upload-time = "2026-08-07T13:30:34.426Z" },
-    { url = "https://files.pythonhosted.org/packages/c5/d3/8ef50149e8412a77f7ab409efdef0e2b23803707a3863da4fc64cb23d459/ruff-0.16.2-py3-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ab3d62dde0b19facdd632008cc4827fc28ada7736c6bd35ab6f1050f0bfed53f", size = 11466130, upload-time = "2026-08-07T13:30:36.958Z" },
-    { url = "https://files.pythonhosted.org/packages/dd/a7/a19334985c4dea8c381981fa252cd854c7ee52dc4b1686dc16f4a911c702/ruff-0.16.2-py3-none-manylinux_2_31_riscv64.whl", hash = "sha256:e43e1f5b8388da9eca1b9e88328d47a5cec794633ccf6f7484ac2dd15eee92c0", size = 11523634, upload-time = "2026-08-07T13:30:39.822Z" },
-    { url = "https://files.pythonhosted.org/packages/6e/6c/96d192b0e742412ceda08c0a50f9669b253dde9fd6a60ea1a10c9fa79a63/ruff-0.16.2-py3-none-musllinux_1_2_aarch64.whl", hash = "sha256:c24788a980581e1d7ea3a0cbe4344c4fbeb0a6a9b1f4713aa46bb104f8294690", size = 10949807, upload-time = "2026-08-07T13:30:42.745Z" },
-    { url = "https://files.pythonhosted.org/packages/fa/51/e26599ceca11e79ee255c7df515995561edf87e9ca1893284e44d98f5a86/ruff-0.16.2-py3-none-musllinux_1_2_armv7l.whl", hash = "sha256:81806b08329130005dd4a8a8394a0c9da8c6f4cafb16ba438d2a2ee6a18bedf1", size = 10646891, upload-time = "2026-08-07T13:30:45.522Z" },
-    { url = "https://files.pythonhosted.org/packages/68/01/800c4b1f97bc8d7c6029e06b1f20473a3cf1e13c4933d8f3342add83fc55/ruff-0.16.2-py3-none-musllinux_1_2_i686.whl", hash = "sha256:4ce4e02bad779bef557f541a1b31f20d6abeae1cc05ed1b1ac019d4ffd1044c8", size = 11162063, upload-time = "2026-08-07T13:30:48.131Z" },
-    { url = "https://files.pythonhosted.org/packages/e4/d0/1477ea50fc5a0d4b0b71d1d63d50770bdd794d90b43e37a7618e63ec9894/ruff-0.16.2-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:e0422abdf70070255fc4073ce9dfc814cc03db577013761ddd09bc1e4a9a4fbd", size = 11556038, upload-time = "2026-08-07T13:30:50.686Z" },
-    { url = "https://files.pythonhosted.org/packages/b8/76/a7776f32048d991e16d4fa8ff91790b877342d3596cc3ed04acdbf1aaedc/ruff-0.16.2-py3-none-win32.whl", hash = "sha256:bf3a63d78fb39f4bf5ac8ae52051c5520505301abe19ba4e204c453b3f09bb0b", size = 10872850, upload-time = "2026-08-07T13:30:53.471Z" },
-    { url = "https://files.pythonhosted.org/packages/00/0d/929c800d920e61397d82a01b60bffc68da3052c17d31de59efaad2e4ed75/ruff-0.16.2-py3-none-win_amd64.whl", hash = "sha256:bcabe2f6d0fc7819f1431793005af4e4de7371927d037345bf941252b195b9fa", size = 12023338, upload-time = "2026-08-07T13:30:56.193Z" },
-    { url = "https://files.pythonhosted.org/packages/5b/6c/93e26c22c5f78ff87363e07da49c84955affbeb1098bd1936bf3b3f293bf/ruff-0.16.2-py3-none-win_arm64.whl", hash = "sha256:d614e95cedf38a2053fd351c55b103ba30d017d61688fdbfd40ee0412852a99f", size = 11374065, upload-time = "2026-08-07T13:30:58.775Z" },
+    { url = "https://files.pythonhosted.org/packages/bf/96/493770daebd68c0a67f1549fdf519f53be51fc435186c0585bcc272fd76c/ruff-0.16.3-py3-none-linux_armv6l.whl", hash = "sha256:0c5710e247a58a4521e66e124ba9a74655b414f61ba3a2e9e3811e11098f48f7", size = 10902799, upload-time = "2026-08-13T15:16:27.382Z" },
+    { url = "https://files.pythonhosted.org/packages/5e/e6/2becf3942fddc29a29b8df47691d456fb1085391a694f74d84513251418c/ruff-0.16.3-py3-none-macosx_10_12_x86_64.whl", hash = "sha256:fe155130631a2471fd2e14a7a664a4dfbd7194b8229c3d7b2a40b21178639081", size = 11135539, upload-time = "2026-08-13T15:16:30.87Z" },
+    { url = "https://files.pythonhosted.org/packages/3e/1e/4b8b72f0d006dbf19326aa99f9ca0ee2ff374187c4d301cf529a51aa06fe/ruff-0.16.3-py3-none-macosx_11_0_arm64.whl", hash = "sha256:e2ed719e14aa64d895c2ee922594a90a43c861a93f0575a95ff8c47cdbd13eb9", size = 10475095, upload-time = "2026-08-13T15:16:33.259Z" },
+    { url = "https://files.pythonhosted.org/packages/92/32/2201fa49ba1f6c101ee321e83f051ac7a4b8d07b0ef6b4d3f2772b302275/ruff-0.16.3-py3-none-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9e0b1da805eb043654645d74d5de1e5ce2edc686e40790d2b86f56d71cc06a84", size = 10668771, upload-time = "2026-08-13T15:16:35.65Z" },
+    { url = "https://files.pythonhosted.org/packages/c3/66/4afc5c8363bd04d45effce1b7c8713ca037d7a6740b7451a2403a6e3a972/ruff-0.16.3-py3-none-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:a37bdea0bbe21780f590bf437d6412c8c4e1b6cd010f91a65c2c40c5e5f5f870", size = 10699568, upload-time = "2026-08-13T15:16:38.195Z" },
+    { url = "https://files.pythonhosted.org/packages/53/fd/c67d246bf36bf1698551c56de39e95cd07f70e64433e0098e6267d77061b/ruff-0.16.3-py3-none-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:09571e6d1288ed9be475207a3ac04ada404f1cd898104be0f6ab8d7df438575b", size = 11499365, upload-time = "2026-08-13T15:16:40.623Z" },
+    { url = "https://files.pythonhosted.org/packages/67/0b/00ecbceb99a263af7b12f6f05ac3c92bc47b905e91adc3f207a836e3bc01/ruff-0.16.3-py3-none-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:2c18c5a101eb540010638cc1ff3c84944d3adb3df62b8d98ca8f22ba484d3413", size = 12311728, upload-time = "2026-08-13T15:16:43.564Z" },
+    { url = "https://files.pythonhosted.org/packages/54/b2/b7b3bb54f4d3f7db504e476ad4ab8de530dceebe2c061384b2757ee419e8/ruff-0.16.3-py3-none-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:8457c44f15033c85ddbb77b15d451df9e24e4bd03b628396dd3610cedc3b8f82", size = 11699896, upload-time = "2026-08-13T15:16:46.209Z" },
+    { url = "https://files.pythonhosted.org/packages/c7/30/4c468429ac195addc5ee1b717b6ab1b66632786737ca3b2ed3443fb0c26a/ruff-0.16.3-py3-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:294b95c4ae0cda9388525c2047778aa758d6b8d4bb876fd4e9eaa3ebc92343eb", size = 11058736, upload-time = "2026-08-13T15:16:48.823Z" },
+    { url = "https://files.pythonhosted.org/packages/43/67/7a113cdaddf24b64d7f75b1242a99d04c82fcef4f6921fdbb832beaffb5f/ruff-0.16.3-py3-none-manylinux_2_31_riscv64.whl", hash = "sha256:3d0c7c40c87c2a820509c31ba007968da6e1306468c067b2d82fbfdbcd0e8474", size = 11586911, upload-time = "2026-08-13T15:16:51.913Z" },
+    { url = "https://files.pythonhosted.org/packages/f1/c1/2e66f24c0f3ead25a5e660111778685e505e5da353c82802bf49f0cbe7b9/ruff-0.16.3-py3-none-musllinux_1_2_aarch64.whl", hash = "sha256:9f738c0fdfa8eed0b2ce7fb27ee7258208a92a68d7949e62aa15164bc7b389da", size = 10954265, upload-time = "2026-08-13T15:16:54.763Z" },
+    { url = "https://files.pythonhosted.org/packages/c2/ba/4cee23bf52cba9a058d3726de623624daf50ef9638868edd86f4126157f6/ruff-0.16.3-py3-none-musllinux_1_2_armv7l.whl", hash = "sha256:fb785f0be25abe69d320415cd4f833b59e17ba7613d9ba6a958023b6bceb0a50", size = 10709886, upload-time = "2026-08-13T15:16:57.339Z" },
+    { url = "https://files.pythonhosted.org/packages/82/df/7da7194fa5d9dc0a285f7e6fa5a4722e7c63faac0b45b614ded9314363a1/ruff-0.16.3-py3-none-musllinux_1_2_i686.whl", hash = "sha256:c5536e3acfbf9563085aa2be7b13c629c3077e902afc5b941ac44024dbb9f506", size = 11210392, upload-time = "2026-08-13T15:17:00.171Z" },
+    { url = "https://files.pythonhosted.org/packages/35/85/7795f6e817af050e7517bf3e7aa9b061cce70ef33d280aad902c956c1ecf/ruff-0.16.3-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:a2d85c02f9b8e165d85e6779184d38c4132de12603dab59c51c28e22584f9e4d", size = 11626910, upload-time = "2026-08-13T15:17:03.299Z" },
+    { url = "https://files.pythonhosted.org/packages/78/9b/475b927cf27a5cbbda3c7bafb69ed6ff77e1d7923d5d85f17c2749d7ae32/ruff-0.16.3-py3-none-win32.whl", hash = "sha256:388cdf2166642bd9b13d52b5932d3170f34f8abed7e8d9a855f1d84b83645a0a", size = 10931415, upload-time = "2026-08-13T15:17:05.726Z" },
+    { url = "https://files.pythonhosted.org/packages/b2/99/e2a2bfc4fbf0a1e8a916bc9ebe6fe6c58cc34c28e0ffc6ce281d572d1c2e/ruff-0.16.3-py3-none-win_amd64.whl", hash = "sha256:e80a7d69ca2a6d1c4d352ec91458cdca6e56c83cdbcabd93e4abe1e53591d948", size = 11445993, upload-time = "2026-08-13T15:17:08.353Z" },
+    { url = "https://files.pythonhosted.org/packages/69/3e/4132e539aed78c148854d4997a2685b0ed4dc4e87110b59ce528564e184e/ruff-0.16.3-py3-none-win_arm64.whl", hash = "sha256:b8ca152da82c1acc1fa8d5874b15951935f0eef46f10e6954c83859011b6178a", size = 11399302, upload-time = "2026-08-13T15:17:10.908Z" },
 ]

 [[package]]
 name = "scons"
-version = "4.10.1"
+version = "4.11.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/7d/c9/2f430bb39e4eccba32ce8008df4a3206df651276422204e177a09e12b30b/scons-4.10.1.tar.gz", hash = "sha256:99c0e94a42a2c1182fa6859b0be697953db07ba936ecc9817ae0d218ced20b15", size = 3258403, upload-time = "2025-11-16T22:43:39.258Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/dd/82/3c4e089ac8df2eaee8a7f14e489b2a76f94f4c1d8defa4e46c8ad15cae86/scons-4.11.0.tar.gz", hash = "sha256:5ba48f9e2eb6b9178cabdc9893792418e6970c84f43f4b027e4468e20616a89c", size = 3269126, upload-time = "2026-08-11T04:29:45.62Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/ce/bf/931fb9fbb87234c32b8b1b1c15fba23472a10777c12043336675633809a7/scons-4.10.1-py3-none-any.whl", hash = "sha256:bd9d1c52f908d874eba92a8c0c0a8dcf2ed9f3b88ab956d0fce1da479c4e7126", size = 4136069, upload-time = "2025-11-16T22:43:35.933Z" },
+    { url = "https://files.pythonhosted.org/packages/fc/ac/a4445bbbd58a5fa6a5c8b3b0458ffbee04e4acaff87677058eab9c6af682/scons-4.11.0-py3-none-any.whl", hash = "sha256:2edc077aaeafc43377ba46ce1fa3e7b40edea59c62db9ef7e39e07dc88b754fa", size = 4123742, upload-time = "2026-08-11T04:29:42.881Z" },
 ]

 [[package]]
 name = "sentry-sdk"
-version = "2.67.1"
+version = "2.68.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
    { name = "certifi" },
    { name = "urllib3" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/ad/8a/b2eec40df8a67bf073e244d29001d04ee365d163bc4f15efdfce35f53090/sentry_sdk-2.67.1.tar.gz", hash = "sha256:f263d8c9aa4137750640de8fb0ed5404df6bb564e20e4b59cb16a6eeba18d4ed", size = 990599, upload-time = "2026-08-10T13:05:55.892Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/5b/94/23b7dd072acb9628907bd3f4fbf61794a7b12a9db8f33c1276f70ae5ac92/sentry_sdk-2.68.0.tar.gz", hash = "sha256:648c58e9887311a03470a41539e24bdbbf64a30ca4f5336f7e3dcc87276400b3", size = 1008854, upload-time = "2026-08-13T09:06:21.268Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/34/e2/70692eba662037cddf93391cbbf98297159f3038612e9b9a8129e16feb7a/sentry_sdk-2.67.1-py3-none-any.whl", hash = "sha256:a66bfbce1cd8a93c51c369d642ad85b46253ea7a6f7938141315b83e2823cda5", size = 515591, upload-time = "2026-08-10T13:05:54.213Z" },
+    { url = "https://files.pythonhosted.org/packages/7d/9b/e2421d08956d0bc4691d995393d835e563886bff499d8fb10fdefae85a8d/sentry_sdk-2.68.0-py3-none-any.whl", hash = "sha256:538e56c2d03679d42f7c0cb5f1af73a7a510b00abc7e296c13ac49b107b713a4", size = 518670, upload-time = "2026-08-13T09:06:19.735Z" },
 ]

 [[package]]
@@ -1316,27 +1335,27 @@ wheels = [

 [[package]]
 name = "ty"
-version = "0.0.69"
+version = "0.0.72"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/8e/5b/7a618632dfe9373b7df572ecd7a08c8f799d772fbc317da82dd3aa363207/ty-0.0.69.tar.gz", hash = "sha256:b65106e9ff24fa76e25e1142fb09c85244e815c40450e3021d2bf652c231bb43", size = 6565094, upload-time = "2026-08-06T10:04:25.667Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/d5/df/656e684bafb13c1d146e7d5b5f3e7978ca177232acc84998ff36427e9462/ty-0.0.72.tar.gz", hash = "sha256:ec2b8066b618df18cab4cb8e992f8da45d360332acb23fa34df7fa29cd1b9d3a", size = 6654939, upload-time = "2026-08-14T21:35:42.612Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/06/60/6534092f4d2c15e2491807edd609c2e50d527c1fed957acf40b9f110b64a/ty-0.0.69-py3-none-linux_armv6l.whl", hash = "sha256:98bfd383b273540829af673e7f98b9c1c4bcc8547d12a1a3806cd0bec7f0e087", size = 12364185, upload-time = "2026-08-06T10:03:47.137Z" },
-    { url = "https://files.pythonhosted.org/packages/34/2b/5c29689bd4f74c2e3394d983d85e4011b629f2ce3730c9442553b8554bf8/ty-0.0.69-py3-none-macosx_10_12_x86_64.whl", hash = "sha256:964621ddd05771660017c51b4e74078d861d9fc863c21ef2a500db1ab62c9ccf", size = 12042510, upload-time = "2026-08-06T10:03:49.481Z" },
-    { url = "https://files.pythonhosted.org/packages/09/46/fa085bde4d23516d7ef14b24736fc5dd7dc498f60f52b3d077e59ffdea20/ty-0.0.69-py3-none-macosx_11_0_arm64.whl", hash = "sha256:3ffea4048dd0da4c9c97393b4be0901098a9065b06fa81be2477cbde65d8a151", size = 11549397, upload-time = "2026-08-06T10:03:51.747Z" },
-    { url = "https://files.pythonhosted.org/packages/25/cc/97b9efb2061dcab6fef1e94a4ad99df0bb45bd2cc15d4f5794c787ee0552/ty-0.0.69-py3-none-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a8684d4a70aadd1eab0f41bdba835e3288ef49db8402a8e6ca81bab52ed5d610", size = 12115567, upload-time = "2026-08-06T10:03:53.79Z" },
-    { url = "https://files.pythonhosted.org/packages/e0/c1/a5e0404965093835f3e62544e661784ec0aa8ef0b006ed50af50b19c107e/ty-0.0.69-py3-none-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:afaaba240ab4122e2069a796836d10be81b4ddb053ae268b3dff962a0b4ca5c7", size = 12149770, upload-time = "2026-08-06T10:03:55.993Z" },
-    { url = "https://files.pythonhosted.org/packages/e2/39/8cad6b205a4abe8a044ca0c84aea71e8ccda29b07a75a5f090e310605580/ty-0.0.69-py3-none-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:11ea63ef07d4e33aeb1a775cf5f2c736b3ed22fa6f8b1b608591612c36795044", size = 12941278, upload-time = "2026-08-06T10:03:58.324Z" },
-    { url = "https://files.pythonhosted.org/packages/d6/8b/8766d96b732c2a060d70dc8ccafcc4d6a54109a2a95f1deb0705de88892b/ty-0.0.69-py3-none-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:cb3730b1268e92a2907d7aea3afe8dd1b360ae65862f0557080cf479d481b424", size = 13426509, upload-time = "2026-08-06T10:04:00.621Z" },
-    { url = "https://files.pythonhosted.org/packages/02/1f/e991b2cde953ea5b94d6a9a4c45c87937bd916bc09235f764407bf471c0a/ty-0.0.69-py3-none-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:a544ff57a752ef186ed40b5a2f44c17402af4cdefeb74a311ca02ebd57c4fca0", size = 13106582, upload-time = "2026-08-06T10:04:02.818Z" },
-    { url = "https://files.pythonhosted.org/packages/ea/bb/73538f1b99e3558fd9db87b98698426f0f60fc8666da0b1efd0e70e275eb/ty-0.0.69-py3-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:87ed2cbca20caddfdf8e3e14d213ce91b67e75feed78900f4aaf3ef884954028", size = 12708931, upload-time = "2026-08-06T10:04:05.233Z" },
-    { url = "https://files.pythonhosted.org/packages/87/cd/484a5208d74c4ad1155933906295ccdce9aa81a257d8df2ab9e41bd60133/ty-0.0.69-py3-none-manylinux_2_31_riscv64.whl", hash = "sha256:2684efcbce5b6fe45045faf610b377b50781b6d2aa7e61ea23ecf5b3d2bce421", size = 12985322, upload-time = "2026-08-06T10:04:07.587Z" },
-    { url = "https://files.pythonhosted.org/packages/6e/81/b75003f0d4da9ab3bc8fd4f4802f836cb9921ff7e70f460604f7b769a0b5/ty-0.0.69-py3-none-musllinux_1_2_aarch64.whl", hash = "sha256:da9aeb26fdac1d2214937542b59e0d4d1ba94ec7a3f45444f33c846de1eb1d63", size = 12063910, upload-time = "2026-08-06T10:04:09.835Z" },
-    { url = "https://files.pythonhosted.org/packages/8a/76/088469f547ef63dceefc4a75826aedee5014f9371dc5171cde931896a82c/ty-0.0.69-py3-none-musllinux_1_2_armv7l.whl", hash = "sha256:00e7677cd14ede381f705f71104ea7b8ea0ce217a8634e19a89781953de0e9ad", size = 12166823, upload-time = "2026-08-06T10:04:12.114Z" },
-    { url = "https://files.pythonhosted.org/packages/0a/c9/ce88a0bec0d46d8ae180b99c6ec014866fecc4cba1727b5feec8877b2765/ty-0.0.69-py3-none-musllinux_1_2_i686.whl", hash = "sha256:d91965eb799649833d0d6042db09cd03d15289125245337cc46a2606effb7bda", size = 12483136, upload-time = "2026-08-06T10:04:14.33Z" },
-    { url = "https://files.pythonhosted.org/packages/63/9e/6fae0ff225a0012642cf72c077e20f8f448c0a80771bc3360e8178fe2f32/ty-0.0.69-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:1f03359cd8e5c412aa0c181118fa9b9061a4dddaedbb61bac0a424fb0814d402", size = 12799025, upload-time = "2026-08-06T10:04:16.445Z" },
-    { url = "https://files.pythonhosted.org/packages/e4/43/78a658d18b2a4ccf35b053392f2213bf12e3c63b2abea512d3b6751d1f4c/ty-0.0.69-py3-none-win32.whl", hash = "sha256:ec460e01586b1eb91894c4a8403bee3e045a47e7a4ada943cc27ce8e348e88cf", size = 11787774, upload-time = "2026-08-06T10:04:18.622Z" },
-    { url = "https://files.pythonhosted.org/packages/3a/5e/88db1f674403f2b81316a853a44a81ed220621fa96f8f7ae586fb6ca7513/ty-0.0.69-py3-none-win_amd64.whl", hash = "sha256:18976ca26a4e28fc3249477f79a695d5502e670803f2e080d89ac905baef3c6e", size = 12864038, upload-time = "2026-08-06T10:04:20.748Z" },
-    { url = "https://files.pythonhosted.org/packages/4d/7b/6fc6efd00c69103d70f2bdbe824343089cd70b17b3079170057d3e5a3ac0/ty-0.0.69-py3-none-win_arm64.whl", hash = "sha256:7d4ca3bb74d91cb9947ba3f3b4cb131ad6a2b3ecc76d34040c4ec6092d2e411d", size = 12196693, upload-time = "2026-08-06T10:04:22.902Z" },
+    { url = "https://files.pythonhosted.org/packages/e2/3b/f51461239a4e66565d4b362f97a3b55fe7fdba2e944068341f87c62f6743/ty-0.0.72-py3-none-linux_armv6l.whl", hash = "sha256:fda86db153ffd85ee52000cf175d6a3f1c0223772cf7c5b6f726200bf92c7b44", size = 12621989, upload-time = "2026-08-14T21:35:01.676Z" },
+    { url = "https://files.pythonhosted.org/packages/ca/fb/79ddf683affc679ca856f3510b5640ec3a88a842ba5f654f5d4bc78f1786/ty-0.0.72-py3-none-macosx_10_12_x86_64.whl", hash = "sha256:ceb944c612529b9023acfdc9cf4c0dcbb722549f9d17d46baecd1141baf01d7f", size = 12233910, upload-time = "2026-08-14T21:35:04.334Z" },
+    { url = "https://files.pythonhosted.org/packages/5d/45/10562a0d84802158db8fa4ec46de54aa9fdcecdeeaabbfe3639ae7042b66/ty-0.0.72-py3-none-macosx_11_0_arm64.whl", hash = "sha256:108d76218333d6c092e5f1cebf8e9b06f25738613a0236a28e2dd47c936ee52c", size = 12084108, upload-time = "2026-08-14T21:35:06.686Z" },
+    { url = "https://files.pythonhosted.org/packages/a1/dc/1fe1aef8d697e3509face271a5331700c7aa1d1e44a4b622707bdfa41d4b/ty-0.0.72-py3-none-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:7f3943f186f741a2499a31053872169250c9264a9a49684920e48d8fcf4ef4f5", size = 12132640, upload-time = "2026-08-14T21:35:09.305Z" },
+    { url = "https://files.pythonhosted.org/packages/14/46/41ceb265e96969487311a2014bd0e53abb4fbc1395efb2ebe411fcb4db62/ty-0.0.72-py3-none-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:cf283c07dc3cc52ca48a3ad8ab100fb5aec3aebbd03ef6a12d5f910b8e596fc5", size = 12402489, upload-time = "2026-08-14T21:35:11.555Z" },
+    { url = "https://files.pythonhosted.org/packages/2b/45/30bf43cb4fd505c5c2dd30fda27dde5f05208686cd21217adec77c954204/ty-0.0.72-py3-none-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:95f3b6462c38f9f115d10cee21f47fedf715fcf2040daf36eef210359300bc7c", size = 13130835, upload-time = "2026-08-14T21:35:13.746Z" },
+    { url = "https://files.pythonhosted.org/packages/31/2f/03bba754d2613f640df168335c41f83f41db150bb515839c60d80e3a7880/ty-0.0.72-py3-none-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:30caf658feb8ffb250d9e9e47107657a78f5f3425c227df1664d8df2ebe38880", size = 13590392, upload-time = "2026-08-14T21:35:16.839Z" },
+    { url = "https://files.pythonhosted.org/packages/04/c7/03c67f00e63005ec41585653dc3096064570b1e6273742baae2798cd242f/ty-0.0.72-py3-none-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:27bdc012ddfbeec8948e4a6036c0dc39ac7cf2c8ec7c7d48dc7d2fd56d57b399", size = 13309629, upload-time = "2026-08-14T21:35:19.169Z" },
+    { url = "https://files.pythonhosted.org/packages/c1/df/102d3b264eb7f2a58dd11952f229bb5150bb5668d176a6154976a6675981/ty-0.0.72-py3-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:802c5970a77d7739e6f499921fbb6984fb7ad8a31d95e1ff42fd46f3642e4f3b", size = 12734028, upload-time = "2026-08-14T21:35:22.099Z" },
+    { url = "https://files.pythonhosted.org/packages/61/85/d0737c8c54d0ba67366ddfb9f31d88edf0b02299e65923e6945ae60ebcb5/ty-0.0.72-py3-none-manylinux_2_31_riscv64.whl", hash = "sha256:47dce65114fdc615c68ca0edb393b433df0956447e4267df0e264137a789598d", size = 13174832, upload-time = "2026-08-14T21:35:24.71Z" },
+    { url = "https://files.pythonhosted.org/packages/1e/31/497f5a96c36d9b586ab6afe0574986835c6fd5b835a89773d2bec4711b49/ty-0.0.72-py3-none-musllinux_1_2_aarch64.whl", hash = "sha256:325144fa07e2675d0faa337fcc864213c272a499eb0cfe5bde2fdc62282d27bc", size = 12215005, upload-time = "2026-08-14T21:35:26.892Z" },
+    { url = "https://files.pythonhosted.org/packages/df/7d/46e65b17b4966c7cd0140f134380d33d8e84fe6efccd761533ce793dc502/ty-0.0.72-py3-none-musllinux_1_2_armv7l.whl", hash = "sha256:a5c9f15d0f58e43707d8848274be1821a0ef408eccb8aa7dda28a4a9eddf7640", size = 12421298, upload-time = "2026-08-14T21:35:29.301Z" },
+    { url = "https://files.pythonhosted.org/packages/08/2a/12ada4ec17700b3cb1d4fd3bc3e5b1852df9e6885288429318cade87b3c1/ty-0.0.72-py3-none-musllinux_1_2_i686.whl", hash = "sha256:8ee508d64b381871529cc22c412b41071bf5e908b7aa5d66a38f3f6b2573a806", size = 12669242, upload-time = "2026-08-14T21:35:31.444Z" },
+    { url = "https://files.pythonhosted.org/packages/1c/1a/4692536880790fb550ed6d44a6096778dc71bb112f2c6d615cebb01a57e5/ty-0.0.72-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:3699e2ec7921d44da79d6b089f7bf239b2cc53c4e45a5a38430adc34ee9e9a55", size = 12988199, upload-time = "2026-08-14T21:35:33.749Z" },
+    { url = "https://files.pythonhosted.org/packages/9a/0d/f5e5a50322e9c45865e7b7a428ba6cd6527387cf0f2472492ac3cf746243/ty-0.0.72-py3-none-win32.whl", hash = "sha256:f25f72a67bd36cd247707c4784e52fad0b6b4f42a1b7dd14804110fa95c486ed", size = 11939708, upload-time = "2026-08-14T21:35:36.006Z" },
+    { url = "https://files.pythonhosted.org/packages/3f/4e/8af3534b2e4214e6184a5a59c34101e94a68d578f081f97b995866bab1bf/ty-0.0.72-py3-none-win_amd64.whl", hash = "sha256:cdeee869341717e1736cea2e2d7856738c6957c320f584ed2f68c8f90100d2f5", size = 12643876, upload-time = "2026-08-14T21:35:38.141Z" },
+    { url = "https://files.pythonhosted.org/packages/ff/ea/a2606e654c7276bd08586391a2525b0af3f3bf60228a8c57b2d248f273f9/ty-0.0.72-py3-none-win_arm64.whl", hash = "sha256:1bd3ac3ed4424a6d6990a85dc388556aea012bd752de21349a84b685951de0d8", size = 12394857, upload-time = "2026-08-14T21:35:40.277Z" },
 ]

 [[package]]