Add Dockerfile and related scripts for sunnypilot CI build pipeline

This commit introduces `Dockerfile.sunnypilot`, `.dockerignore` updates, and a new `docker_build_sp.sh` script to support building and testing sunnypilot in a Dockerized environment.

.dockerignore

@@ -18,6 +18,19 @@
 
 venv/
 .venv/
+**/.idea
+**/.hypothesis
+**/.mypy_cache
+
+**/.venv
+**/.venv/
+
+**/.ci_cache
+**/*.rlog
+
+**/Dockerfile*
+**/dockerfile*
+**/build_output
 
 notebooks
 phone

.github/workflows/repo-maintenance.yaml

@@ -54,8 +54,9 @@ jobs:
         git add .
     - name: update car docs
       run: |
+        export PYTHONPATH="$PWD"
         scons -j$(nproc) --minimal opendbc_repo
-        PYTHONPATH=. python selfdrive/car/docs.py
+        python selfdrive/car/docs.py
         git add docs/CARS.md
     - name: Create Pull Request
       uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83

Dockerfile.openpilot

@@ -3,7 +3,6 @@ FROM ghcr.io/commaai/openpilot-base:latest
 ENV PYTHONUNBUFFERED=1
 
 ENV OPENPILOT_PATH=/home/batman/openpilot
-ENV PYTHONPATH=${OPENPILOT_PATH}:${PYTHONPATH}
 
 RUN mkdir -p ${OPENPILOT_PATH}
 WORKDIR ${OPENPILOT_PATH}

Dockerfile.sunnypilot

@@ -0,0 +1,66 @@
+FROM sunnypilot-base
+
+ARG RUNNER_DEBUG=0
+
+ENV PYTHONUNBUFFERED=1
+ENV OPENPILOT_SRC_PATH=/tmp/openpilot
+ENV BUILD_DIR=/data/openpilot
+ENV OUTPUT_DIR=/output
+
+RUN sudo apt update && sudo apt install -y rsync
+
+RUN mkdir -p ${OPENPILOT_SRC_PATH}
+RUN mkdir -p ${BUILD_DIR}
+COPY . ${OPENPILOT_SRC_PATH}
+ENV PYTHONPATH=${BUILD_DIR}
+
+WORKDIR ${OPENPILOT_SRC_PATH}
+RUN ./tools/ubuntu_setup.sh
+
+RUN ./release/release_files.py | sort | uniq | rsync -rRl${RUNNER_DEBUG:+v} --files-from=- . $BUILD_DIR/
+WORKDIR ${BUILD_DIR}
+RUN sed -i '/from .board.jungle import PandaJungle, PandaJungleDFU/s/^/#/' panda/__init__.py
+RUN scons --cache-readonly -j$(nproc) --minimal
+RUN touch ${BUILD_DIR}/prebuilt
+RUN sudo rm -rf ${OUTPUT_DIR}
+RUN mkdir -p ${OUTPUT_DIR}
+
+ENTRYPOINT [\
+  "rsync", \
+  "-am", \
+  "--include=**/panda/board/", \
+  "--include=**/panda/board/obj", \
+  "--include=**/panda/board/obj/panda.bin.signed", \
+  "--include=**/panda/board/obj/panda_h7.bin.signed", \
+  "--include=**/panda/board/obj/bootstub.panda.bin", \
+  "--include=**/panda/board/obj/bootstub.panda_h7.bin", \
+  "--exclude=.sconsign.dblite", \
+  "--exclude=*.a", \
+  "--exclude=*.o", \
+  "--exclude=*.os", \
+  "--exclude=*.pyc", \
+  "--exclude=moc_*", \
+  "--exclude=*.cc", \
+  "--exclude=Jenkinsfile", \
+  "--exclude=supercombo.onnx", \
+  "--exclude=**/panda/board/*", \
+  "--exclude=**/panda/board/obj/**", \
+  "--exclude=**/panda/certs/", \
+  "--exclude=**/panda/crypto/", \
+  "--exclude=**/release/", \
+  "--exclude=**/.github/", \
+  "--exclude=**/selfdrive/ui/replay/", \
+  "--exclude=**/__pycache__/", \
+  "--exclude=**/selfdrive/ui/*.h", \
+  "--exclude=**/selfdrive/ui/**/*.h", \
+  "--exclude=**/selfdrive/ui/qt/offroad/sunnypilot/", \
+  #"--exclude=${SCONS_CACHE_DIR:-}", \
+  "--exclude=**/.git/", \
+  "--exclude=**/SConstruct", \
+  "--exclude=**/SConscript", \
+  "--exclude=**/.venv/", \
+  "--delete-excluded", \
+  "--chown=1000:1000", \
+  "/data/openpilot/", \
+  "/output/" \
+]

cereal/log.capnp

@@ -2281,6 +2281,7 @@ struct LiveTorqueParametersData {
   points @10 :List(List(Float32));
   version @11 :Int32;
   useParams @12 :Bool;
+  calPerc @13 :Int8;
 }
 
 struct LiveDelayData {
@@ -2291,6 +2292,7 @@ struct LiveDelayData {
   lateralDelayEstimate @3 :Float32;
   lateralDelayEstimateStd @5 :Float32;
   points @4 :List(Float32);
+  calPerc @6 :Int8;
 
   enum Status {
     unestimated @0;

common/model.h

@@ -1 +1 @@
-#define DEFAULT_MODEL "Filet o Fish (Default)"
+#define DEFAULT_MODEL "Vegetarian Filet o Fish (Default)"

common/params_keys.h

@@ -131,6 +131,9 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"CarParamsSPCache", CLEAR_ON_MANAGER_START},
     {"CarParamsSPPersistent", PERSISTENT},
     {"CarPlatformBundle", PERSISTENT},
+    {"CustomAccIncrementsEnabled", PERSISTENT | BACKUP},
+    {"CustomAccLongPressIncrement", PERSISTENT | BACKUP},
+    {"CustomAccShortPressIncrement", PERSISTENT | BACKUP},
     {"DeviceBootMode", PERSISTENT | BACKUP},
     {"EnableGithubRunner", PERSISTENT | BACKUP},
     {"MaxTimeOffroad", PERSISTENT | BACKUP},

common/spinner.py

@@ -0,0 +1,52 @@
+import os
+import subprocess
+from openpilot.common.basedir import BASEDIR
+
+
+class Spinner:
+  def __init__(self):
+    try:
+      self.spinner_proc = subprocess.Popen(["./spinner.py"],
+                                           stdin=subprocess.PIPE,
+                                           cwd=os.path.join(BASEDIR, "system", "ui"),
+                                           close_fds=True)
+    except OSError:
+      self.spinner_proc = None
+
+  def __enter__(self):
+    return self
+
+  def update(self, spinner_text: str):
+    if self.spinner_proc is not None:
+      self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n")
+      try:
+        self.spinner_proc.stdin.flush()
+      except BrokenPipeError:
+        pass
+
+  def update_progress(self, cur: float, total: float):
+    self.update(str(round(100 * cur / total)))
+
+  def close(self):
+    if self.spinner_proc is not None:
+      self.spinner_proc.kill()
+      try:
+        self.spinner_proc.communicate(timeout=2.)
+      except subprocess.TimeoutExpired:
+        print("WARNING: failed to kill spinner")
+      self.spinner_proc = None
+
+  def __del__(self):
+    self.close()
+
+  def __exit__(self, exc_type, exc_value, traceback):
+    self.close()
+
+
+if __name__ == "__main__":
+  import time
+  with Spinner() as s:
+    s.update("Spinner text")
+    time.sleep(5.0)
+  print("gone")
+  time.sleep(5.0)

common/text_window.py

@@ -0,0 +1,63 @@
+#!/usr/bin/env python3
+import os
+import time
+import subprocess
+from openpilot.common.basedir import BASEDIR
+
+
+class TextWindow:
+  def __init__(self, text):
+    try:
+      self.text_proc = subprocess.Popen(["./text.py", text],
+                                        stdin=subprocess.PIPE,
+                                        cwd=os.path.join(BASEDIR, "system", "ui"),
+                                        close_fds=True)
+    except OSError:
+      self.text_proc = None
+
+  def get_status(self):
+    if self.text_proc is not None:
+      self.text_proc.poll()
+      return self.text_proc.returncode
+    return None
+
+  def __enter__(self):
+    return self
+
+  def close(self):
+    if self.text_proc is not None:
+      self.text_proc.terminate()
+      self.text_proc = None
+
+  def wait_for_exit(self):
+    if self.text_proc is not None:
+      while True:
+        if self.get_status() == 1:
+          return
+        time.sleep(0.1)
+
+  def __del__(self):
+    self.close()
+
+  def __exit__(self, exc_type, exc_value, traceback):
+    self.close()
+
+
+if __name__ == "__main__":
+  text = """Traceback (most recent call last):
+  File "./controlsd.py", line 608, in <module>
+    main()
+  File "./controlsd.py", line 604, in main
+    controlsd_thread(sm, pm, logcan)
+  File "./controlsd.py", line 455, in controlsd_thread
+    1/0
+ZeroDivisionError: division by zero"""
+  print(text)
+
+  with TextWindow(text) as s:
+    for _ in range(100):
+      if s.get_status() == 1:
+        print("Got exit button")
+        break
+      time.sleep(0.1)
+  print("gone")

docs/CARS.md

@@ -15,7 +15,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Audi|A3 2014-19|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>|||
 |Audi|A3 Sportback e-tron 2017-18|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
 |Audi|Q2 2018|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>|||
-|Audi|Q3 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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>|||
+|Audi|Q3 2019-24|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-24">Buy Here</a></sub></details>|||
 |Audi|RS3 2018|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>|||
 |Audi|S3 2015-17|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>|||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
@@ -38,6 +38,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|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 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Hybrid 2023-24">Buy Here</a></sub></details>||https://www.youtube.com/watch?v=uUGkH6C_EQU|
 |Ford|Escape Plug-in Hybrid 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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
 |Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|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 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Plug-in Hybrid 2023-24">Buy Here</a></sub></details>||https://www.youtube.com/watch?v=uUGkH6C_EQU|
+|Ford|Expedition 2022-24|Co-Pilot360 Assist 2.0|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 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Expedition 2022-24">Buy Here</a></sub></details>||https://www.youtube.com/watch?v=MewJc9LYp9M|
 |Ford|Explorer 2020-24|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer 2020-24">Buy Here</a></sub></details>|||
 |Ford|Explorer Hybrid 2020-24|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer Hybrid 2020-24">Buy Here</a></sub></details>|||
 |Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|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 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=F-150 2021-23">Buy Here</a></sub></details>||https://www.youtube.com/watch?v=MewJc9LYp9M|
@@ -53,7 +54,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Ford|Maverick 2023-24|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 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2023-24">Buy Here</a></sub></details>|||
 |Ford|Maverick Hybrid 2022|LARIAT Luxury|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 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2022">Buy Here</a></sub></details>|||
 |Ford|Maverick Hybrid 2023-24|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 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2023-24">Buy Here</a></sub></details>|||
-|Ford|Mustang Mach-E 2021-23|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 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Mustang Mach-E 2021-23">Buy Here</a></sub></details>||https://www.youtube.com/watch?v=uUGkH6C_EQU|
+|Ford|Mustang Mach-E 2021-24|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 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Mustang Mach-E 2021-24">Buy Here</a></sub></details>||https://www.youtube.com/watch?v=uUGkH6C_EQU|
 |Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|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 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Ranger 2024">Buy Here</a></sub></details>||https://www.youtube.com/watch?v=uUGkH6C_EQU|
 |Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2018">Buy Here</a></sub></details>|||
 |Genesis|G70 2019-21|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 F connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2019-21">Buy Here</a></sub></details>|||
@@ -77,8 +78,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Civic 2022-24|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 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback 2022-24|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 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=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"></img></a>||
-|Honda|Civic Hatchback Hybrid 2023 (Europe only)|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 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback Hybrid 2023 (Europe only)">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback Hybrid 2025|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 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback Hybrid 2025">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback Hybrid (Europe only) 2023|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 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
 |Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>|||
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>|||
 |Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
@@ -115,7 +116,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Plug-in Hybrid 2020-22|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 H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
 |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>|||
-|Hyundai|Kona 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2022">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2018-21|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 G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2022-23|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 O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2022-23">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|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 R connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
@@ -181,12 +181,12 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Telluride 2020-22|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 H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Telluride 2020-22">Buy Here</a></sub></details>|||
 |Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=CT Hybrid 2017-18">Buy Here</a></sub></details>|||
 |Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2017-18">Buy Here</a></sub></details>|||
-|Lexus|ES 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2019-24">Buy Here</a></sub></details>|||
+|Lexus|ES 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2019-25">Buy Here</a></sub></details>|||
 |Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>|||
 |Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2019-25">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=GS F 2016">Buy Here</a></sub></details>|||
 |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2017-19">Buy Here</a></sub></details>|||
-|Lexus|IS 2022-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2022-23">Buy Here</a></sub></details>|||
+|Lexus|IS 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2022-24">Buy Here</a></sub></details>|||
 |Lexus|LC 2024|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=LC 2024">Buy Here</a></sub></details>|||
 |Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX 2018-19">Buy Here</a></sub></details>|||
 |Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX 2020-21">Buy Here</a></sub></details>|||
@@ -313,11 +313,11 @@ A supported vehicle is one that just works when you install a comma device. All
 |Volkswagen|Polo GTI 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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
 |Volkswagen|T-Cross 2021|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
 |Volkswagen|T-Roc 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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen|Taos 2022-23|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>|||
+|Volkswagen|Taos 2022-24|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-24">Buy Here</a></sub></details>|||
 |Volkswagen|Teramont 2018-22|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>|||
 |Volkswagen|Teramont Cross Sport 2021-22|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
 |Volkswagen|Teramont X 2021-22|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen|Tiguan 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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen|Tiguan 2018-24|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-24">Buy Here</a></sub></details>|||
 |Volkswagen|Tiguan eHybrid 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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
 |Volkswagen|Touran 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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>|||
 

docs/CONTRIBUTING.md

@@ -7,7 +7,6 @@ Development is coordinated through [Discord](https://discord.comma.ai) and GitHu
 ### Getting Started
 
 * Setup your [development environment](../tools/)
-* Read about the [development workflow](WORKFLOW.md)
 * Join our [Discord](https://discord.comma.ai)
 * Docs are at https://docs.comma.ai and https://blog.comma.ai
 

docs/WORKFLOW.md

@@ -1,33 +0,0 @@
-# openpilot development workflow
-
-Aside from the ML models, most tools used for openpilot development are in this repo.
-
-Most development happens on normal Ubuntu workstations, and not in cars or directly on comma devices. See the [setup guide](../tools) for getting your PC setup for openpilot development.
-
-## Quick start
-
-```bash
-# get the latest stuff
-git pull
-git lfs pull
-git submodule update --init --recursive
-
-# update dependencies
-tools/ubuntu_setup.sh
-
-# build everything
-scons -j$(nproc)
-
-# build just the ui with either of these
-scons -j8 selfdrive/ui/
-cd selfdrive/ui/ && scons -u -j8
-
-# test everything
-pytest
-
-# test just logging services
-cd system/loggerd && pytest .
-
-# run the linter
-op lint
-```

launch_env.sh

@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="12.3"
+  export AGNOS_VERSION="12.4"
 fi
 
 export STAGING_ROOT="/data/safe_staging"

pyproject.toml

@@ -68,6 +68,9 @@ dependencies = [
 
   # logreader
   "zstandard",
+
+  # ui
+  "qrcode",
 ]
 
 [project.optional-dependencies]
@@ -85,7 +88,8 @@ testing = [
   "pytest-cov",
   "pytest-cpp",
   "pytest-subtests",
-  "pytest-xdist",
+  # https://github.com/pytest-dev/pytest-xdist/issues/1215
+  "pytest-xdist @ git+https://github.com/sshane/pytest-xdist@909e97b49d12401c10608f9d777bfc9dab8a4413",
   "pytest-timeout",
   "pytest-randomly",
   "pytest-asyncio",
@@ -102,8 +106,8 @@ dev = [
   "azure-storage-blob",
   "dbus-next",
   "dictdiffer",
-  "lru-dict",
   "matplotlib",
+  "opencv-python-headless",
   "parameterized >=0.8, <0.9",
   "pyautogui",
   "pygame",

release/README.md

@@ -1,36 +1,31 @@
 # openpilot releases
 
+```
 ## release checklist
 
 **Go to `devel-staging`**
+- [ ] update RELEASES.md
 - [ ] update `devel-staging`: `git reset --hard origin/master-ci`
 - [ ] open a pull request from `devel-staging` to `devel`
+- [ ] post on Discord
 
 **Go to `devel`**
-- [ ] update RELEASES.md
-- [ ] close out milestone
-- [ ] post on Discord dev channel
 - [ ] bump version on master: `common/version.h` and `RELEASES.md`
-- [ ] merge the pull request
-
-tests:
-- [ ] update from previous release -> new release
-- [ ] update from new release -> previous release
-- [ ] fresh install with `openpilot-test.comma.ai`
-- [ ] drive on fresh install
-- [ ] comma body test
-- [ ] no submodules or LFS
-- [ ] check sentry, MTBF, etc.
+- [ ] before merging the pull request
+  - [ ] update from previous release -> new release
+  - [ ] update from new release -> previous release
+  - [ ] fresh install with `openpilot-test.comma.ai`
+  - [ ] drive on fresh install
+  - [ ] no submodules or LFS
+  - [ ] check sentry, MTBF, etc.
 
 **Go to `release3`**
 - [ ] publish the blog post
 - [ ] `git reset --hard origin/release3-staging`
-- [ ] tag the release
-```
-git tag v0.X.X <commit-hash>
-git push origin v0.X.X
-```
+- [ ] tag the release: `git tag v0.X.X <commit-hash> && git push origin v0.X.X`
 - [ ] create GitHub release
 - [ ] final test install on `openpilot.comma.ai`
-- [ ] update production
-- [ ] Post on Discord, X, etc.
+- [ ] update factory provisioning
+- [ ] close out milestone
+- [ ] post on Discord, X, etc.
+```

release/ci/docker_build_sp.sh

@@ -0,0 +1,51 @@
+#!/bin/sh
+# run_openpilot_docker.sh
+# POSIX-compliant script to run openpilot in Docker for local testing
+
+# === Configurable Variables ===
+
+# Base image to use (required)
+BASE_IMAGE="${BASE_IMAGE:-commaai/openpilot-base:latest}"
+
+# Working directory inside the container
+WORKDIR="/tmp/openpilot"
+
+# Local project path
+LOCAL_DIR="$PWD"
+
+# Shared memory size (adjust for large builds/tests)
+SHM_SIZE="2G"
+
+# Environment configuration
+CI=1
+PYTHONWARNINGS="error"
+FILEREADER_CACHE=1
+PYTHONPATH="$WORKDIR"
+
+# Optional: GitHub Actions env vars — set them only if needed for local mirroring/debug
+USE_GITHUB_ENV_VARS=false  # set to true to enable GitHub-related mounts/envs
+GITHUB_WORKSPACE="${GITHUB_WORKSPACE:-$HOME/openpilot_ci}"  # fallback path
+
+# === Docker Command ===
+
+docker run --rm \
+  --shm-size "$SHM_SIZE" \
+  -v "$LOCAL_DIR":"$WORKDIR" \
+  -w "$WORKDIR" \
+  -e CI="$CI" \
+  -e PYTHONWARNINGS="$PYTHONWARNINGS" \
+  -e FILEREADER_CACHE="$FILEREADER_CACHE" \
+  -e PYTHONPATH="$PYTHONPATH" \
+  ${USE_GITHUB_ENV_VARS:+\
+  -e NUM_JOBS \
+  -e JOB_ID \
+  -e GITHUB_ACTION \
+  -e GITHUB_REF \
+  -e GITHUB_HEAD_REF \
+  -e GITHUB_SHA \
+  -e GITHUB_REPOSITORY \
+  -e GITHUB_RUN_ID \
+  -v "$GITHUB_WORKSPACE/.ci_cache/scons_cache":/tmp/scons_cache \
+  -v "$GITHUB_WORKSPACE/.ci_cache/comma_download_cache":/tmp/comma_download_cache \
+  -v "$GITHUB_WORKSPACE/.ci_cache/openpilot_cache":/tmp/openpilot_cache } \
+  "$BASE_IMAGE" /bin/bash -c "${1:-/bin/bash}"

selfdrive/assets/offroad/fcc.html

@@ -12,11 +12,10 @@
 
   <h5>Quectel/EG25-G</h5>
   <p>FCC ID: XMR201903EG25G</p>
-  <p>
-  This device complies with Part 15 of the FCC Rules.
-  Operation is subject to the following two conditions:
+  <p>This device complies with Part 15 of the FCC Rules.</p>
+  <p>Operation is subject to the following two conditions:</p>
 
-  <p>(1) this device may not cause harmful interference, and
+  <p>(1) this device may not cause harmful interference, and</p>
   <p>(2) this device must accept any interference received, including interference that may cause undesired operation.</p>
 
   The following test reports are subject to this declaration:

selfdrive/car/card.py

@@ -307,6 +307,7 @@ class Car:
 
       # sunnypilot
       self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl")
+      self.v_cruise_helper.read_custom_set_speed_params()
 
       time.sleep(0.1)
 

selfdrive/car/cruise.py

@@ -3,6 +3,7 @@ import numpy as np
 
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
+from openpilot.sunnypilot.selfdrive.car.cruise_ext import VCruiseHelperSP
 
 
 # WARNING: this value was determined based on the model's training distribution,
@@ -28,8 +29,9 @@ CRUISE_INTERVAL_SIGN = {
 }
 
 
-class VCruiseHelper:
+class VCruiseHelper(VCruiseHelperSP):
   def __init__(self, CP):
+    VCruiseHelperSP.__init__(self)
     self.CP = CP
     self.v_cruise_kph = V_CRUISE_UNSET
     self.v_cruise_cluster_kph = V_CRUISE_UNSET
@@ -99,7 +101,7 @@ class VCruiseHelper:
     if not self.button_change_states[button_type]["enabled"]:
       return
 
-    v_cruise_delta = v_cruise_delta * (5 if long_press else 1)
+    long_press, v_cruise_delta = VCruiseHelperSP.update_v_cruise_delta(self, long_press, v_cruise_delta)
     if long_press and self.v_cruise_kph % v_cruise_delta != 0:  # partial interval
       self.v_cruise_kph = CRUISE_NEAREST_FUNC[button_type](self.v_cruise_kph / v_cruise_delta) * v_cruise_delta
     else:

selfdrive/controls/controlsd.py

@@ -44,7 +44,7 @@ class Controls(ControlsExt):
 
     self.sm = messaging.SubMaster(['liveParameters', 'liveTorqueParameters', 'modelV2', 'selfdriveState',
                                    'liveCalibration', 'livePose', 'longitudinalPlan', 'carState', 'carOutput',
-                                   'driverMonitoringState', 'onroadEvents', 'driverAssistance'] + self.sm_services_ext,
+                                   'driverMonitoringState', 'onroadEvents', 'driverAssistance', 'liveDelay'] + self.sm_services_ext,
                                   poll='selfdriveState')
     self.pm = messaging.PubMaster(['carControl', 'controlsState'] + self.pm_services_ext)
 
@@ -93,6 +93,7 @@ class Controls(ControlsExt):
                                            torque_params.frictionCoefficientFiltered)
 
       self.LaC.extension.update_model_v2(self.sm['modelV2'])
+      self.LaC.extension.update_lateral_lag(self.sm['liveDelay'].lateralDelay)
 
     long_plan = self.sm['longitudinalPlan']
     model_v2 = self.sm['modelV2']

selfdrive/debug/format_fingerprints.py

@@ -1,81 +0,0 @@
-#!/usr/bin/env python3
-import jinja2
-import os
-
-from cereal import car
-from openpilot.common.basedir import BASEDIR
-from opendbc.car.interfaces import get_interface_attr
-
-Ecu = car.CarParams.Ecu
-
-CARS = get_interface_attr('CAR')
-FW_VERSIONS = get_interface_attr('FW_VERSIONS')
-FINGERPRINTS = get_interface_attr('FINGERPRINTS')
-ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
-
-FINGERPRINTS_PY_TEMPLATE = jinja2.Template("""
-{%- if FINGERPRINTS[brand] %}
-# ruff: noqa: E501
-{% endif %}
-{% if FW_VERSIONS[brand] %}
-from opendbc.car.structs import CarParams
-{% endif %}
-from opendbc.car.{{brand}}.values import CAR
-{% if FW_VERSIONS[brand] %}
-
-Ecu = CarParams.Ecu
-{% endif %}
-{% if comments +%}
-{{ comments | join() }}
-{% endif %}
-{% if FINGERPRINTS[brand] %}
-
-FINGERPRINTS = {
-{% for car, fingerprints in FINGERPRINTS[brand].items() %}
-  CAR.{{car.name}}: [{
-{% for fingerprint in fingerprints %}
-{% if not loop.first %}
-  {{ "{" }}
-{% endif %}
-    {% for key, value in fingerprint.items() %}{{key}}: {{value}}{% if not loop.last %}, {% endif %}{% endfor %}
-
-  }{% if loop.last %}]{% endif %},
-{% endfor %}
-{% endfor %}
-}
-{% endif %}
-
-FW_VERSIONS{% if not FW_VERSIONS[brand] %}: dict[str, dict[tuple, list[bytes]]]{% endif %} = {
-{% for car, _ in FW_VERSIONS[brand].items() %}
-  CAR.{{car.name}}: {
-{% for key, fw_versions in FW_VERSIONS[brand][car].items() %}
-    (Ecu.{{ECU_NAME[key[0]]}}, 0x{{"%0x" | format(key[1] | int)}}, \
-{% if key[2] %}0x{{"%0x" | format(key[2] | int)}}{% else %}{{key[2]}}{% endif %}): [
-  {% for fw_version in (fw_versions + extra_fw_versions.get(car, {}).get(key, [])) | unique | sort %}
-    {{fw_version}},
-  {% endfor %}
-  ],
-{% endfor %}
-  },
-{% endfor %}
-}
-
-""", trim_blocks=True)
-
-
-def format_brand_fw_versions(brand, extra_fw_versions: None | dict[str, dict[tuple, list[bytes]]] = None):
-  extra_fw_versions = extra_fw_versions or {}
-
-  fingerprints_file = os.path.join(BASEDIR, f"opendbc/car/{brand}/fingerprints.py")
-  with open(fingerprints_file) as f:
-    comments = [line for line in f.readlines() if line.startswith("#") and "noqa" not in line]
-
-  with open(fingerprints_file, "w") as f:
-    f.write(FINGERPRINTS_PY_TEMPLATE.render(brand=brand, comments=comments, ECU_NAME=ECU_NAME,
-                                            FINGERPRINTS=FINGERPRINTS, FW_VERSIONS=FW_VERSIONS,
-                                            extra_fw_versions=extra_fw_versions))
-
-
-if __name__ == "__main__":
-  for brand in FW_VERSIONS.keys():
-    format_brand_fw_versions(brand)

selfdrive/locationd/calibrationd.py

@@ -13,6 +13,7 @@ from typing import NoReturn
 
 from cereal import log, car
 import cereal.messaging as messaging
+from openpilot.system.hardware import HARDWARE
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process
@@ -36,8 +37,11 @@ RPY_INIT = np.array([0.0,0.0,0.0])
 WIDE_FROM_DEVICE_EULER_INIT = np.array([0.0, 0.0, 0.0])
 HEIGHT_INIT = np.array([1.22])
 
-# These values are needed to accommodate the model frame in the narrow cam of the C3
-PITCH_LIMITS = np.array([-0.09074112085129739, 0.17])
+# These values are needed to accommodate the model frame in the narrow cam
+if HARDWARE.get_device_type() == 'mici':
+  PITCH_LIMITS = np.array([-0.143101, 0.22235988])
+else:
+  PITCH_LIMITS = np.array([-0.09074112085129739, 0.17])
 YAW_LIMITS = np.array([-0.06912048084718224, 0.06912048084718235])
 DEBUG = os.getenv("DEBUG") is not None
 

selfdrive/locationd/helpers.py

@@ -82,6 +82,12 @@ class PointBuckets:
     total_points_valid = self.__len__() >= self.min_points_total
     return individual_buckets_valid and total_points_valid
 
+  def get_valid_percent(self) -> int:
+    total_points_perc = min(self.__len__() / self.min_points_total * 100, 100)
+    individual_buckets_perc = min(min(len(v) / min_pts * 100 for v, min_pts in
+                                      zip(self.buckets.values(), self.buckets_min_points.values(), strict=True)), 100)
+    return int((total_points_perc + individual_buckets_perc) / 2)
+
   def is_calculable(self) -> bool:
     return all(len(v) > 0 for v in self.buckets.values())
 

selfdrive/locationd/lagd.py

@@ -229,6 +229,8 @@ class LateralLagEstimator:
       liveDelay.lateralDelayEstimateStd = 0.0
 
     liveDelay.validBlocks = self.block_avg.valid_blocks
+    liveDelay.calPerc = min(100 * (self.block_avg.valid_blocks * self.block_size + self.block_avg.idx) //
+                            (self.min_valid_block_count * self.block_size), 100)
     if debug:
       liveDelay.points = self.block_avg.values.flatten().tolist()
 

selfdrive/locationd/test/test_lagd.py

@@ -94,6 +94,7 @@ class TestLagd:
     assert np.allclose(msg.liveDelay.lateralDelay, estimator.initial_lag)
     assert np.allclose(msg.liveDelay.lateralDelayEstimate, estimator.initial_lag)
     assert msg.liveDelay.validBlocks == 0
+    assert msg.liveDelay.calPerc == 0
 
   def test_estimator_basics(self, subtests):
     for lag_frames in range(5):
@@ -107,6 +108,7 @@ class TestLagd:
         assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01)
         assert np.allclose(msg.liveDelay.lateralDelayEstimateStd, 0.0, atol=0.01)
         assert msg.liveDelay.validBlocks == BLOCK_NUM_NEEDED
+        assert msg.liveDelay.calPerc == 100
 
   def test_disabled_estimator(self):
     mocked_CP = car.CarParams(steerActuatorDelay=0.8)
@@ -119,6 +121,7 @@ class TestLagd:
     assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01)
     assert np.allclose(msg.liveDelay.lateralDelayEstimateStd, 0.0, atol=0.01)
     assert msg.liveDelay.validBlocks == BLOCK_NUM_NEEDED
+    assert msg.liveDelay.calPerc == 100
 
   def test_estimator_masking(self):
     mocked_CP, lag_frames = car.CarParams(steerActuatorDelay=0.8), random.randint(1, 19)
@@ -127,6 +130,7 @@ class TestLagd:
     msg = estimator.get_msg(True)
     assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01)
     assert np.allclose(msg.liveDelay.lateralDelayEstimateStd, 0.0, atol=0.01)
+    assert msg.liveDelay.calPerc == 100
 
   @pytest.mark.skipif(PC, reason="only on device")
   @pytest.mark.timeout(60)

selfdrive/locationd/test/test_torqued.py

@@ -0,0 +1,25 @@
+from cereal import car
+from openpilot.selfdrive.locationd.torqued import TorqueEstimator
+
+
+def test_cal_percent():
+  est = TorqueEstimator(car.CarParams())
+  msg = est.get_msg()
+  assert msg.liveTorqueParameters.calPerc == 0
+
+  for (low, high), min_pts in zip(est.filtered_points.buckets.keys(),
+                                  est.filtered_points.buckets_min_points.values(), strict=True):
+    for _ in range(int(min_pts)):
+      est.filtered_points.add_point((low + high) / 2.0, 0.0)
+
+  # enough bucket points, but not enough total points
+  msg = est.get_msg()
+  assert msg.liveTorqueParameters.calPerc == (len(est.filtered_points) / est.min_points_total * 100 + 100) / 2
+
+  # add enough points to bucket with most capacity
+  key = list(est.filtered_points.buckets)[0]
+  for _ in range(est.min_points_total - len(est.filtered_points)):
+    est.filtered_points.add_point((key[0] + key[1]) / 2.0, 0.0)
+
+  msg = est.get_msg()
+  assert msg.liveTorqueParameters.calPerc == 100

selfdrive/locationd/torqued.py

@@ -233,6 +233,7 @@ class TorqueEstimator(ParameterEstimator):
     liveTorqueParameters.latAccelOffsetFiltered = float(self.filtered_params['latAccelOffset'].x)
     liveTorqueParameters.frictionCoefficientFiltered = float(self.filtered_params['frictionCoefficient'].x)
     liveTorqueParameters.totalBucketPoints = len(self.filtered_points)
+    liveTorqueParameters.calPerc = self.filtered_points.get_valid_percent()
     liveTorqueParameters.decay = self.decay
     liveTorqueParameters.maxResets = self.resets
     return msg

selfdrive/modeld/SConscript

@@ -60,7 +60,7 @@ import subprocess
 from tinygrad import Device
 
 # because tg doesn't support multi-process
-devs = subprocess.check_output('python3 -c "from tinygrad import Device; print(list(Device.get_available_devices()))"', shell=True)
+devs = subprocess.check_output('python3 -c "from tinygrad import Device; print(list(Device.get_available_devices()))"', shell=True, cwd=env.Dir('#').abspath)
 if b"AMD" in devs:
   del Device
   print("USB GPU detected... building")

selfdrive/modeld/modeld.py

@@ -86,10 +86,20 @@ class ModelState:
   prev_desire: np.ndarray  # for tracking the rising edge of the pulse
 
   def __init__(self, context: CLContext):
-    self.frames = {
-      'input_imgs': DrivingModelFrame(context, ModelConstants.TEMPORAL_SKIP),
-      'big_input_imgs': DrivingModelFrame(context, ModelConstants.TEMPORAL_SKIP)
-    }
+    with open(VISION_METADATA_PATH, 'rb') as f:
+      vision_metadata = pickle.load(f)
+      self.vision_input_shapes =  vision_metadata['input_shapes']
+      self.vision_input_names = list(self.vision_input_shapes.keys())
+      self.vision_output_slices = vision_metadata['output_slices']
+      vision_output_size = vision_metadata['output_shapes']['outputs'][1]
+
+    with open(POLICY_METADATA_PATH, 'rb') as f:
+      policy_metadata = pickle.load(f)
+      self.policy_input_shapes =  policy_metadata['input_shapes']
+      self.policy_output_slices = policy_metadata['output_slices']
+      policy_output_size = policy_metadata['output_shapes']['outputs'][1]
+
+    self.frames = {name: DrivingModelFrame(context, ModelConstants.TEMPORAL_SKIP) for name in self.vision_input_names}
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
 
     self.full_features_buffer = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32)
@@ -106,18 +116,6 @@ class ModelState:
       'features_buffer': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32),
     }
 
-    with open(VISION_METADATA_PATH, 'rb') as f:
-      vision_metadata = pickle.load(f)
-      self.vision_input_shapes =  vision_metadata['input_shapes']
-      self.vision_output_slices = vision_metadata['output_slices']
-      vision_output_size = vision_metadata['output_shapes']['outputs'][1]
-
-    with open(POLICY_METADATA_PATH, 'rb') as f:
-      policy_metadata = pickle.load(f)
-      self.policy_input_shapes =  policy_metadata['input_shapes']
-      self.policy_output_slices = policy_metadata['output_slices']
-      policy_output_size = policy_metadata['output_shapes']['outputs'][1]
-
     # img buffers are managed in openCL transform code
     self.vision_inputs: dict[str, Tensor] = {}
     self.vision_output = np.zeros(vision_output_size, dtype=np.float32)
@@ -135,7 +133,7 @@ class ModelState:
     parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()}
     return parsed_model_outputs
 
-  def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray,
+  def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
                 inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
     # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
     inputs['desire'][0] = 0
@@ -148,8 +146,7 @@ class ModelState:
 
     self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
     self.numpy_inputs['lateral_control_params'][:] = inputs['lateral_control_params']
-    imgs_cl = {'input_imgs': self.frames['input_imgs'].prepare(buf, transform.flatten()),
-               'big_input_imgs': self.frames['big_input_imgs'].prepare(wbuf, transform_wide.flatten())}
+    imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.vision_input_names}
 
     if TICI and not USBGPU:
       # The imgs tensors are backed by opencl memory, only need init once
@@ -328,14 +325,16 @@ def main(demo=False):
     if prepare_only:
       cloudlog.error(f"skipping model eval. Dropped {vipc_dropped_frames} frames")
 
+    bufs = {name: buf_extra if 'big' in name else buf_main for name in model.vision_input_names}
+    transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.vision_input_names}
     inputs:dict[str, np.ndarray] = {
       'desire': vec_desire,
       'traffic_convention': traffic_convention,
       'lateral_control_params': lateral_control_params,
-      }
+    }
 
     mt1 = time.perf_counter()
-    model_output = model.run(buf_main, buf_extra, model_transform_main, model_transform_extra, inputs, prepare_only)
+    model_output = model.run(bufs, transforms, inputs, prepare_only)
     mt2 = time.perf_counter()
     model_execution_time = mt2 - mt1
 

selfdrive/selfdrived/events.py

@@ -585,11 +585,6 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   },
 
   EventName.noGps: {
-    ET.PERMANENT: Alert(
-      "Poor GPS reception",
-      "Ensure device has a clear view of the sky",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=600.)
   },
 
   EventName.tooDistracted: {

selfdrive/selfdrived/selfdrived.py

@@ -382,16 +382,16 @@ class SelfdriveD(CruiseHelper):
     if (planner_fcw or model_fcw) and not self.CP.notCar:
       self.events.add(EventName.fcw)
 
+    # GPS checks
+    gps_ok = self.sm.recv_frame[self.gps_location_service] > 0 and (self.sm.frame - self.sm.recv_frame[self.gps_location_service]) * DT_CTRL < 2.0
+    if not gps_ok and self.sm['livePose'].inputsOK and (self.distance_traveled > 1500):
+      self.events.add(EventName.noGps)
+    if gps_ok:
+      self.distance_traveled = 0
+    self.distance_traveled += abs(CS.vEgo) * DT_CTRL
+
     # TODO: fix simulator
     if not SIMULATION or REPLAY:
-      # Not show in first 1.5 km to allow for driving out of garage. This event shows after 5 minutes
-      gps_ok = self.sm.recv_frame[self.gps_location_service] > 0 and (self.sm.frame - self.sm.recv_frame[self.gps_location_service]) * DT_CTRL < 2.0
-      if not gps_ok and self.sm['livePose'].inputsOK and (self.distance_traveled > 1500):
-        self.events.add(EventName.noGps)
-      if gps_ok:
-        self.distance_traveled = 0
-      self.distance_traveled += abs(CS.vEgo) * DT_CTRL
-
       if self.sm['modelV2'].frameDropPerc > 20:
         self.events.add(EventName.modeldLagging)
 

selfdrive/test/ci_shell.sh

@@ -1,20 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-OP_ROOT="$DIR/../../"
-
-if [ -z "$BUILD" ]; then
-  docker pull ghcr.io/commaai/openpilot-base:latest
-else
-  docker build --cache-from ghcr.io/commaai/openpilot-base:latest -t ghcr.io/commaai/openpilot-base:latest -f $OP_ROOT/Dockerfile.openpilot_base .
-fi
-
-docker run \
-       -it \
-       --rm \
-       --volume $OP_ROOT:$OP_ROOT \
-       --workdir $PWD \
-       --env PYTHONPATH=$OP_ROOT \
-       ghcr.io/commaai/openpilot-base:latest \
-       /bin/bash

selfdrive/test/process_replay/model_replay.py

@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 import os
+import pickle
 import sys
 from collections import defaultdict
 from typing import Any
@@ -189,22 +190,44 @@ def model_replay(lr, frs):
   print("----------------- Model Timing -----------------")
   print("------------------------------------------------")
   print(tabulate(rows, header, tablefmt="simple_grid", stralign="center", numalign="center", floatfmt=".4f"))
-  assert timings_ok
+  assert timings_ok or PC
 
   return msgs
 
 
+def get_frames():
+  regen_cache = "--regen-cache" in sys.argv
+  frames_cache = '/tmp/model_replay_cache' if PC else '/data/model_replay_cache'
+  os.makedirs(frames_cache, exist_ok=True)
+
+  cache_name = f'{frames_cache}/{TEST_ROUTE}_{SEGMENT}_{START_FRAME}_{END_FRAME}.pkl'
+  if os.path.isfile(cache_name) and not regen_cache:
+    try:
+      print(f"Loading frames from cache {cache_name}")
+      return pickle.load(open(cache_name, "rb"))
+    except Exception as e:
+      print(f"Failed to load frames from cache {cache_name}: {e}")
+
+  frs = {
+    'roadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "fcamera.hevc"), pix_fmt='nv12', cache_size=END_FRAME - START_FRAME),
+    'driverCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "dcamera.hevc"), pix_fmt='nv12', cache_size=END_FRAME - START_FRAME),
+    'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "ecamera.hevc"), pix_fmt='nv12', cache_size=END_FRAME - START_FRAME),
+  }
+  for fr in frs.values():
+    for fidx in range(START_FRAME, END_FRAME):
+      fr.get(fidx)
+    fr.it = None
+  print(f"Dumping frame cache {cache_name}")
+  pickle.dump(frs, open(cache_name, "wb"))
+  return frs
+
 if __name__ == "__main__":
   update = "--update" in sys.argv or (os.getenv("GIT_BRANCH", "") == 'master')
   replay_dir = os.path.dirname(os.path.abspath(__file__))
 
   # load logs
   lr = list(LogReader(get_url(TEST_ROUTE, SEGMENT, "rlog.zst")))
-  frs = {
-    'roadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "fcamera.hevc"), readahead=True),
-    'driverCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "dcamera.hevc"), readahead=True),
-    'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "ecamera.hevc"), readahead=True)
-  }
+  frs = get_frames()
 
   log_msgs = []
   # run replays

selfdrive/test/process_replay/process_replay.py

@@ -27,7 +27,7 @@ from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera
 from openpilot.selfdrive.test.process_replay.migration import migrate_all
 from openpilot.selfdrive.test.process_replay.capture import ProcessOutputCapture
 from openpilot.tools.lib.logreader import LogIterable
-from openpilot.tools.lib.framereader import BaseFrameReader
+from openpilot.tools.lib.framereader import FrameReader
 
 # Numpy gives different results based on CPU features after version 19
 NUMPY_TOLERANCE = 1e-7
@@ -209,6 +209,7 @@ class ProcessContainer:
     streams_metas = available_streams(all_msgs)
     for meta in streams_metas:
       if meta.camera_state in self.cfg.vision_pubs:
+        assert frs[meta.camera_state].pix_fmt == 'nv12'
         frame_size = (frs[meta.camera_state].w, frs[meta.camera_state].h)
         vipc_server.create_buffers(meta.stream, 2, *frame_size)
     vipc_server.start_listener()
@@ -224,7 +225,7 @@ class ProcessContainer:
 
   def start(
     self, params_config: dict[str, Any], environ_config: dict[str, Any],
-    all_msgs: LogIterable, frs: dict[str, BaseFrameReader] | None,
+    all_msgs: LogIterable, frs: dict[str, FrameReader] | None,
     fingerprint: str | None, capture_output: bool
   ):
     with self.prefix as p:
@@ -266,7 +267,7 @@ class ProcessContainer:
       self.prefix.clean_dirs()
       self._clean_env()
 
-  def run_step(self, msg: capnp._DynamicStructReader, frs: dict[str, BaseFrameReader] | None) -> list[capnp._DynamicStructReader]:
+  def run_step(self, msg: capnp._DynamicStructReader, frs: dict[str, FrameReader] | None) -> list[capnp._DynamicStructReader]:
     assert self.rc and self.pm and self.sockets and self.process.proc
 
     output_msgs = []
@@ -296,7 +297,7 @@ class ProcessContainer:
             camera_state = getattr(m, m.which())
             camera_meta = meta_from_camera_state(m.which())
             assert frs is not None
-            img = frs[m.which()].get(camera_state.frameId, pix_fmt="nv12")[0]
+            img = frs[m.which()].get(camera_state.frameId)
             self.vipc_server.send(camera_meta.stream, img.flatten().tobytes(),
                                   camera_state.frameId, camera_state.timestampSof, camera_state.timestampEof)
         self.msg_queue = []
@@ -655,7 +656,7 @@ def replay_process_with_name(name: str | Iterable[str], lr: LogIterable, *args,
 
 
 def replay_process(
-  cfg: ProcessConfig | Iterable[ProcessConfig], lr: LogIterable, frs: dict[str, BaseFrameReader] = None,
+  cfg: ProcessConfig | Iterable[ProcessConfig], lr: LogIterable, frs: dict[str, FrameReader] = None,
   fingerprint: str = None, return_all_logs: bool = False, custom_params: dict[str, Any] = None,
   captured_output_store: dict[str, dict[str, str]] = None, disable_progress: bool = False
 ) -> list[capnp._DynamicStructReader]:
@@ -683,7 +684,7 @@ def replay_process(
 
 
 def _replay_multi_process(
-  cfgs: list[ProcessConfig], lr: LogIterable, frs: dict[str, BaseFrameReader] | None, fingerprint: str | None,
+  cfgs: list[ProcessConfig], lr: LogIterable, frs: dict[str, FrameReader] | None, fingerprint: str | None,
   custom_params: dict[str, Any] | None, captured_output_store: dict[str, dict[str, str]] | None, disable_progress: bool
 ) -> list[capnp._DynamicStructReader]:
   if fingerprint is not None:

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-9e2fe2942fbf77f24bccdbef15893831f9c0b390
+f440c9e0469d32d350aa99ddaa8f44591a2ce690

selfdrive/test/process_replay/regen.py

@@ -3,40 +3,17 @@ import os
 import argparse
 import time
 import capnp
-import numpy as np
 
 from typing import Any
 from collections.abc import Iterable
 
 from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, ProcessConfig, replay_process, get_process_config, \
                                                                    check_openpilot_enabled, check_most_messages_valid, get_custom_params_from_lr
-from openpilot.selfdrive.test.process_replay.vision_meta import DRIVER_CAMERA_FRAME_SIZES
 from openpilot.selfdrive.test.update_ci_routes import upload_route
-from openpilot.tools.lib.framereader import FrameReader, BaseFrameReader, FrameType
+from openpilot.tools.lib.framereader import FrameReader
 from openpilot.tools.lib.logreader import LogReader, LogIterable, save_log
 from openpilot.tools.lib.openpilotci import get_url
 
-class DummyFrameReader(BaseFrameReader):
-  def __init__(self, w: int, h: int, frame_count: int, pix_val: int):
-    self.pix_val = pix_val
-    self.w, self.h = w, h
-    self.frame_count = frame_count
-    self.frame_type = FrameType.raw
-
-  def get(self, idx, count=1, pix_fmt="rgb24"):
-    if pix_fmt == "rgb24":
-      shape = (self.h, self.w, 3)
-    elif pix_fmt == "nv12" or pix_fmt == "yuv420p":
-      shape = (int((self.h * self.w) * 3 / 2),)
-    else:
-      raise NotImplementedError
-
-    return [np.full(shape, self.pix_val, dtype=np.uint8) for _ in range(count)]
-
-  @staticmethod
-  def zero_dcamera():
-    return DummyFrameReader(*DRIVER_CAMERA_FRAME_SIZES[("tici", "ar0231")], 1200, 0)
-
 
 def regen_segment(
   lr: LogIterable, frs: dict[str, Any] = None,
@@ -64,7 +41,7 @@ def setup_data_readers(
       frs['wideRoadCameraState'] = FrameReader(get_url(route, str(sidx), "ecamera.hevc"))
   if needs_driver_cam:
     if dummy_driver_cam:
-      frs['driverCameraState'] = DummyFrameReader.zero_dcamera()
+      frs['driverCameraState'] = FrameReader(get_url(route, str(sidx), "fcamera.hevc")) # Use fcam as dummy
     else:
       device_type = next(str(msg.initData.deviceType) for msg in lr if msg.which() == "initData")
       assert device_type != "neo", "Driver camera not supported on neo segments. Use dummy dcamera."

selfdrive/test/process_replay/test_processes.py

@@ -19,7 +19,6 @@ from openpilot.tools.lib.logreader import LogReader, save_log
 IS_AZURE_TOKEN_DEFINED = os.getenv("AZURE_TOKEN")
 
 source_segments = [
-  ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"),        # COMMA.COMMA_BODY
   ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"),     # HYUNDAI.HYUNDAI_SONATA
   ("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"),    # HYUNDAI.HYUNDAI_KIA_EV6 (+ QCOM GPS)
   ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"),     # TOYOTA.TOYOTA_PRIUS
@@ -44,7 +43,6 @@ source_segments = [
 ]
 
 segments = [
-  ("BODY", "regen2F3C7259F1B|2025-04-08--23-00-23--0"),
   ("HYUNDAI", "regenAA0FC4ED71E|2025-04-08--22-57-50--0"),
   ("HYUNDAI2", "regenAFB9780D823|2025-04-08--23-00-34--0"),
   ("TOYOTA", "regen218A4DCFAA1|2025-04-08--22-57-51--0"),
@@ -65,7 +63,7 @@ segments = [
 ]
 
 # dashcamOnly makes don't need to be tested until a full port is done
-excluded_interfaces = ["mock", "tesla"]
+excluded_interfaces = ["mock", "body"]
 
 BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
 REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
@@ -253,7 +251,7 @@ if __name__ == "__main__":
           continue
 
         # to speed things up, we only test all segments on card
-        if cfg.proc_name != 'card' and car_brand not in ('HYUNDAI', 'TOYOTA', 'HONDA', 'SUBARU', 'FORD', 'RIVIAN', 'TESLA'):
+        if cfg.proc_name not in ('card', 'controlsd', 'lagd') and car_brand not in ('HYUNDAI', 'TOYOTA'):
           continue
 
         cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.zst")

selfdrive/test/process_replay/test_regen.py

@@ -1,6 +1,6 @@
 from parameterized import parameterized
 
-from openpilot.selfdrive.test.process_replay.regen import regen_segment, DummyFrameReader
+from openpilot.selfdrive.test.process_replay.regen import regen_segment
 from openpilot.selfdrive.test.process_replay.process_replay import check_openpilot_enabled
 from openpilot.tools.lib.openpilotci import get_url
 from openpilot.tools.lib.logreader import LogReader
@@ -18,7 +18,7 @@ def ci_setup_data_readers(route, sidx):
   lr = LogReader(get_url(route, sidx, "rlog.bz2"))
   frs = {
     'roadCameraState': FrameReader(get_url(route, sidx, "fcamera.hevc")),
-    'driverCameraState': DummyFrameReader.zero_dcamera()
+    'driverCameraState': FrameReader(get_url(route, sidx, "fcamera.hevc")),
   }
   if next((True for m in lr if m.which() == "wideRoadCameraState"), False):
     frs["wideRoadCameraState"] = FrameReader(get_url(route, sidx, "ecamera.hevc"))

selfdrive/ui/SConscript

@@ -112,7 +112,7 @@ if GetOption('extras'):
       obj = raylib_env.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d)
       f = raylib_env.Program(f"installer/installers/installer_{name}", [obj, cont, inter], LIBS=raylib_libs)
       # keep installers small
-      assert f[0].get_size() < 1300*1e3, f[0].get_size()
+      assert f[0].get_size() < 1900*1e3, f[0].get_size()
 
 # build watch3
 if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'):

selfdrive/ui/layouts/home.py

@@ -4,10 +4,12 @@ from collections.abc import Callable
 from enum import IntEnum
 from openpilot.common.params import Params
 from openpilot.selfdrive.ui.widgets.offroad_alerts import UpdateAlert, OffroadAlert
+from openpilot.selfdrive.ui.widgets.exp_mode_button import ExperimentalModeButton
+from openpilot.selfdrive.ui.widgets.prime import PrimeWidget
+from openpilot.selfdrive.ui.widgets.setup import SetupWidget
 from openpilot.system.ui.lib.text_measure import measure_text_cached
-from openpilot.system.ui.lib.label import gui_label
 from openpilot.system.ui.lib.application import gui_app, FontWeight, DEFAULT_TEXT_COLOR
-
+from openpilot.system.ui.lib.widget import Widget
 
 HEADER_HEIGHT = 80
 HEAD_BUTTON_FONT_SIZE = 40
@@ -25,8 +27,9 @@ class HomeLayoutState(IntEnum):
   ALERTS = 2
 
 
-class HomeLayout:
+class HomeLayout(Widget):
   def __init__(self):
+    super().__init__()
     self.params = Params()
 
     self.update_alert = UpdateAlert()
@@ -47,6 +50,10 @@ class HomeLayout:
     self.update_notif_rect = rl.Rectangle(0, 0, 200, HEADER_HEIGHT - 10)
     self.alert_notif_rect = rl.Rectangle(0, 0, 220, HEADER_HEIGHT - 10)
 
+    self._prime_widget = PrimeWidget()
+    self._setup_widget = SetupWidget()
+
+    self._exp_mode_button = ExperimentalModeButton()
     self._setup_callbacks()
 
   def _setup_callbacks(self):
@@ -59,9 +66,7 @@ class HomeLayout:
   def _set_state(self, state: HomeLayoutState):
     self.current_state = state
 
-  def render(self, rect: rl.Rectangle):
-    self._update_layout_rects(rect)
-
+  def _render(self, rect: rl.Rectangle):
     current_time = time.time()
     if current_time - self.last_refresh >= REFRESH_INTERVAL:
       self._refresh()
@@ -78,16 +83,16 @@ class HomeLayout:
     elif self.current_state == HomeLayoutState.ALERTS:
       self._render_alerts_view()
 
-  def _update_layout_rects(self, rect: rl.Rectangle):
+  def _update_layout_rects(self):
     self.header_rect = rl.Rectangle(
-      rect.x + CONTENT_MARGIN, rect.y + CONTENT_MARGIN, rect.width - 2 * CONTENT_MARGIN, HEADER_HEIGHT
+      self._rect.x + CONTENT_MARGIN, self._rect.y + CONTENT_MARGIN, self._rect.width - 2 * CONTENT_MARGIN, HEADER_HEIGHT
     )
 
-    content_y = rect.y + CONTENT_MARGIN + HEADER_HEIGHT + SPACING
-    content_height = rect.height - CONTENT_MARGIN - HEADER_HEIGHT - SPACING - CONTENT_MARGIN
+    content_y = self._rect.y + CONTENT_MARGIN + HEADER_HEIGHT + SPACING
+    content_height = self._rect.height - CONTENT_MARGIN - HEADER_HEIGHT - SPACING - CONTENT_MARGIN
 
     self.content_rect = rl.Rectangle(
-      rect.x + CONTENT_MARGIN, content_y, rect.width - 2 * CONTENT_MARGIN, content_height
+      self._rect.x + CONTENT_MARGIN, content_y, self._rect.width - 2 * CONTENT_MARGIN, content_height
     )
 
     left_width = self.content_rect.width - RIGHT_COLUMN_WIDTH - SPACING
@@ -170,28 +175,25 @@ class HomeLayout:
     self.offroad_alert.render(self.content_rect)
 
   def _render_left_column(self):
-    rl.draw_rectangle_rounded(self.left_column_rect, 0.02, 10, PRIME_BG_COLOR)
-    gui_label(self.left_column_rect, "Prime Widget", 48, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
+    self._prime_widget.render(self.left_column_rect)
 
   def _render_right_column(self):
-    widget_height = (self.right_column_rect.height - SPACING) // 2
-
+    exp_height = 125
     exp_rect = rl.Rectangle(
-      self.right_column_rect.x, self.right_column_rect.y, self.right_column_rect.width, widget_height
+      self.right_column_rect.x, self.right_column_rect.y, self.right_column_rect.width, exp_height
     )
-    rl.draw_rectangle_rounded(exp_rect, 0.02, 10, PRIME_BG_COLOR)
-    gui_label(exp_rect, "Experimental Mode", 36, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
+    self._exp_mode_button.render(exp_rect)
 
     setup_rect = rl.Rectangle(
       self.right_column_rect.x,
-      self.right_column_rect.y + widget_height + SPACING,
+      self.right_column_rect.y + exp_height + SPACING,
       self.right_column_rect.width,
-      widget_height,
+      self.right_column_rect.height - exp_height - SPACING,
     )
-    rl.draw_rectangle_rounded(setup_rect, 0.02, 10, PRIME_BG_COLOR)
-    gui_label(setup_rect, "Setup", 36, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
+    self._setup_widget.render(setup_rect)
 
   def _refresh(self):
+    # TODO: implement _update_state with a timer
     self.update_available = self.update_alert.refresh()
     self.alert_count = self.offroad_alert.refresh()
     self._update_state_priority(self.update_available, self.alert_count > 0)

selfdrive/ui/layouts/main.py

@@ -1,10 +1,12 @@
 import pyray as rl
 from enum import IntEnum
+import cereal.messaging as messaging
 from openpilot.selfdrive.ui.layouts.sidebar import Sidebar, SIDEBAR_WIDTH
 from openpilot.selfdrive.ui.layouts.home import HomeLayout
-from openpilot.selfdrive.ui.layouts.settings.settings import SettingsLayout
-from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.layouts.settings.settings import SettingsLayout, PanelType
+from openpilot.selfdrive.ui.ui_state import device, ui_state
 from openpilot.selfdrive.ui.onroad.augmented_road_view import AugmentedRoadView
+from openpilot.system.ui.lib.widget import Widget
 
 
 class MainState(IntEnum):
@@ -13,14 +15,15 @@ class MainState(IntEnum):
   ONROAD = 2
 
 
-class MainLayout:
+class MainLayout(Widget):
   def __init__(self):
+    super().__init__()
+
+    self._pm = messaging.PubMaster(['userFlag'])
+
     self._sidebar = Sidebar()
-    self._sidebar_visible = True
     self._current_mode = MainState.HOME
     self._prev_onroad = False
-    self._window_rect = None
-    self._current_callback: callable | None = None
 
     # Initialize layouts
     self._layouts = {MainState.HOME: HomeLayout(), MainState.SETTINGS: SettingsLayout(), MainState.ONROAD: AugmentedRoadView()}
@@ -31,32 +34,23 @@ class MainLayout:
     # Set callbacks
     self._setup_callbacks()
 
-  def render(self, rect):
-    self._current_callback = None
-
-    self._update_layout_rects(rect)
+  def _render(self, _):
     self._handle_onroad_transition()
     self._render_main_content()
-    self._handle_input()
-
-    if self._current_callback:
-      self._current_callback()
 
   def _setup_callbacks(self):
-    self._sidebar.set_callbacks(
-      on_settings=lambda: setattr(self, '_current_callback', self._on_settings_clicked),
-      on_flag=lambda: setattr(self, '_current_callback', self._on_flag_clicked),
-    )
-    self._layouts[MainState.SETTINGS].set_callbacks(
-      on_close=lambda: setattr(self, '_current_callback', self._set_mode_for_state)
-    )
+    self._sidebar.set_callbacks(on_settings=self._on_settings_clicked,
+                                on_flag=self._on_flag_clicked)
+    self._layouts[MainState.HOME]._setup_widget.set_open_settings_callback(lambda: self.open_settings(PanelType.FIREHOSE))
+    self._layouts[MainState.SETTINGS].set_callbacks(on_close=self._set_mode_for_state)
+    self._layouts[MainState.ONROAD].set_callbacks(on_click=self._on_onroad_clicked)
+    device.add_interactive_timeout_callback(self._set_mode_for_state)
 
-  def _update_layout_rects(self, rect):
-    self._window_rect = rect
-    self._sidebar_rect = rl.Rectangle(rect.x, rect.y, SIDEBAR_WIDTH, rect.height)
+  def _update_layout_rects(self):
+    self._sidebar_rect = rl.Rectangle(self._rect.x, self._rect.y, SIDEBAR_WIDTH, self._rect.height)
 
-    x_offset = SIDEBAR_WIDTH if self._sidebar_visible else 0
-    self._content_rect = rl.Rectangle(rect.y + x_offset, rect.y, rect.width - x_offset, rect.height)
+    x_offset = SIDEBAR_WIDTH if self._sidebar.is_visible else 0
+    self._content_rect = rl.Rectangle(self._rect.y + x_offset, self._rect.y, self._rect.width - x_offset, self._rect.height)
 
   def _handle_onroad_transition(self):
     if ui_state.started != self._prev_onroad:
@@ -66,31 +60,34 @@ class MainLayout:
 
   def _set_mode_for_state(self):
     if ui_state.started:
+      # Don't hide sidebar from interactive timeout
+      if self._current_mode != MainState.ONROAD:
+        self._sidebar.set_visible(False)
       self._current_mode = MainState.ONROAD
-      self._sidebar_visible = False
     else:
       self._current_mode = MainState.HOME
-      self._sidebar_visible = True
+      self._sidebar.set_visible(True)
+
+  def open_settings(self, panel_type: PanelType):
+    self._layouts[MainState.SETTINGS].set_current_panel(panel_type)
+    self._current_mode = MainState.SETTINGS
+    self._sidebar.set_visible(False)
 
   def _on_settings_clicked(self):
-    self._current_mode = MainState.SETTINGS
-    self._sidebar_visible = False
+    self.open_settings(PanelType.DEVICE)
 
   def _on_flag_clicked(self):
-    pass
+    user_flag = messaging.new_message('userFlag')
+    user_flag.valid = True
+    self._pm.send('userFlag', user_flag)
+
+  def _on_onroad_clicked(self):
+    self._sidebar.set_visible(not self._sidebar.is_visible)
 
   def _render_main_content(self):
     # Render sidebar
-    if self._sidebar_visible:
+    if self._sidebar.is_visible:
       self._sidebar.render(self._sidebar_rect)
 
-    content_rect = self._content_rect if self._sidebar_visible else self._window_rect
+    content_rect = self._content_rect if self._sidebar.is_visible else self._rect
     self._layouts[self._current_mode].render(content_rect)
-
-  def _handle_input(self):
-    if self._current_mode != MainState.ONROAD or not rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT):
-      return
-
-    mouse_pos = rl.get_mouse_position()
-    if rl.check_collision_point_rec(mouse_pos, self._content_rect):
-      self._sidebar_visible = not self._sidebar_visible

selfdrive/ui/layouts/network.py

@@ -1,19 +1,17 @@
 import pyray as rl
+from openpilot.system.ui.lib.widget import Widget
 from openpilot.system.ui.lib.wifi_manager import WifiManagerWrapper
 from openpilot.system.ui.widgets.network import WifiManagerUI
 
 
-class NetworkLayout:
+class NetworkLayout(Widget):
   def __init__(self):
+    super().__init__()
     self.wifi_manager = WifiManagerWrapper()
     self.wifi_ui = WifiManagerUI(self.wifi_manager)
 
-  def render(self, rect: rl.Rectangle):
+  def _render(self, rect: rl.Rectangle):
     self.wifi_ui.render(rect)
 
-  @property
-  def require_full_screen(self):
-    return self.wifi_ui.require_full_screen
-
   def shutdown(self):
     self.wifi_manager.shutdown()

selfdrive/ui/layouts/settings/developer.py

@@ -1,5 +1,8 @@
-from openpilot.system.ui.lib.list_view import ListView,  toggle_item
+from openpilot.system.ui.lib.list_view import toggle_item
+from openpilot.system.ui.lib.scroller import Scroller
+from openpilot.system.ui.lib.widget import Widget
 from openpilot.common.params import Params
+from openpilot.selfdrive.ui.widgets.ssh_key import ssh_key_item
 
 # Description constants
 DESCRIPTIONS = {
@@ -8,11 +11,16 @@ DESCRIPTIONS = {
     "See https://docs.comma.ai/how-to/connect-to-comma for more info."
   ),
   'joystick_debug_mode': "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)",
+  'ssh_key': (
+    "Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username " +
+    "other than your own. A comma employee will NEVER ask you to add their GitHub username."
+  ),
 }
 
 
-class DeveloperLayout:
+class DeveloperLayout(Widget):
   def __init__(self):
+    super().__init__()
     self._params = Params()
     items = [
       toggle_item(
@@ -21,6 +29,7 @@ class DeveloperLayout:
         initial_state=self._params.get_bool("AdbEnabled"),
         callback=self._on_enable_adb,
       ),
+      ssh_key_item("SSH Key", description=DESCRIPTIONS["ssh_key"]),
       toggle_item(
         "Joystick Debug Mode",
         description=DESCRIPTIONS["joystick_debug_mode"],
@@ -41,10 +50,10 @@ class DeveloperLayout:
       ),
     ]
 
-    self._list_widget = ListView(items)
+    self._scroller = Scroller(items, line_separator=True, spacing=0)
 
-  def render(self, rect):
-    self._list_widget.render(rect)
+  def _render(self, rect):
+    self._scroller.render(rect)
 
   def _on_enable_adb(self): pass
   def _on_joystick_debug_mode(self): pass

selfdrive/ui/layouts/settings/device.py

@@ -1,47 +1,150 @@
-from openpilot.system.ui.lib.list_view import ListView, text_item, button_item
+import os
+import json
+
+from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
+from openpilot.selfdrive.ui.onroad.driver_camera_dialog import DriverCameraDialog
+from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.hardware import TICI
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.list_view import text_item, button_item, dual_button_item
+from openpilot.system.ui.lib.scroller import Scroller
+from openpilot.system.ui.lib.widget import Widget, DialogResult
+from openpilot.selfdrive.ui.widgets.pairing_dialog import PairingDialog
+from openpilot.system.ui.widgets.option_dialog import MultiOptionDialog
+from openpilot.system.ui.widgets.confirm_dialog import confirm_dialog, alert_dialog
+from openpilot.system.ui.widgets.html_render import HtmlRenderer
 
 # Description constants
 DESCRIPTIONS = {
   'pair_device': "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.",
   'driver_camera': "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)",
   'reset_calibration': (
-    "openpilot requires the device to be mounted within 4° left or right and within 5° " +
-    "up or 9° down. openpilot is continuously calibrating, resetting is rarely required."
+      "openpilot requires the device to be mounted within 4° left or right and within 5° " +
+      "up or 9° down. openpilot is continuously calibrating, resetting is rarely required."
   ),
   'review_guide': "Review the rules, features, and limitations of openpilot",
 }
 
 
-class DeviceLayout:
+class DeviceLayout(Widget):
   def __init__(self):
-    params = Params()
-    dongle_id = params.get("DongleId", encoding="utf-8") or "N/A"
-    serial = params.get("HardwareSerial") or "N/A"
+    super().__init__()
+
+    self._params = Params()
+    self._select_language_dialog: MultiOptionDialog | None = None
+    self._driver_camera: DriverCameraDialog | None = None
+    self._pair_device_dialog: PairingDialog | None = None
+    self._fcc_dialog: HtmlRenderer | None = None
+
+    items = self._initialize_items()
+    self._scroller = Scroller(items, line_separator=True, spacing=0)
+
+  def _initialize_items(self):
+    dongle_id = self._params.get("DongleId", encoding="utf-8") or "N/A"
+    serial = self._params.get("HardwareSerial") or "N/A"
 
     items = [
       text_item("Dongle ID", dongle_id),
       text_item("Serial", serial),
-      button_item("Pair Device", "PAIR", DESCRIPTIONS['pair_device'], self._on_pair_device),
-      button_item("Driver Camera", "PREVIEW", DESCRIPTIONS['driver_camera'], self._on_driver_camera),
-      button_item("Reset Calibration", "RESET", DESCRIPTIONS['reset_calibration'], self._on_reset_calibration),
+      button_item("Pair Device", "PAIR", DESCRIPTIONS['pair_device'], callback=self._pair_device),
+      button_item("Driver Camera", "PREVIEW", DESCRIPTIONS['driver_camera'], callback=self._show_driver_camera, enabled=ui_state.is_offroad),
+      button_item("Reset Calibration", "RESET", DESCRIPTIONS['reset_calibration'], callback=self._reset_calibration_prompt),
+      regulatory_btn := button_item("Regulatory", "VIEW", callback=self._on_regulatory),
       button_item("Review Training Guide", "REVIEW", DESCRIPTIONS['review_guide'], self._on_review_training_guide),
+      button_item("Change Language", "CHANGE", callback=self._show_language_selection, enabled=ui_state.is_offroad),
+      dual_button_item("Reboot", "Power Off", left_callback=self._reboot_prompt, right_callback=self._power_off_prompt),
     ]
+    regulatory_btn.set_visible(TICI)
+    return items
 
-    if TICI:
-      items.append(button_item("Regulatory", "VIEW", callback=self._on_regulatory))
+  def _render(self, rect):
+    self._scroller.render(rect)
 
-    items.append(button_item("Change Language", "CHANGE", callback=self._on_change_language))
+  def _show_language_selection(self):
+    try:
+      languages_file = os.path.join(BASEDIR, "selfdrive/ui/translations/languages.json")
+      with open(languages_file, encoding='utf-8') as f:
+        languages = json.load(f)
 
-    self._list_widget = ListView(items)
+      self._select_language_dialog = MultiOptionDialog("Select a language", languages)
+      gui_app.set_modal_overlay(self._select_language_dialog, callback=self._handle_language_selection)
+    except FileNotFoundError:
+      pass
 
-  def render(self, rect):
-    self._list_widget.render(rect)
+  def _handle_language_selection(self, result: int):
+    if result == 1 and self._select_language_dialog:
+      selected_language = self._select_language_dialog.selection
+      self._params.put("LanguageSetting", selected_language)
+
+    self._select_language_dialog = None
+
+  def _show_driver_camera(self):
+    if not self._driver_camera:
+      self._driver_camera = DriverCameraDialog()
+
+    gui_app.set_modal_overlay(self._driver_camera, callback=lambda result: setattr(self, '_driver_camera', None))
+
+  def _reset_calibration_prompt(self):
+    if ui_state.engaged:
+      gui_app.set_modal_overlay(lambda: alert_dialog("Disengage to Reset Calibration"))
+      return
+
+    gui_app.set_modal_overlay(
+      lambda: confirm_dialog("Are you sure you want to reset calibration?", "Reset"),
+      callback=self._reset_calibration,
+    )
+
+  def _reset_calibration(self, result: int):
+    if ui_state.engaged or result != DialogResult.CONFIRM:
+      return
+
+    self._params.remove("CalibrationParams")
+    self._params.remove("LiveTorqueParameters")
+    self._params.remove("LiveParameters")
+    self._params.remove("LiveParametersV2")
+    self._params.remove("LiveDelay")
+    self._params.put_bool("OnroadCycleRequested", True)
+
+  def _reboot_prompt(self):
+    if ui_state.engaged:
+      gui_app.set_modal_overlay(lambda: alert_dialog("Disengage to Reboot"))
+      return
+
+    gui_app.set_modal_overlay(
+      lambda: confirm_dialog("Are you sure you want to reboot?", "Reboot"),
+      callback=self._perform_reboot,
+    )
+
+  def _perform_reboot(self, result: int):
+    if not ui_state.engaged and result == DialogResult.CONFIRM:
+      self._params.put_bool_nonblocking("DoReboot", True)
+
+  def _power_off_prompt(self):
+    if ui_state.engaged:
+      gui_app.set_modal_overlay(lambda: alert_dialog("Disengage to Power Off"))
+      return
+
+    gui_app.set_modal_overlay(
+      lambda: confirm_dialog("Are you sure you want to power off?", "Power Off"),
+      callback=self._perform_power_off,
+    )
+
+  def _perform_power_off(self, result: int):
+    if not ui_state.engaged and result == DialogResult.CONFIRM:
+      self._params.put_bool_nonblocking("DoShutdown", True)
+
+  def _pair_device(self):
+    if not self._pair_device_dialog:
+      self._pair_device_dialog = PairingDialog()
+    gui_app.set_modal_overlay(self._pair_device_dialog, callback=lambda result: setattr(self, '_pair_device_dialog', None))
+
+  def _on_regulatory(self):
+    if not self._fcc_dialog:
+      self._fcc_dialog = HtmlRenderer(os.path.join(BASEDIR, "selfdrive/assets/offroad/fcc.html"))
+
+    gui_app.set_modal_overlay(self._fcc_dialog,
+      callback=lambda result: setattr(self, '_fcc_dialog', None),
+    )
 
-  def _on_pair_device(self): pass
-  def _on_driver_camera(self): pass
-  def _on_reset_calibration(self): pass
   def _on_review_training_guide(self): pass
-  def _on_regulatory(self): pass
-  def _on_change_language(self): pass

selfdrive/ui/layouts/settings/firehose.py

@@ -0,0 +1,180 @@
+import pyray as rl
+import json
+import time
+import threading
+
+from openpilot.common.api import Api, api_get
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.wrap_text import wrap_text
+from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
+from openpilot.system.ui.lib.widget import Widget
+from openpilot.selfdrive.ui.ui_state import ui_state
+
+
+TITLE = "Firehose Mode"
+DESCRIPTION = (
+  "openpilot learns to drive by watching humans, like you, drive.\n\n"
+  + "Firehose Mode allows you to maximize your training data uploads to improve "
+  + "openpilot's driving models. More data means bigger models, which means better Experimental Mode."
+)
+INSTRUCTIONS = (
+  "For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.\n\n"
+  + "Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.\n\n"
+  + "Frequently Asked Questions\n\n"
+  + "Does it matter how or where I drive? Nope, just drive as you normally would.\n\n"
+  + "Do all of my segments get pulled in Firehose Mode? No, we selectively pull a subset of your segments.\n\n"
+  + "What's a good USB-C adapter? Any fast phone or laptop charger should be fine.\n\n"
+  + "Does it matter which software I run? Yes, only upstream openpilot (and particular forks) are able to be used for training."
+)
+
+
+class FirehoseLayout(Widget):
+  PARAM_KEY = "ApiCache_FirehoseStats"
+  GREEN = rl.Color(46, 204, 113, 255)
+  RED = rl.Color(231, 76, 60, 255)
+  GRAY = rl.Color(68, 68, 68, 255)
+  LIGHT_GRAY = rl.Color(228, 228, 228, 255)
+  UPDATE_INTERVAL = 30  # seconds
+
+  def __init__(self):
+    super().__init__()
+    self.params = Params()
+    self.segment_count = self._get_segment_count()
+    self.scroll_panel = GuiScrollPanel()
+
+    self.running = True
+    self.update_thread = threading.Thread(target=self._update_loop, daemon=True)
+    self.update_thread.start()
+    self.last_update_time = 0
+
+  def _get_segment_count(self) -> int:
+    stats = self.params.get(self.PARAM_KEY, encoding='utf8')
+    if not stats:
+      return 0
+    try:
+      return int(json.loads(stats).get("firehose", 0))
+    except Exception:
+      cloudlog.exception(f"Failed to decode firehose stats: {stats}")
+      return 0
+
+  def __del__(self):
+    self.running = False
+    if self.update_thread and self.update_thread.is_alive():
+      self.update_thread.join(timeout=1.0)
+
+  def _render(self, rect: rl.Rectangle):
+    # Calculate content dimensions
+    content_width = rect.width - 80
+    content_height = self._calculate_content_height(int(content_width))
+    content_rect = rl.Rectangle(rect.x, rect.y, rect.width, content_height)
+
+    # Handle scrolling and render with clipping
+    scroll_offset = self.scroll_panel.handle_scroll(rect, content_rect)
+    rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height))
+    self._render_content(rect, scroll_offset)
+    rl.end_scissor_mode()
+
+  def _calculate_content_height(self, content_width: int) -> int:
+    height = 80  # Top margin
+
+    # Title
+    height += 100 + 40
+
+    # Description
+    desc_font = gui_app.font(FontWeight.NORMAL)
+    desc_lines = wrap_text(desc_font, DESCRIPTION, 45, content_width)
+    height += len(desc_lines) * 45 + 40
+
+    # Status section
+    height += 32  # Separator
+    status_text, _ = self._get_status()
+    status_lines = wrap_text(gui_app.font(FontWeight.BOLD), status_text, 60, content_width)
+    height += len(status_lines) * 60 + 20
+
+    # Contribution count (if available)
+    if self.segment_count > 0:
+      contrib_text = f"{self.segment_count} segment(s) of your driving is in the training dataset so far."
+      contrib_lines = wrap_text(gui_app.font(FontWeight.BOLD), contrib_text, 52, content_width)
+      height += len(contrib_lines) * 52 + 20
+
+    # Instructions section
+    height += 32  # Separator
+    inst_lines = wrap_text(gui_app.font(FontWeight.NORMAL), INSTRUCTIONS, 40, content_width)
+    height += len(inst_lines) * 40 + 40  # Bottom margin
+
+    return height
+
+  def _render_content(self, rect: rl.Rectangle, scroll_offset: rl.Vector2):
+    x = int(rect.x + 40)
+    y = int(rect.y + 40 + scroll_offset.y)
+    w = int(rect.width - 80)
+
+    # Title
+    title_font = gui_app.font(FontWeight.MEDIUM)
+    rl.draw_text_ex(title_font, TITLE, rl.Vector2(x, y), 100, 0, rl.WHITE)
+    y += 140
+
+    # Description
+    y = self._draw_wrapped_text(x, y, w, DESCRIPTION, gui_app.font(FontWeight.NORMAL), 45, rl.WHITE)
+    y += 40
+
+    # Separator
+    rl.draw_rectangle(x, y, w, 2, self.GRAY)
+    y += 30
+
+    # Status
+    status_text, status_color = self._get_status()
+    y = self._draw_wrapped_text(x, y, w, status_text, gui_app.font(FontWeight.BOLD), 60, status_color)
+    y += 20
+
+    # Contribution count (if available)
+    if self.segment_count > 0:
+      contrib_text = f"{self.segment_count} segment(s) of your driving is in the training dataset so far."
+      y = self._draw_wrapped_text(x, y, w, contrib_text, gui_app.font(FontWeight.BOLD), 52, rl.WHITE)
+      y += 20
+
+    # Separator
+    rl.draw_rectangle(x, y, w, 2, self.GRAY)
+    y += 30
+
+    # Instructions
+    self._draw_wrapped_text(x, y, w, INSTRUCTIONS, gui_app.font(FontWeight.NORMAL), 40, self.LIGHT_GRAY)
+
+  def _draw_wrapped_text(self, x, y, width, text, font, size, color):
+    wrapped = wrap_text(font, text, size, width)
+    for line in wrapped:
+      rl.draw_text_ex(font, line, rl.Vector2(x, y), size, 0, color)
+      y += size
+    return y
+
+  def _get_status(self) -> tuple[str, rl.Color]:
+    network_type = ui_state.sm["deviceState"].networkType
+    network_metered = ui_state.sm["deviceState"].networkMetered
+
+    if not network_metered and network_type != 0:  # Not metered and connected
+      return "ACTIVE", self.GREEN
+    else:
+      return "INACTIVE: connect to an unmetered network", self.RED
+
+  def _fetch_firehose_stats(self):
+    try:
+      dongle_id = self.params.get("DongleId", encoding='utf8')
+      if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID:
+        return
+      identity_token = Api(dongle_id).get_token()
+      response = api_get(f"v1/devices/{dongle_id}/firehose_stats", access_token=identity_token)
+      if response.status_code == 200:
+        data = response.json()
+        self.segment_count = data.get("firehose", 0)
+        self.params.put(self.PARAM_KEY, json.dumps(data))
+    except Exception as e:
+      cloudlog.error(f"Failed to fetch firehose stats: {e}")
+
+  def _update_loop(self):
+    while self.running:
+      if not ui_state.started:
+        self._fetch_firehose_stats()
+      time.sleep(self.UPDATE_INTERVAL)

selfdrive/ui/layouts/settings/settings.py

@@ -2,15 +2,15 @@ import pyray as rl
 from dataclasses import dataclass
 from enum import IntEnum
 from collections.abc import Callable
-from openpilot.common.params import Params
 from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout
 from openpilot.selfdrive.ui.layouts.settings.device import DeviceLayout
+from openpilot.selfdrive.ui.layouts.settings.firehose import FirehoseLayout
 from openpilot.selfdrive.ui.layouts.settings.software import SoftwareLayout
 from openpilot.selfdrive.ui.layouts.settings.toggles import TogglesLayout
 from openpilot.system.ui.lib.application import gui_app, FontWeight
-from openpilot.system.ui.lib.label import gui_text_box
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.selfdrive.ui.layouts.network import NetworkLayout
+from openpilot.system.ui.lib.widget import Widget
 
 # Import individual panels
 
@@ -18,9 +18,8 @@ SETTINGS_CLOSE_TEXT = "X"
 # Constants
 SIDEBAR_WIDTH = 500
 CLOSE_BTN_SIZE = 200
-NAV_BTN_HEIGHT = 80
+NAV_BTN_HEIGHT = 110
 PANEL_MARGIN = 50
-SCROLL_SPEED = 30
 
 # Colors
 SIDEBAR_COLOR = rl.BLACK
@@ -29,7 +28,6 @@ CLOSE_BTN_COLOR = rl.Color(41, 41, 41, 255)
 CLOSE_BTN_PRESSED = rl.Color(59, 59, 59, 255)
 TEXT_NORMAL = rl.Color(128, 128, 128, 255)
 TEXT_SELECTED = rl.Color(255, 255, 255, 255)
-TEXT_PRESSED = rl.Color(173, 173, 173, 255)
 
 
 class PanelType(IntEnum):
@@ -45,23 +43,22 @@ class PanelType(IntEnum):
 class PanelInfo:
   name: str
   instance: object
-  button_rect: rl.Rectangle
+  button_rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0)
 
 
-class SettingsLayout:
+class SettingsLayout(Widget):
   def __init__(self):
-    self._params = Params()
+    super().__init__()
     self._current_panel = PanelType.DEVICE
-    self._max_scroll = 0.0
 
     # Panel configuration
     self._panels = {
-      PanelType.DEVICE: PanelInfo("Device", DeviceLayout(), rl.Rectangle(0, 0, 0, 0)),
-      PanelType.TOGGLES: PanelInfo("Toggles", TogglesLayout(), rl.Rectangle(0, 0, 0, 0)),
-      PanelType.SOFTWARE: PanelInfo("Software", SoftwareLayout(), rl.Rectangle(0, 0, 0, 0)),
-      PanelType.FIREHOSE: PanelInfo("Firehose", None, rl.Rectangle(0, 0, 0, 0)),
-      PanelType.NETWORK: PanelInfo("Network", NetworkLayout(), rl.Rectangle(0, 0, 0, 0)),
-      PanelType.DEVELOPER: PanelInfo("Developer", DeveloperLayout(), rl.Rectangle(0, 0, 0, 0)),
+      PanelType.DEVICE: PanelInfo("Device", DeviceLayout()),
+      PanelType.NETWORK: PanelInfo("Network", NetworkLayout()),
+      PanelType.TOGGLES: PanelInfo("Toggles", TogglesLayout()),
+      PanelType.SOFTWARE: PanelInfo("Software", SoftwareLayout()),
+      PanelType.FIREHOSE: PanelInfo("Firehose", FirehoseLayout()),
+      PanelType.DEVELOPER: PanelInfo("Developer", DeveloperLayout()),
     }
 
     self._font_medium = gui_app.font(FontWeight.MEDIUM)
@@ -73,7 +70,7 @@ class SettingsLayout:
   def set_callbacks(self, on_close: Callable):
     self._close_callback = on_close
 
-  def render(self, rect: rl.Rectangle):
+  def _render(self, rect: rl.Rectangle):
     # Calculate layout
     sidebar_rect = rl.Rectangle(rect.x, rect.y, SIDEBAR_WIDTH, rect.height)
     panel_rect = rl.Rectangle(rect.x + SIDEBAR_WIDTH, rect.y, rect.width - SIDEBAR_WIDTH, rect.height)
@@ -82,9 +79,6 @@ class SettingsLayout:
     self._draw_sidebar(sidebar_rect)
     self._draw_current_panel(panel_rect)
 
-    if rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT):
-      self.handle_mouse_release(rl.get_mouse_position())
-
   def _draw_sidebar(self, rect: rl.Rectangle):
     rl.draw_rectangle_rec(rect, SIDEBAR_COLOR)
 
@@ -109,17 +103,9 @@ class SettingsLayout:
     self._close_btn_rect = close_btn_rect
 
     # Navigation buttons
-    nav_start_y = rect.y + 300
-    button_spacing = 20
-
-    i = 0
+    y = rect.y + 300
     for panel_type, panel_info in self._panels.items():
-      button_rect = rl.Rectangle(
-        rect.x + 50,
-        nav_start_y + i * (NAV_BTN_HEIGHT + button_spacing),
-        rect.width - 150,  # Right-aligned with margin
-        NAV_BTN_HEIGHT,
-      )
+      button_rect = rl.Rectangle(rect.x + 50, y, rect.width - 150, NAV_BTN_HEIGHT)
 
       # Button styling
       is_selected = panel_type == self._current_panel
@@ -133,7 +119,8 @@ class SettingsLayout:
 
       # Store button rect for click detection
       panel_info.button_rect = button_rect
-      i += 1
+
+      y += NAV_BTN_HEIGHT
 
   def _draw_current_panel(self, rect: rl.Rectangle):
     rl.draw_rectangle_rounded(
@@ -144,17 +131,8 @@ class SettingsLayout:
     panel = self._panels[self._current_panel]
     if panel.instance:
       panel.instance.render(content_rect)
-    else:
-      gui_text_box(
-        content_rect,
-        f"Demo {self._panels[self._current_panel].name} Panel",
-        font_size=170,
-        color=rl.WHITE,
-        alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
-        alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE,
-      )
 
-  def handle_mouse_release(self, mouse_pos: rl.Vector2) -> bool:
+  def _handle_mouse_release(self, mouse_pos: rl.Vector2) -> bool:
     # Check close button
     if rl.check_collision_point_rec(mouse_pos, self._close_btn_rect):
       if self._close_callback:
@@ -164,20 +142,15 @@ class SettingsLayout:
     # Check navigation buttons
     for panel_type, panel_info in self._panels.items():
       if rl.check_collision_point_rec(mouse_pos, panel_info.button_rect):
-        self._switch_to_panel(panel_type)
+        self.set_current_panel(panel_type)
         return True
 
     return False
 
-  def _switch_to_panel(self, panel_type: PanelType):
+  def set_current_panel(self, panel_type: PanelType):
     if panel_type != self._current_panel:
       self._current_panel = panel_type
 
-  def set_current_panel(self, index: int, param: str = ""):
-    panel_types = list(self._panels.keys())
-    if 0 <= index < len(panel_types):
-      self._switch_to_panel(panel_types[index])
-
   def close_settings(self):
     if self._close_callback:
       self._close_callback()

selfdrive/ui/layouts/settings/software.py

@@ -1,7 +1,20 @@
-from openpilot.system.ui.lib.list_view import ListView, button_item, text_item
+from openpilot.common.params import Params
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.list_view import button_item, text_item
+from openpilot.system.ui.lib.scroller import Scroller
+from openpilot.system.ui.lib.widget import Widget, DialogResult
+from openpilot.system.ui.widgets.confirm_dialog import confirm_dialog
 
-class SoftwareLayout:
+
+class SoftwareLayout(Widget):
   def __init__(self):
+    super().__init__()
+
+    self._params = Params()
+    items = self._init_items()
+    self._scroller = Scroller(items, line_separator=True, spacing=0)
+
+  def _init_items(self):
     items = [
       text_item("Current Version", ""),
       button_item("Download", "CHECK", callback=self._on_download_update),
@@ -9,13 +22,21 @@ class SoftwareLayout:
       button_item("Target Branch", "SELECT", callback=self._on_select_branch),
       button_item("Uninstall", "UNINSTALL", callback=self._on_uninstall),
     ]
+    return items
 
-    self._list_widget = ListView(items)
-
-  def render(self, rect):
-    self._list_widget.render(rect)
+  def _render(self, rect):
+    self._scroller.render(rect)
 
   def _on_download_update(self): pass
   def _on_install_update(self): pass
   def _on_select_branch(self): pass
-  def _on_uninstall(self): pass
+
+  def _on_uninstall(self):
+    def handle_uninstall_confirmation(result):
+      if result == DialogResult.CONFIRM:
+        self._params.put_bool("DoUninstall", True)
+
+    gui_app.set_modal_overlay(
+      lambda: confirm_dialog("Are you sure you want to uninstall?", "Uninstall"),
+      callback=handle_uninstall_confirmation,
+    )

selfdrive/ui/layouts/settings/toggles.py

@@ -1,4 +1,6 @@
-from openpilot.system.ui.lib.list_view import ListView, toggle_item
+from openpilot.system.ui.lib.list_view import multiple_button_item, toggle_item
+from openpilot.system.ui.lib.scroller import Scroller
+from openpilot.system.ui.lib.widget import Widget
 from openpilot.common.params import Params
 
 # Description constants
@@ -8,9 +10,14 @@ DESCRIPTIONS = {
     "Your attention is required at all times to use this feature."
   ),
   "DisengageOnAccelerator": "When enabled, pressing the accelerator pedal will disengage openpilot.",
+  "LongitudinalPersonality": (
+    "Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. " +
+    "In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with " +
+    "your steering wheel distance button."
+  ),
   "IsLdwEnabled": (
     "Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line " +
-     "without a turn signal activated while driving over 31 mph (50 km/h)."
+    "without a turn signal activated while driving over 31 mph (50 km/h)."
   ),
   "AlwaysOnDM": "Enable driver monitoring even when openpilot is not engaged.",
   'RecordFront': "Upload data from the driver facing camera and help improve the driver monitoring algorithm.",
@@ -18,8 +25,9 @@ DESCRIPTIONS = {
 }
 
 
-class TogglesLayout:
+class TogglesLayout(Widget):
   def __init__(self):
+    super().__init__()
     self._params = Params()
     items = [
       toggle_item(
@@ -39,6 +47,15 @@ class TogglesLayout:
         self._params.get_bool("DisengageOnAccelerator"),
         icon="disengage_on_accelerator.png",
       ),
+      multiple_button_item(
+        "Driving Personality",
+        DESCRIPTIONS["LongitudinalPersonality"],
+        buttons=["Aggressive", "Standard", "Relaxed"],
+        button_width=255,
+        callback=self._set_longitudinal_personality,
+        selected_index=int(self._params.get("LongitudinalPersonality") or 0),
+        icon="speed_limit.png"
+      ),
       toggle_item(
         "Enable Lane Departure Warnings",
         DESCRIPTIONS["IsLdwEnabled"],
@@ -62,7 +79,10 @@ class TogglesLayout:
       ),
     ]
 
-    self._list_widget = ListView(items)
+    self._scroller = Scroller(items, line_separator=True, spacing=0)
 
-  def render(self, rect):
-    self._list_widget.render(rect)
+  def _render(self, rect):
+    self._scroller.render(rect)
+
+  def _set_longitudinal_personality(self, button_index: int):
+    self._params.put("LongitudinalPersonality", str(button_index))

selfdrive/ui/layouts/sidebar.py

@@ -6,6 +6,7 @@ from cereal import log
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.lib.widget import Widget
 
 SIDEBAR_WIDTH = 300
 METRIC_HEIGHT = 126
@@ -18,6 +19,7 @@ HOME_BTN = rl.Rectangle(60, 860, 180, 180)
 ThermalStatus = log.DeviceState.ThermalStatus
 NetworkType = log.DeviceState.NetworkType
 
+
 # Color scheme
 class Colors:
   SIDEBAR_BG = rl.Color(57, 57, 57, 255)
@@ -35,6 +37,7 @@ class Colors:
   BUTTON_NORMAL = rl.Color(255, 255, 255, 255)
   BUTTON_PRESSED = rl.Color(255, 255, 255, 166)
 
+
 NETWORK_TYPES = {
   NetworkType.none: "Offline",
   NetworkType.wifi: "WiFi",
@@ -57,8 +60,10 @@ class MetricData:
     self.value = value
     self.color = color
 
-class Sidebar:
+
+class Sidebar(Widget):
   def __init__(self):
+    super().__init__()
     self._net_type = NETWORK_TYPES.get(NetworkType.none)
     self._net_strength = 0
 
@@ -72,7 +77,7 @@ class Sidebar:
     self._font_regular = gui_app.font(FontWeight.NORMAL)
     self._font_bold = gui_app.font(FontWeight.SEMI_BOLD)
 
-     # Callbacks
+    # Callbacks
     self._on_settings_click: Callable | None = None
     self._on_flag_click: Callable | None = None
 
@@ -80,9 +85,7 @@ class Sidebar:
     self._on_settings_click = on_settings
     self._on_flag_click = on_flag
 
-  def render(self, rect: rl.Rectangle):
-    self.update_state()
-
+  def _render(self, rect: rl.Rectangle):
     # Background
     rl.draw_rectangle_rec(rect, Colors.SIDEBAR_BG)
 
@@ -90,9 +93,7 @@ class Sidebar:
     self._draw_network_indicator(rect)
     self._draw_metrics(rect)
 
-    self._handle_mouse_release()
-
-  def update_state(self):
+  def _update_state(self):
     sm = ui_state.sm
     if not sm.updated['deviceState']:
       return
@@ -134,11 +135,7 @@ class Sidebar:
     else:
       self._panda_status.update("VEHICLE", "ONLINE", Colors.GOOD)
 
-  def _handle_mouse_release(self):
-    if not rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT):
-      return
-
-    mouse_pos = rl.get_mouse_position()
+  def _handle_mouse_release(self, mouse_pos: rl.Vector2):
     if rl.check_collision_point_rec(mouse_pos, SETTINGS_BTN):
       if self._on_settings_click:
         self._on_settings_click()
@@ -148,8 +145,7 @@ class Sidebar:
 
   def _draw_buttons(self, rect: rl.Rectangle):
     mouse_pos = rl.get_mouse_position()
-    mouse_down = rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT)
-
+    mouse_down = self._is_pressed and rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT)
 
     # Settings button
     settings_down = mouse_down and rl.check_collision_point_rec(mouse_pos, SETTINGS_BTN)

selfdrive/ui/lib/prime_state.py

@@ -0,0 +1,99 @@
+from enum import IntEnum
+import os
+import threading
+import time
+
+from openpilot.common.api import Api, api_get
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
+
+
+class PrimeType(IntEnum):
+  UNKNOWN = -2,
+  UNPAIRED = -1,
+  NONE = 0,
+  MAGENTA = 1,
+  LITE = 2,
+  BLUE = 3,
+  MAGENTA_NEW = 4,
+  PURPLE = 5,
+
+
+class PrimeState:
+  FETCH_INTERVAL = 5.0  # seconds between API calls
+  API_TIMEOUT = 10.0  # seconds for API requests
+  SLEEP_INTERVAL = 0.5  # seconds to sleep between checks in the worker thread
+
+  def __init__(self):
+    self._params = Params()
+    self._lock = threading.Lock()
+    self.prime_type: PrimeType = self._load_initial_state()
+
+    self._running = False
+    self._thread = None
+    self.start()
+
+  def _load_initial_state(self) -> PrimeType:
+    prime_type_str = os.getenv("PRIME_TYPE") or self._params.get("PrimeType", encoding='utf8')
+    try:
+      if prime_type_str is not None:
+        return PrimeType(int(prime_type_str))
+    except (ValueError, TypeError):
+      pass
+    return PrimeType.UNKNOWN
+
+  def _fetch_prime_status(self) -> None:
+    dongle_id = self._params.get("DongleId", encoding='utf8')
+    if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID:
+      return
+
+    try:
+      identity_token = Api(dongle_id).get_token()
+      response = api_get(f"v1.1/devices/{dongle_id}", timeout=self.API_TIMEOUT, access_token=identity_token)
+      if response.status_code == 200:
+        data = response.json()
+        is_paired = data.get("is_paired", False)
+        prime_type = data.get("prime_type", 0)
+        self.set_type(PrimeType(prime_type) if is_paired else PrimeType.UNPAIRED)
+    except Exception as e:
+      cloudlog.error(f"Failed to fetch prime status: {e}")
+
+  def set_type(self, prime_type: PrimeType) -> None:
+    with self._lock:
+      if prime_type != self.prime_type:
+        self.prime_type = prime_type
+        self._params.put("PrimeType", str(int(prime_type)))
+        cloudlog.info(f"Prime type updated to {prime_type}")
+
+  def _worker_thread(self) -> None:
+    while self._running:
+      self._fetch_prime_status()
+
+      for _ in range(int(self.FETCH_INTERVAL / self.SLEEP_INTERVAL)):
+        if not self._running:
+          break
+        time.sleep(self.SLEEP_INTERVAL)
+
+  def start(self) -> None:
+    if self._thread and self._thread.is_alive():
+      return
+    self._running = True
+    self._thread = threading.Thread(target=self._worker_thread, daemon=True)
+    self._thread.start()
+
+  def stop(self) -> None:
+    self._running = False
+    if self._thread and self._thread.is_alive():
+      self._thread.join(timeout=1.0)
+
+  def get_type(self) -> PrimeType:
+    with self._lock:
+      return self.prime_type
+
+  def is_prime(self) -> bool:
+    with self._lock:
+      return bool(self.prime_type > PrimeType.NONE)
+
+  def __del__(self):
+    self.stop()

selfdrive/ui/onroad/alert_renderer.py

@@ -6,9 +6,9 @@ from openpilot.system.hardware import TICI
 from openpilot.system.ui.lib.application import gui_app, FontWeight, DEFAULT_FPS
 from openpilot.system.ui.lib.label import gui_text_box
 from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.lib.widget import Widget
 from openpilot.selfdrive.ui.ui_state import ui_state
 
-
 ALERT_MARGIN = 40
 ALERT_PADDING = 60
 ALERT_LINE_SPACING = 45
@@ -21,7 +21,6 @@ ALERT_FONT_BIG = 88
 SELFDRIVE_STATE_TIMEOUT = 5  # Seconds
 SELFDRIVE_UNRESPONSIVE_TIMEOUT = 10  # Seconds
 
-
 # Constants
 ALERT_COLORS = {
   log.SelfdriveState.AlertStatus.normal: rl.Color(0, 0, 0, 235),  # Black
@@ -61,8 +60,9 @@ ALERT_CRITICAL_REBOOT = Alert(
 )
 
 
-class AlertRenderer:
+class AlertRenderer(Widget):
   def __init__(self):
+    super().__init__()
     self.font_regular: rl.Font = gui_app.font(FontWeight.NORMAL)
     self.font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
 
@@ -73,18 +73,20 @@ class AlertRenderer:
     # Check if selfdriveState messages have stopped arriving
     if not sm.updated['selfdriveState']:
       recv_frame = sm.recv_frame['selfdriveState']
-      if (sm.frame - recv_frame) > 5 * DEFAULT_FPS:
-        # Check if waiting to start
-        if recv_frame < ui_state.started_frame:
-          return ALERT_STARTUP_PENDING
+      time_since_onroad = (sm.frame - ui_state.started_frame) / DEFAULT_FPS
 
-        # Handle selfdrive timeout
-        if TICI:
-          ss_missing = time.monotonic() - sm.recv_time['selfdriveState']
-          if ss_missing > SELFDRIVE_STATE_TIMEOUT:
-            if ss.enabled and (ss_missing - SELFDRIVE_STATE_TIMEOUT) < SELFDRIVE_UNRESPONSIVE_TIMEOUT:
-              return ALERT_CRITICAL_TIMEOUT
-            return ALERT_CRITICAL_REBOOT
+      # 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:
+        return ALERT_STARTUP_PENDING
+
+      # 2. Lost communication with selfdriveState after receiving it
+      if TICI and not waiting_for_startup:
+        ss_missing = time.monotonic() - sm.recv_time['selfdriveState']
+        if ss_missing > SELFDRIVE_STATE_TIMEOUT:
+          if ss.enabled and (ss_missing - SELFDRIVE_STATE_TIMEOUT) < SELFDRIVE_UNRESPONSIVE_TIMEOUT:
+            return ALERT_CRITICAL_TIMEOUT
+          return ALERT_CRITICAL_REBOOT
 
     # No alert if size is none
     if ss.alertSize == 0:
@@ -93,10 +95,10 @@ class AlertRenderer:
     # Return current alert
     return Alert(text1=ss.alertText1, text2=ss.alertText2, size=ss.alertSize, status=ss.alertStatus)
 
-  def draw(self, rect: rl.Rectangle, sm: messaging.SubMaster) -> None:
-    alert = self.get_alert(sm)
+  def _render(self, rect: rl.Rectangle) -> bool:
+    alert = self.get_alert(ui_state.sm)
     if not alert:
-      return
+      return False
 
     alert_rect = self._get_alert_rect(rect, alert.size)
     self._draw_background(alert_rect, alert)
@@ -108,13 +110,14 @@ class AlertRenderer:
       alert_rect.height - 2 * ALERT_PADDING
     )
     self._draw_text(text_rect, alert)
+    return True
 
   def _get_alert_rect(self, rect: rl.Rectangle, size: int) -> rl.Rectangle:
     if size == log.SelfdriveState.AlertSize.full:
       return rect
 
     height = (ALERT_FONT_MEDIUM + 2 * ALERT_PADDING if size == log.SelfdriveState.AlertSize.small else
-             ALERT_FONT_BIG + ALERT_LINE_SPACING + ALERT_FONT_SMALL + 2 * ALERT_PADDING)
+              ALERT_FONT_BIG + ALERT_LINE_SPACING + ALERT_FONT_SMALL + 2 * ALERT_PADDING)
 
     return rl.Rectangle(
       rect.x + ALERT_MARGIN,

selfdrive/ui/onroad/augmented_road_view.py

@@ -1,6 +1,6 @@
 import numpy as np
 import pyray as rl
-
+from collections.abc import Callable
 from cereal import log
 from msgq.visionipc import VisionStreamType
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus, UI_BORDER_SIZE
@@ -13,7 +13,6 @@ from openpilot.system.ui.lib.application import gui_app
 from openpilot.common.transformations.camera import DEVICE_CAMERAS, DeviceCameraConfig, view_frame_from_device_frame
 from openpilot.common.transformations.orientation import rot_from_euler
 
-
 OpState = log.SelfdriveState.OpenpilotState
 CALIBRATED = log.LiveCalibrationData.Status.calibrated
 ROAD_CAM = VisionStreamType.VISION_STREAM_ROAD
@@ -26,6 +25,9 @@ BORDER_COLORS = {
   UIStatus.ENGAGED: rl.Color(0x17, 0x86, 0x44, 0xF1),      # Green for engaged state
 }
 
+WIDE_CAM_MAX_SPEED = 10.0  # m/s (22 mph)
+ROAD_CAM_MIN_SPEED = 15.0  # m/s (34 mph)
+
 
 class AugmentedRoadView(CameraView):
   def __init__(self, stream_type: VisionStreamType = VisionStreamType.VISION_STREAM_ROAD):
@@ -47,11 +49,19 @@ class AugmentedRoadView(CameraView):
     self.alert_renderer = AlertRenderer()
     self.driver_state_renderer = DriverStateRenderer()
 
-  def render(self, rect):
+    # Callbacks
+    self._click_callback: Callable | None = None
+
+  def set_callbacks(self, on_click: Callable | None = None):
+    self._click_callback = on_click
+
+  def _render(self, rect):
     # Only render when system is started to avoid invalid data access
     if not ui_state.started:
       return
 
+    self._switch_stream_if_needed(ui_state.sm)
+
     # Update calibration before rendering
     self._update_calibration()
 
@@ -76,13 +86,13 @@ class AugmentedRoadView(CameraView):
     )
 
     # Render the base camera view
-    super().render(rect)
+    super()._render(rect)
 
     # Draw all UI overlays
-    self.model_renderer.draw(self._content_rect, ui_state.sm)
-    self._hud_renderer.draw(self._content_rect, ui_state.sm)
-    self.alert_renderer.draw(self._content_rect, ui_state.sm)
-    self.driver_state_renderer.draw(self._content_rect, ui_state.sm)
+    self.model_renderer.render(self._content_rect)
+    self._hud_renderer.render(self._content_rect)
+    if not self.alert_renderer.render(self._content_rect):
+      self.driver_state_renderer.render(self._content_rect)
 
     # Custom UI extension point - add custom overlays here
     # Use self._content_rect for positioning within camera bounds
@@ -90,10 +100,32 @@ class AugmentedRoadView(CameraView):
     # End clipping region
     rl.end_scissor_mode()
 
+    # Handle click events if no HUD interaction occurred
+    if not self._hud_renderer.handle_mouse_event():
+      if self._click_callback and rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT):
+        if rl.check_collision_point_rec(rl.get_mouse_position(), self._content_rect):
+          self._click_callback()
+
   def _draw_border(self, rect: rl.Rectangle):
     border_color = BORDER_COLORS.get(ui_state.status, BORDER_COLORS[UIStatus.DISENGAGED])
     rl.draw_rectangle_lines_ex(rect, UI_BORDER_SIZE, border_color)
 
+  def _switch_stream_if_needed(self, sm):
+    if sm['selfdriveState'].experimentalMode and WIDE_CAM in self.available_streams:
+      v_ego = sm['carState'].vEgo
+      if v_ego < WIDE_CAM_MAX_SPEED:
+        target = WIDE_CAM
+      elif v_ego > ROAD_CAM_MIN_SPEED:
+        target = ROAD_CAM
+      else:
+        # Hysteresis zone - keep current stream
+        target = self.stream_type
+    else:
+      target = ROAD_CAM
+
+    if self.stream_type != target:
+      self.switch_stream(target)
+
   def _update_calibration(self):
     # Update device camera if not already set
     sm = ui_state.sm
@@ -129,7 +161,7 @@ class AugmentedRoadView(CameraView):
 
     # Get camera configuration
     device_camera = self.device_camera or DEFAULT_DEVICE_CAMERA
-    is_wide_camera = self.stream_type == VisionStreamType.VISION_STREAM_WIDE_ROAD
+    is_wide_camera = self.stream_type == WIDE_CAM
     intrinsic = device_camera.ecam.intrinsics if is_wide_camera else device_camera.fcam.intrinsics
     calibration = self.view_from_wide_calib if is_wide_camera else self.view_from_calib
     zoom = 2.0 if is_wide_camera else 1.1
@@ -170,9 +202,9 @@ class AugmentedRoadView(CameraView):
     ])
 
     video_transform = np.array([
-        [zoom, 0.0, (w / 2 + x - x_offset) - (cx * zoom)],
-        [0.0, zoom, (h / 2 + y - y_offset) - (cy * zoom)],
-        [0.0, 0.0, 1.0]
+      [zoom, 0.0, (w / 2 + x - x_offset) - (cx * zoom)],
+      [0.0, zoom, (h / 2 + y - y_offset) - (cy * zoom)],
+      [0.0, 0.0, 1.0]
     ])
     self.model_renderer.set_transform(video_transform @ calib_transform)
 

selfdrive/ui/onroad/cameraview.py

@@ -1,3 +1,4 @@
+import platform
 import numpy as np
 import pyray as rl
 
@@ -6,12 +7,21 @@ from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.egl import init_egl, create_egl_image, destroy_egl_image, bind_egl_image_to_texture, EGLImage
-
+from openpilot.system.ui.lib.widget import Widget
 
 CONNECTION_RETRY_INTERVAL = 0.2  # seconds between connection attempts
 
-VERTEX_SHADER = """
+VERSION = """
 #version 300 es
+precision mediump float;
+"""
+if platform.system() == "Darwin":
+  VERSION = """
+    #version 330 core
+  """
+
+
+VERTEX_SHADER = VERSION + """
 in vec3 vertexPosition;
 in vec2 vertexTexCoord;
 in vec3 vertexNormal;
@@ -41,9 +51,7 @@ if TICI:
     }
     """
 else:
-  FRAME_FRAGMENT_SHADER = """
-    #version 300 es
-    precision mediump float;
+  FRAME_FRAGMENT_SHADER = VERSION + """
     in vec2 fragTexCoord;
     uniform sampler2D texture0;
     uniform sampler2D texture1;
@@ -55,8 +63,10 @@ else:
     }
     """
 
-class CameraView:
+
+class CameraView(Widget):
   def __init__(self, name: str, stream_type: VisionStreamType):
+    super().__init__()
     self._name = name
     # Primary stream
     self.client = VisionIpcClient(name, stream_type, conflate=True)
@@ -68,7 +78,6 @@ class CameraView:
     self._target_stream_type: VisionStreamType | None = None
     self._switching: bool = False
 
-
     self._texture_needs_update = True
     self.last_connection_attempt: float = 0.0
     self.shader = rl.load_shader_from_memory(VERTEX_SHADER, FRAME_FRAGMENT_SHADER)
@@ -82,7 +91,7 @@ class CameraView:
     self.egl_images: dict[int, EGLImage] = {}
     self.egl_texture: rl.Texture | None = None
 
-    self._placeholder_color : rl.Color | None = None
+    self._placeholder_color: rl.Color | None = None
 
     # Initialize EGL for zero-copy rendering on TICI
     if TICI:
@@ -145,12 +154,12 @@ class CameraView:
     zy = min(widget_aspect_ratio / frame_aspect_ratio, 1.0)
 
     return np.array([
-        [zx, 0.0, 0.0],
-        [0.0, zy, 0.0],
-        [0.0, 0.0, 1.0]
+      [zx, 0.0, 0.0],
+      [0.0, zy, 0.0],
+      [0.0, 0.0, 1.0]
     ])
 
-  def render(self, rect: rl.Rectangle):
+  def _render(self, rect: rl.Rectangle):
     if self._switching:
       self._handle_switch()
 
@@ -230,7 +239,7 @@ class CameraView:
     # Update textures with new frame data
     if self._texture_needs_update:
       y_data = self.frame.data[: self.frame.uv_offset]
-      uv_data = self.frame.data[self.frame.uv_offset :]
+      uv_data = self.frame.data[self.frame.uv_offset:]
 
       rl.update_texture(self.texture_y, rl.ffi.cast("void *", y_data.ctypes.data))
       rl.update_texture(self.texture_uv, rl.ffi.cast("void *", uv_data.ctypes.data))
@@ -265,7 +274,7 @@ class CameraView:
   def _handle_switch(self) -> None:
     """Check if target stream is ready and switch immediately."""
     if not self._target_client or not self._switching:
-        return
+      return
 
     # Try to connect target if needed
     if not self._target_client.is_connected():
@@ -277,28 +286,28 @@ class CameraView:
     # Check if target has frames ready
     target_frame = self._target_client.recv(timeout_ms=0)
     if target_frame:
-      self.frame = target_frame # Update current frame to target frame
+      self.frame = target_frame  # Update current frame to target frame
       self._complete_switch()
 
   def _complete_switch(self) -> None:
-      """Instantly switch to target stream."""
-      cloudlog.debug(f"Switching to {self._target_stream_type}")
-      # Clean up current resources
-      if self.client:
-        del self.client
+    """Instantly switch to target stream."""
+    cloudlog.debug(f"Switching to {self._target_stream_type}")
+    # Clean up current resources
+    if self.client:
+      del self.client
 
-      # Switch to target
-      self.client = self._target_client
-      self._stream_type = self._target_stream_type
-      self._texture_needs_update = True
+    # Switch to target
+    self.client = self._target_client
+    self._stream_type = self._target_stream_type
+    self._texture_needs_update = True
 
-      # Reset state
-      self._target_client = None
-      self._target_stream_type = None
-      self._switching = False
+    # Reset state
+    self._target_client = None
+    self._target_stream_type = None
+    self._switching = False
 
-      # Initialize textures for new stream
-      self._initialize_textures()
+    # Initialize textures for new stream
+    self._initialize_textures()
 
   def _initialize_textures(self):
       self._clear_textures()

selfdrive/ui/onroad/driver_camera_dialog.py

@@ -1,20 +1,23 @@
 import numpy as np
 import pyray as rl
-from cereal import messaging
 from msgq.visionipc import VisionStreamType
 from openpilot.selfdrive.ui.onroad.cameraview import CameraView
 from openpilot.selfdrive.ui.onroad.driver_state import DriverStateRenderer
+from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.label import gui_label
 
 
-class DriverCameraView(CameraView):
-  def __init__(self, stream_type: VisionStreamType):
-    super().__init__("camerad", stream_type)
+class DriverCameraDialog(CameraView):
+  def __init__(self):
+    super().__init__("camerad", VisionStreamType.VISION_STREAM_DRIVER)
     self.driver_state_renderer = DriverStateRenderer()
 
-  def render(self, rect, sm):
-    super().render(rect)
+  def _render(self, rect):
+    super()._render(rect)
+
+    if rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT):
+      return 1
 
     if not self.frame:
       gui_label(
@@ -24,13 +27,15 @@ class DriverCameraView(CameraView):
         font_weight=FontWeight.BOLD,
         alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
       )
-      return
+      return -1
 
-    self._draw_face_detection(rect, sm)
-    self.driver_state_renderer.draw(rect, sm)
+    self._draw_face_detection(rect)
+    self.driver_state_renderer.render(rect)
 
-  def _draw_face_detection(self, rect: rl.Rectangle, sm) -> None:
-    driver_state = sm["driverStateV2"]
+    return -1
+
+  def _draw_face_detection(self, rect: rl.Rectangle) -> None:
+    driver_state = ui_state.sm["driverStateV2"]
     is_rhd = driver_state.wheelOnRightProb > 0.5
     driver_data = driver_state.rightDriverData if is_rhd else driver_state.leftDriverData
     face_detect = driver_data.faceProb > 0.7
@@ -83,12 +88,11 @@ class DriverCameraView(CameraView):
 
 if __name__ == "__main__":
   gui_app.init_window("Driver Camera View")
-  sm = messaging.SubMaster(["selfdriveState", "driverStateV2", "driverMonitoringState"])
 
-  driver_camera_view = DriverCameraView(VisionStreamType.VISION_STREAM_DRIVER)
+  driver_camera_view = DriverCameraDialog()
   try:
     for _ in gui_app.render():
-      sm.update()
-      driver_camera_view.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height), sm)
+      ui_state.update()
+      driver_camera_view.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
   finally:
     driver_camera_view.close()

selfdrive/ui/onroad/driver_state.py

@@ -3,19 +3,19 @@ import pyray as rl
 from dataclasses import dataclass
 from openpilot.selfdrive.ui.ui_state import ui_state, UI_BORDER_SIZE
 from openpilot.system.ui.lib.application import gui_app
-
+from openpilot.system.ui.lib.widget import Widget
 
 # Default 3D coordinates for face keypoints as a NumPy array
 DEFAULT_FACE_KPTS_3D = np.array([
-    [-5.98, -51.20, 8.00], [-17.64, -49.14, 8.00], [-23.81, -46.40, 8.00], [-29.98, -40.91, 8.00],
-    [-32.04, -37.49, 8.00], [-34.10, -32.00, 8.00], [-36.16, -21.03, 8.00], [-36.16, 6.40, 8.00],
-    [-35.47, 10.51, 8.00], [-32.73, 19.43, 8.00], [-29.30, 26.29, 8.00], [-24.50, 33.83, 8.00],
-    [-19.01, 41.37, 8.00], [-14.21, 46.17, 8.00], [-12.16, 47.54, 8.00], [-4.61, 49.60, 8.00],
-    [4.99, 49.60, 8.00], [12.53, 47.54, 8.00], [14.59, 46.17, 8.00], [19.39, 41.37, 8.00],
-    [24.87, 33.83, 8.00], [29.67, 26.29, 8.00], [33.10, 19.43, 8.00], [35.84, 10.51, 8.00],
-    [36.53, 6.40, 8.00], [36.53, -21.03, 8.00], [34.47, -32.00, 8.00], [32.42, -37.49, 8.00],
-    [30.36, -40.91, 8.00], [24.19, -46.40, 8.00], [18.02, -49.14, 8.00], [6.36, -51.20, 8.00],
-    [-5.98, -51.20, 8.00],
+  [-5.98, -51.20, 8.00], [-17.64, -49.14, 8.00], [-23.81, -46.40, 8.00], [-29.98, -40.91, 8.00],
+  [-32.04, -37.49, 8.00], [-34.10, -32.00, 8.00], [-36.16, -21.03, 8.00], [-36.16, 6.40, 8.00],
+  [-35.47, 10.51, 8.00], [-32.73, 19.43, 8.00], [-29.30, 26.29, 8.00], [-24.50, 33.83, 8.00],
+  [-19.01, 41.37, 8.00], [-14.21, 46.17, 8.00], [-12.16, 47.54, 8.00], [-4.61, 49.60, 8.00],
+  [4.99, 49.60, 8.00], [12.53, 47.54, 8.00], [14.59, 46.17, 8.00], [19.39, 41.37, 8.00],
+  [24.87, 33.83, 8.00], [29.67, 26.29, 8.00], [33.10, 19.43, 8.00], [35.84, 10.51, 8.00],
+  [36.53, 6.40, 8.00], [36.53, -21.03, 8.00], [34.47, -32.00, 8.00], [32.42, -37.49, 8.00],
+  [30.36, -40.91, 8.00], [24.19, -46.40, 8.00], [18.02, -49.14, 8.00], [6.36, -51.20, 8.00],
+  [-5.98, -51.20, 8.00],
 ], dtype=np.float32)
 
 # UI constants
@@ -31,6 +31,7 @@ SCALES_NEG = np.array([0.7, 0.4, 0.4], dtype=np.float32)
 ARC_POINT_COUNT = 37  # Number of points in the arc
 ARC_ANGLES = np.linspace(0.0, np.pi, ARC_POINT_COUNT, dtype=np.float32)
 
+
 @dataclass
 class ArcData:
   """Data structure for arc rendering parameters."""
@@ -40,14 +41,15 @@ class ArcData:
   height: float
   thickness: float
 
-class DriverStateRenderer:
+
+class DriverStateRenderer(Widget):
   def __init__(self):
+    super().__init__()
     # Initial state with NumPy arrays
     self.face_kpts_draw = DEFAULT_FACE_KPTS_3D.copy()
     self.is_active = False
     self.is_rhd = False
     self.dm_fade_state = 0.0
-    self.state_updated = False
     self.last_rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0)
     self.driver_pose_vals = np.zeros(3, dtype=np.float32)
     self.driver_pose_diff = np.zeros(3, dtype=np.float32)
@@ -73,14 +75,10 @@ class DriverStateRenderer:
     self.engaged_color = rl.Color(26, 242, 66, 255)
     self.disengaged_color = rl.Color(139, 139, 139, 255)
 
-  def draw(self, rect, sm):
-    if not self._is_visible(sm):
-      return
-
-    self._update_state(sm, rect)
-    if not self.state_updated:
-      return
+    self.set_visible(lambda: (ui_state.sm.recv_frame['driverStateV2'] > ui_state.started_frame and
+                              ui_state.sm.seen['driverMonitoringState']))
 
+  def _render(self, rect):
     # Set opacity based on active state
     opacity = 0.65 if self.is_active else 0.2
 
@@ -105,18 +103,14 @@ class DriverStateRenderer:
     if self.v_arc_data:
       rl.draw_spline_linear(self.v_arc_lines, len(self.v_arc_lines), self.v_arc_data.thickness, self.arc_color)
 
-  def _is_visible(self, sm):
-    """Check if the visualization should be rendered."""
-    return (sm.recv_frame['driverStateV2'] > ui_state.started_frame and
-            sm.seen['driverMonitoringState'] and
-            sm['selfdriveState'].alertSize == 0)
-
-  def _update_state(self, sm, rect):
+  def _update_state(self):
     """Update the driver monitoring state based on model data"""
-    if  not sm.updated["driverMonitoringState"]:
-      if self.state_updated and (rect.x != self.last_rect.x or rect.y != self.last_rect.y or \
-         rect.width != self.last_rect.width or rect.height != self.last_rect.height):
-        self._pre_calculate_drawing_elements(rect)
+    sm = ui_state.sm
+    if not sm.updated["driverMonitoringState"]:
+      if (self._rect.x != self.last_rect.x or self._rect.y != self.last_rect.y or
+          self._rect.width != self.last_rect.width or self._rect.height != self.last_rect.height):
+        self._pre_calculate_drawing_elements()
+        self.last_rect = self._rect
       return
 
     # Get monitoring state
@@ -165,16 +159,15 @@ class DriverStateRenderer:
     self.face_keypoints_transformed = self.face_kpts_draw[:, :2] * kp_depth[:, None]
 
     # Pre-calculate all drawing elements
-    self._pre_calculate_drawing_elements(rect)
-    self.state_updated = True
+    self._pre_calculate_drawing_elements()
 
-  def _pre_calculate_drawing_elements(self, rect):
+  def _pre_calculate_drawing_elements(self):
     """Pre-calculate all drawing elements based on the current rectangle"""
     # Calculate icon position (bottom-left or bottom-right)
-    width, height = rect.width, rect.height
+    width, height = self._rect.width, self._rect.height
     offset = UI_BORDER_SIZE + BTN_SIZE // 2
-    self.position_x = rect.x + (width - offset if self.is_rhd else offset)
-    self.position_y = rect.y + height - offset
+    self.position_x = self._rect.x + (width - offset if self.is_rhd else offset)
+    self.position_y = self._rect.y + height - offset
 
     # Pre-calculate the face lines positions
     positioned_keypoints = self.face_keypoints_transformed + np.array([self.position_x, self.position_y])
@@ -189,15 +182,15 @@ class DriverStateRenderer:
     # Horizontal arc
     h_width = abs(delta_x)
     self.h_arc_data = self._calculate_arc_data(
-        delta_x, h_width, self.position_x, self.position_y - ARC_LENGTH / 2,
-        self.driver_pose_sins[1], self.driver_pose_diff[1], is_horizontal=True
+      delta_x, h_width, self.position_x, self.position_y - ARC_LENGTH / 2,
+      self.driver_pose_sins[1], self.driver_pose_diff[1], is_horizontal=True
     )
 
     # Vertical arc
     v_height = abs(delta_y)
     self.v_arc_data = self._calculate_arc_data(
-        delta_y, v_height, self.position_x - ARC_LENGTH / 2, self.position_y,
-        self.driver_pose_sins[0], self.driver_pose_diff[0], is_horizontal=False
+      delta_y, v_height, self.position_x - ARC_LENGTH / 2, self.position_y,
+      self.driver_pose_sins[0], self.driver_pose_diff[0], is_horizontal=False
     )
 
   def _calculate_arc_data(

selfdrive/ui/onroad/exp_button.py

@@ -0,0 +1,78 @@
+import time
+import pyray as rl
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.widget import Widget
+from openpilot.common.params import Params
+
+
+class ExpButton(Widget):
+  def __init__(self, button_size: int, icon_size: int):
+    super().__init__()
+    self._params = Params()
+    self._experimental_mode: bool = False
+    self._engageable: bool = False
+
+    # State hold mechanism
+    self._hold_duration = 2.0  # seconds
+    self._held_mode: bool | None = None
+    self._hold_end_time: float | None = None
+
+    self._white_color: rl.Color = rl.Color(255, 255, 255, 255)
+    self._black_bg: rl.Color = rl.Color(0, 0, 0, 166)
+    self._txt_wheel: rl.Texture = gui_app.texture('icons/chffr_wheel.png', icon_size, icon_size)
+    self._txt_exp: rl.Texture = gui_app.texture('icons/experimental.png', icon_size, icon_size)
+    self._rect = rl.Rectangle(0, 0, button_size, button_size)
+
+  def set_rect(self, rect: rl.Rectangle) -> None:
+    self._rect.x, self._rect.y = rect.x, rect.y
+
+  def _update_state(self) -> None:
+    selfdrive_state = ui_state.sm["selfdriveState"]
+    self._experimental_mode = selfdrive_state.experimentalMode
+    self._engageable = selfdrive_state.engageable or selfdrive_state.enabled
+
+  def handle_mouse_event(self) -> bool:
+    if rl.check_collision_point_rec(rl.get_mouse_position(), self._rect):
+      if (rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT) and
+          self._is_toggle_allowed()):
+        new_mode = not self._experimental_mode
+        self._params.put_bool("ExperimentalMode", new_mode)
+
+        # Hold new state temporarily
+        self._held_mode = new_mode
+        self._hold_end_time = time.time() + self._hold_duration
+      return True
+    return False
+
+  def _render(self, rect: rl.Rectangle) -> None:
+    center_x = int(self._rect.x + self._rect.width // 2)
+    center_y = int(self._rect.y + self._rect.height // 2)
+
+    mouse_over = rl.check_collision_point_rec(rl.get_mouse_position(), self._rect)
+    mouse_down = rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) and self._is_pressed
+    self._white_color.a = 180 if (mouse_down and mouse_over) or not self._engageable else 255
+
+    texture = self._txt_exp if self._held_or_actual_mode() else self._txt_wheel
+    rl.draw_circle(center_x, center_y, self._rect.width / 2, self._black_bg)
+    rl.draw_texture(texture, center_x - texture.width // 2, center_y - texture.height // 2, self._white_color)
+
+  def _held_or_actual_mode(self):
+    now = time.time()
+    if self._hold_end_time and now < self._hold_end_time:
+      return self._held_mode
+
+    if self._hold_end_time and now >= self._hold_end_time:
+      self._hold_end_time = self._held_mode = None
+
+    return self._experimental_mode
+
+  def _is_toggle_allowed(self):
+    if not self._params.get_bool("ExperimentalModeConfirmed"):
+      return False
+
+    car_params = ui_state.sm["carParams"]
+    if car_params.alphaLongitudinalAvailable:
+      return self._params.get_bool("AlphaLongitudinalEnabled")
+    else:
+      return car_params.openpilotLongitudinalControl

selfdrive/ui/onroad/hud_renderer.py

@@ -1,10 +1,11 @@
 import pyray as rl
 from dataclasses import dataclass
-from cereal.messaging import SubMaster
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
+from openpilot.selfdrive.ui.onroad.exp_button import ExpButton
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.common.conversions import Conversions as CV
+from openpilot.system.ui.lib.widget import Widget
 
 # Constants
 SET_SPEED_NA = 255
@@ -54,21 +55,25 @@ FONT_SIZES = FontSizes()
 COLORS = Colors()
 
 
-class HudRenderer:
+class HudRenderer(Widget):
   def __init__(self):
+    super().__init__()
     """Initialize the HUD renderer."""
     self.is_cruise_set: bool = False
     self.is_cruise_available: bool = False
     self.set_speed: float = SET_SPEED_NA
     self.speed: float = 0.0
     self.v_ego_cluster_seen: bool = False
-    self._wheel_texture: rl.Texture = gui_app.texture('icons/chffr_wheel.png', UI_CONFIG.wheel_icon_size, UI_CONFIG.wheel_icon_size)
+
     self._font_semi_bold: rl.Font = gui_app.font(FontWeight.SEMI_BOLD)
     self._font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
     self._font_medium: rl.Font = gui_app.font(FontWeight.MEDIUM)
 
-  def _update_state(self, sm: SubMaster) -> None:
+    self._exp_button = ExpButton(UI_CONFIG.button_size, UI_CONFIG.wheel_icon_size)
+
+  def _update_state(self) -> None:
     """Update HUD state based on car state and controls state."""
+    sm = ui_state.sm
     if sm.recv_frame["carState"] < ui_state.started_frame:
       self.is_cruise_set = False
       self.set_speed = SET_SPEED_NA
@@ -94,9 +99,9 @@ class HudRenderer:
     speed_conversion = CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH
     self.speed = max(0.0, v_ego * speed_conversion)
 
-  def draw(self, rect: rl.Rectangle, sm: SubMaster) -> None:
+  def _render(self, rect: rl.Rectangle) -> None:
     """Render HUD elements to the screen."""
-    self._update_state(sm)
+    # Draw the header background
     rl.draw_rectangle_gradient_v(
       int(rect.x),
       int(rect.y),
@@ -110,7 +115,13 @@ class HudRenderer:
       self._draw_set_speed(rect)
 
     self._draw_current_speed(rect)
-    self._draw_wheel_icon(rect)
+
+    button_x = rect.x + rect.width - UI_CONFIG.border_size - UI_CONFIG.button_size
+    button_y = rect.y + UI_CONFIG.border_size
+    self._exp_button.render(rl.Rectangle(button_x, button_y, UI_CONFIG.button_size, UI_CONFIG.button_size))
+
+  def handle_mouse_event(self) -> bool:
+    return bool(self._exp_button.handle_mouse_event())
 
   def _draw_set_speed(self, rect: rl.Rectangle) -> None:
     """Draw the MAX speed indicator box."""
@@ -166,13 +177,3 @@ class HudRenderer:
     unit_text_size = measure_text_cached(self._font_medium, unit_text, FONT_SIZES.speed_unit)
     unit_pos = rl.Vector2(rect.x + rect.width / 2 - unit_text_size.x / 2, 290 - unit_text_size.y / 2)
     rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.white_translucent)
-
-  def _draw_wheel_icon(self, rect: rl.Rectangle) -> None:
-    """Draw the steering wheel icon with status-based opacity."""
-    center_x = int(rect.x + rect.width - UI_CONFIG.border_size - UI_CONFIG.button_size / 2)
-    center_y = int(rect.y + UI_CONFIG.border_size + UI_CONFIG.button_size / 2)
-    rl.draw_circle(center_x, center_y, UI_CONFIG.button_size / 2, COLORS.black_translucent)
-
-    opacity = 0.7 if ui_state.status == UIStatus.DISENGAGED else 1.0
-    img_pos = rl.Vector2(center_x - self._wheel_texture.width / 2, center_y - self._wheel_texture.height / 2)
-    rl.draw_texture_v(self._wheel_texture, img_pos, rl.Color(255, 255, 255, int(255 * opacity)))

selfdrive/ui/onroad/model_renderer.py

@@ -7,9 +7,9 @@ from openpilot.common.params import Params
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.ui.lib.application import DEFAULT_FPS
 from openpilot.system.ui.lib.shader_polygon import draw_polygon
+from openpilot.system.ui.lib.widget import Widget
 from openpilot.selfdrive.locationd.calibrationd import HEIGHT_INIT
 
-
 CLIP_MARGIN = 500
 MIN_DRAW_DISTANCE = 10.0
 MAX_DRAW_DISTANCE = 100.0
@@ -36,6 +36,7 @@ class ModelPoints:
   raw_points: np.ndarray = field(default_factory=lambda: np.empty((0, 3), dtype=np.float32))
   projected_points: np.ndarray = field(default_factory=lambda: np.empty((0, 2), dtype=np.float32))
 
+
 @dataclass
 class LeadVehicle:
   glow: list[float] = field(default_factory=list)
@@ -43,8 +44,9 @@ class LeadVehicle:
   fill_alpha: int = 0
 
 
-class ModelRenderer:
+class ModelRenderer(Widget):
   def __init__(self):
+    super().__init__()
     self._longitudinal_control = False
     self._experimental_mode = False
     self._blend_factor = 1.0
@@ -64,11 +66,6 @@ class ModelRenderer:
     self._car_space_transform = np.zeros((3, 3), dtype=np.float32)
     self._transform_dirty = True
     self._clip_region = None
-    self._rect = None
-
-    # Pre-allocated arrays for polygon conversion
-    self._temp_points_3d = np.empty((MAX_POINTS * 2, 3), dtype=np.float32)
-    self._temp_proj = np.empty((3, MAX_POINTS * 2), dtype=np.float32)
 
     self._exp_gradient = {
       'start': (0.0, 1.0),  # Bottom of path
@@ -86,14 +83,15 @@ class ModelRenderer:
     self._car_space_transform = transform.astype(np.float32)
     self._transform_dirty = True
 
-  def draw(self, rect: rl.Rectangle, sm: messaging.SubMaster):
+  def _render(self, rect: rl.Rectangle):
+    sm = ui_state.sm
+
     # Check if data is up-to-date
     if (sm.recv_frame["liveCalibration"] < ui_state.started_frame or
         sm.recv_frame["modelV2"] < ui_state.started_frame):
       return
 
     # Set up clipping region
-    self._rect = rect
     self._clip_region = rl.Rectangle(
       rect.x - CLIP_MARGIN, rect.y - CLIP_MARGIN, rect.width + 2 * CLIP_MARGIN, rect.height + 2 * CLIP_MARGIN
     )
@@ -127,7 +125,6 @@ class ModelRenderer:
         self._update_leads(radar_state, path_x_array)
       self._transform_dirty = False
 
-
     # Draw elements
     self._draw_lane_lines()
     self._draw_path(sm)
@@ -256,7 +253,7 @@ class ModelRenderer:
     glow = [(x + (sz * 1.35) + g_xo, y + sz + g_yo), (x, y - g_yo), (x - (sz * 1.35) - g_xo, y + sz + g_yo)]
     chevron = [(x + (sz * 1.25), y + sz), (x, y), (x - (sz * 1.25), y + sz)]
 
-    return LeadVehicle(glow=glow,chevron=chevron, fill_alpha=int(fill_alpha))
+    return LeadVehicle(glow=glow, chevron=chevron, fill_alpha=int(fill_alpha))
 
   def _draw_lane_lines(self):
     """Draw lane lines and road edges"""
@@ -357,54 +354,60 @@ class ModelRenderer:
     if points.shape[0] == 0:
       return np.empty((0, 2), dtype=np.float32)
 
-    # Create left and right 3D points in one array
-    n_points = points.shape[0]
-    points_3d = self._temp_points_3d[:n_points * 2]
-    points_3d[:n_points, 0] = points_3d[n_points:, 0] = points[:, 0]
-    points_3d[:n_points, 1] = points[:, 1] - y_off
-    points_3d[n_points:, 1] = points[:, 1] + y_off
-    points_3d[:n_points, 2] = points_3d[n_points:, 2] = points[:, 2] + z_off
+    N = points.shape[0]
+    # Generate left and right 3D points in one array using broadcasting
+    offsets = np.array([[0, -y_off, z_off], [0, y_off, z_off]], dtype=np.float32)
+    points_3d = points[None, :, :] + offsets[:, None, :]  # Shape: 2xNx3
+    points_3d = points_3d.reshape(2 * N, 3)  # Shape: (2*N)x3
 
-    # Single matrix multiplication for projections
-    proj = np.ascontiguousarray(self._temp_proj[:, :n_points * 2])  # Slice the pre-allocated array
-    np.dot(self._car_space_transform, points_3d.T, out=proj)
-    valid_z = np.abs(proj[2]) > 1e-6
-    if not np.any(valid_z):
+    # Transform all points to projected space in one operation
+    proj = self._car_space_transform @ points_3d.T  # Shape: 3x(2*N)
+    proj = proj.reshape(3, 2, N)
+    left_proj = proj[:, 0, :]
+    right_proj = proj[:, 1, :]
+
+    # Filter points where z is sufficiently large
+    valid_proj = (np.abs(left_proj[2]) >= 1e-6) & (np.abs(right_proj[2]) >= 1e-6)
+    if not np.any(valid_proj):
       return np.empty((0, 2), dtype=np.float32)
 
     # Compute screen coordinates
-    screen = proj[:2, valid_z] / proj[2, valid_z][None, :]
-    left_screen = screen[:, :n_points].T
-    right_screen = screen[:, n_points:].T
+    left_screen = left_proj[:2, valid_proj] / left_proj[2, valid_proj][None, :]
+    right_screen = right_proj[:2, valid_proj] / right_proj[2, valid_proj][None, :]
 
-    # Ensure consistent shapes by re-aligning valid points
-    valid_points = np.minimum(left_screen.shape[0], right_screen.shape[0])
-    if valid_points == 0:
+    # Define clip region bounds
+    clip = self._clip_region
+    x_min, x_max = clip.x, clip.x + clip.width
+    y_min, y_max = clip.y, clip.y + clip.height
+
+    # Filter points within clip region
+    left_in_clip = (
+      (left_screen[0] >= x_min) & (left_screen[0] <= x_max) &
+      (left_screen[1] >= y_min) & (left_screen[1] <= y_max)
+    )
+    right_in_clip = (
+      (right_screen[0] >= x_min) & (right_screen[0] <= x_max) &
+      (right_screen[1] >= y_min) & (right_screen[1] <= y_max)
+    )
+    both_in_clip = left_in_clip & right_in_clip
+
+    if not np.any(both_in_clip):
       return np.empty((0, 2), dtype=np.float32)
-    left_screen = left_screen[:valid_points]
-    right_screen = right_screen[:valid_points]
 
-    if self._clip_region:
-      clip = self._clip_region
-      bounds_mask = (
-        (left_screen[:, 0] >= clip.x) & (left_screen[:, 0] <= clip.x + clip.width) &
-        (left_screen[:, 1] >= clip.y) & (left_screen[:, 1] <= clip.y + clip.height) &
-        (right_screen[:, 0] >= clip.x) & (right_screen[:, 0] <= clip.x + clip.width) &
-        (right_screen[:, 1] >= clip.y) & (right_screen[:, 1] <= clip.y + clip.height)
-      )
-      if not np.any(bounds_mask):
+    # Select valid and clipped points
+    left_screen = left_screen[:, both_in_clip]
+    right_screen = right_screen[:, both_in_clip]
+
+    # Handle Y-coordinate inversion on hills
+    if not allow_invert and left_screen.shape[1] > 1:
+      y = left_screen[1, :]  # y-coordinates
+      keep = y == np.minimum.accumulate(y)
+      if not np.any(keep):
         return np.empty((0, 2), dtype=np.float32)
-      left_screen = left_screen[bounds_mask]
-      right_screen = right_screen[bounds_mask]
+      left_screen = left_screen[:, keep]
+      right_screen = right_screen[:, keep]
 
-    if not allow_invert and left_screen.shape[0] > 1:
-      keep = np.concatenate(([True], np.diff(left_screen[:, 1]) < 0))
-      left_screen = left_screen[keep]
-      right_screen = right_screen[keep]
-      if left_screen.shape[0] == 0:
-        return np.empty((0, 2), dtype=np.float32)
-
-    return np.vstack((left_screen, right_screen[::-1])).astype(np.float32)
+    return np.vstack((left_screen.T, right_screen[:, ::-1].T)).astype(np.float32)
 
   @staticmethod
   def _map_val(x, x0, x1, y0, y1):
@@ -417,10 +420,10 @@ class ModelRenderer:
   def _hsla_to_color(h, s, l, a):
     rgb = colorsys.hls_to_rgb(h, l, s)
     return rl.Color(
-        int(rgb[0] * 255),
-        int(rgb[1] * 255),
-        int(rgb[2] * 255),
-        int(a * 255)
+      int(rgb[0] * 255),
+      int(rgb[1] * 255),
+      int(rgb[2] * 255),
+      int(a * 255)
     )
 
   @staticmethod

selfdrive/ui/qt/offroad/firehose.cc

@@ -22,7 +22,7 @@ FirehosePanel::FirehosePanel(SettingsWindow *parent) : QWidget((QWidget*)parent)
   layout->setSpacing(20);
 
   // header
-  QLabel *title = new QLabel(tr("🔥 Firehose Mode 🔥"));
+  QLabel *title = new QLabel(tr("Firehose Mode"));
   title->setStyleSheet("font-size: 100px; font-weight: 500; font-family: 'Noto Color Emoji';");
   layout->addWidget(title, 0, Qt::AlignCenter);
 

selfdrive/ui/qt/offroad/settings.cc

@@ -139,6 +139,15 @@ void TogglesPanel::expandToggleDescription(const QString &param) {
   toggles[param.toStdString()]->showDescription();
 }
 
+void TogglesPanel::scrollToToggle(const QString &param) {
+  if (auto it = toggles.find(param.toStdString()); it != toggles.end()) {
+    auto scroll_area = qobject_cast<QScrollArea*>(parent()->parent());
+    if (scroll_area) {
+      scroll_area->ensureWidgetVisible(it->second);
+    }
+  }
+}
+
 void TogglesPanel::showEvent(QShowEvent *event) {
   updateToggles();
 }
@@ -222,7 +231,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   addItem(dcamBtn);
 #endif
 
-  auto resetCalibBtn = new ButtonControl(tr("Reset Calibration"), tr("RESET"), "");
+  resetCalibBtn = new ButtonControl(tr("Reset Calibration"), tr("RESET"), "");
   connect(resetCalibBtn, &ButtonControl::showDescriptionEvent, this, &DevicePanel::updateCalibDescription);
   connect(resetCalibBtn, &ButtonControl::clicked, [&]() {
     if (!uiState()->engaged()) {
@@ -235,6 +244,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
           params.remove("LiveParametersV2");
           params.remove("LiveDelay");
           params.putBool("OnroadCycleRequested", true);
+          updateCalibDescription();
         }
       }
     } else {
@@ -313,9 +323,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
 }
 
 void DevicePanel::updateCalibDescription() {
-  QString desc =
-      tr("sunnypilot requires the device to be mounted within 4° left or right and "
-         "within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.");
+  QString desc = tr("sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.");
   std::string calib_bytes = params.get("CalibrationParams");
   if (!calib_bytes.empty()) {
     try {
@@ -333,8 +341,53 @@ void DevicePanel::updateCalibDescription() {
       qInfo() << "invalid CalibrationParams";
     }
   }
-  desc += tr(" Resetting calibration will restart openpilot if the car is powered on.");
-  qobject_cast<ButtonControl *>(sender())->setDescription(desc);
+
+  const bool is_release = params.getBool("IsReleaseBranch");
+  if (!is_release) {
+    int lag_perc = 0;
+    std::string lag_bytes = params.get("LiveDelay");
+    if (!lag_bytes.empty()) {
+      try {
+        AlignedBuffer aligned_buf;
+        capnp::FlatArrayMessageReader cmsg(aligned_buf.align(lag_bytes.data(), lag_bytes.size()));
+        lag_perc = cmsg.getRoot<cereal::Event>().getLiveDelay().getCalPerc();
+      } catch (kj::Exception) {
+        qInfo() << "invalid LiveDelay";
+      }
+    }
+    desc += "\n\n";
+    if (lag_perc < 100) {
+      desc += tr("Steering lag calibration is %1% complete.").arg(lag_perc);
+    } else {
+      desc += tr("Steering lag calibration is complete.");
+    }
+  }
+
+  std::string torque_bytes = params.get("LiveTorqueParameters");
+  if (!torque_bytes.empty()) {
+    try {
+      AlignedBuffer aligned_buf;
+      capnp::FlatArrayMessageReader cmsg(aligned_buf.align(torque_bytes.data(), torque_bytes.size()));
+      auto torque = cmsg.getRoot<cereal::Event>().getLiveTorqueParameters();
+      // don't add for non-torque cars
+      if (torque.getUseParams()) {
+        int torque_perc = torque.getCalPerc();
+        desc += is_release ? "\n\n" : " ";
+        if (torque_perc < 100) {
+          desc += tr("Steering torque response calibration is %1% complete.").arg(torque_perc);
+        } else {
+          desc += tr("Steering torque response calibration is complete.");
+        }
+      }
+    } catch (kj::Exception) {
+      qInfo() << "invalid LiveTorqueParameters";
+    }
+  }
+
+  desc += "\n\n";
+  desc += tr("openpilot is continuously calibrating, resetting is rarely required. "
+             "Resetting calibration will restart openpilot if the car is powered on.");
+  resetCalibBtn->setDescription(desc);
 }
 
 void DevicePanel::reboot() {
@@ -387,6 +440,7 @@ void SettingsWindow::setCurrentPanel(int index, const QString &param) {
       }
     } else {
       emit expandToggleDescription(param);
+      emit scrollToToggle(param);
     }
   }
 
@@ -427,6 +481,7 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
 
   TogglesPanel *toggles = new TogglesPanel(this);
   QObject::connect(this, &SettingsWindow::expandToggleDescription, toggles, &TogglesPanel::expandToggleDescription);
+  QObject::connect(this, &SettingsWindow::scrollToToggle, toggles, &TogglesPanel::scrollToToggle);
 
   auto networking = new Networking(this);
   QObject::connect(uiState()->prime_state, &PrimeState::changed, networking, &Networking::setPrimeType);

selfdrive/ui/qt/offroad/settings.h

@@ -42,6 +42,7 @@ signals:
   void reviewTrainingGuide();
   void showDriverView();
   void expandToggleDescription(const QString &param);
+  void scrollToToggle(const QString &param);
 
 protected:
   QPushButton *sidebar_alert_widget;
@@ -67,6 +68,7 @@ protected slots:
 protected:
   Params params;
   ButtonControl *pair_device;
+  ButtonControl *resetCalibBtn;
 };
 
 class TogglesPanel : public ListWidget {
@@ -77,6 +79,7 @@ public:
 
 public slots:
   void expandToggleDescription(const QString &param);
+  void scrollToToggle(const QString &param);
 
 protected slots:
   virtual void updateState(const UIState &s);

selfdrive/ui/qt/setup/setup.cc

@@ -136,6 +136,59 @@ QWidget * Setup::low_voltage() {
   return widget;
 }
 
+QWidget * Setup::custom_software_warning() {
+  QWidget *widget = new QWidget();
+  QVBoxLayout *main_layout = new QVBoxLayout(widget);
+  main_layout->setContentsMargins(55, 0, 55, 55);
+  main_layout->setSpacing(0);
+
+  QVBoxLayout *inner_layout = new QVBoxLayout();
+  inner_layout->setContentsMargins(110, 110, 300, 0);
+  main_layout->addLayout(inner_layout);
+
+  QLabel *title = new QLabel(tr("WARNING: Custom Software"));
+  title->setStyleSheet("font-size: 90px; font-weight: 500; color: #FF594F;");
+  inner_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft);
+
+  inner_layout->addSpacing(25);
+
+  QLabel *body = new QLabel(tr("Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.\n\nIf you'd like to proceed, use https://flash.comma.ai to restore your device to a factory state later."));
+  body->setWordWrap(true);
+  body->setAlignment(Qt::AlignTop | Qt::AlignLeft);
+  body->setStyleSheet("font-size: 65px; font-weight: 300;");
+  inner_layout->addWidget(body);
+
+  inner_layout->addStretch();
+
+  QHBoxLayout *blayout = new QHBoxLayout();
+  blayout->setSpacing(50);
+  main_layout->addLayout(blayout, 0);
+
+  QPushButton *back = new QPushButton(tr("Back"));
+  back->setObjectName("navBtn");
+  blayout->addWidget(back);
+  QObject::connect(back, &QPushButton::clicked, this, &Setup::prevPage);
+
+  QPushButton *cont = new QPushButton(tr("Continue"));
+  cont->setObjectName("navBtn");
+  blayout->addWidget(cont);
+  QObject::connect(cont, &QPushButton::clicked, this, [=]() {
+    QTimer::singleShot(0, [=]() {
+      setCurrentWidget(downloading_widget);
+    });
+    QString url = InputDialog::getText(tr("Enter URL"), this, tr("for Custom Software"));
+    if (!url.isEmpty()) {
+      QTimer::singleShot(1000, this, [=]() {
+        download(url);
+      });
+    } else {
+      setCurrentWidget(software_selection_widget);
+    }
+  });
+
+  return widget;
+}
+
 QWidget * Setup::getting_started() {
   QWidget *widget = new QWidget();
 
@@ -305,20 +358,17 @@ QWidget * Setup::software_selection() {
   blayout->addWidget(cont);
 
   QObject::connect(cont, &QPushButton::clicked, [=]() {
-    auto w = currentWidget();
-    QTimer::singleShot(0, [=]() {
-      setCurrentWidget(downloading_widget);
-    });
-    QString url = OPENPILOT_URL;
     if (group->checkedButton() != openpilot) {
-      url = InputDialog::getText(tr("Enter URL"), this, tr("for Custom Software"));
-    }
-    if (!url.isEmpty()) {
-      QTimer::singleShot(1000, this, [=]() {
-        download(url);
+      QTimer::singleShot(0, [=]() {
+        setCurrentWidget(custom_software_warning_widget);
       });
     } else {
-      setCurrentWidget(w);
+      QTimer::singleShot(0, [=]() {
+        setCurrentWidget(downloading_widget);
+      });
+      QTimer::singleShot(1000, this, [=]() {
+        download(OPENPILOT_URL);
+      });
     }
   });
 
@@ -415,8 +465,10 @@ Setup::Setup(QWidget *parent) : QStackedWidget(parent) {
 
   addWidget(getting_started());
   addWidget(network_setup());
-  addWidget(software_selection());
-
+  software_selection_widget = software_selection();
+  addWidget(software_selection_widget);
+  custom_software_warning_widget = custom_software_warning();
+  addWidget(custom_software_warning_widget);
   downloading_widget = downloading();
   addWidget(downloading_widget);
 

selfdrive/ui/qt/setup/setup.h

@@ -15,6 +15,7 @@ public:
 private:
   void selectLanguage();
   QWidget *low_voltage();
+  QWidget *custom_software_warning();
   QWidget *getting_started();
   QWidget *network_setup();
   QWidget *software_selection();
@@ -23,6 +24,8 @@ private:
 
   QWidget *failed_widget;
   QWidget *downloading_widget;
+  QWidget *custom_software_warning_widget;
+  QWidget *software_selection_widget;
   QTranslator translator;
 
 signals:

selfdrive/ui/sunnypilot/SConscript

@@ -49,6 +49,10 @@ lateral_panel_qt_src = [
   "sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc",
 ]
 
+longitudinal_panel_qt_src = [
+  "sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.cc",
+]
+
 network_src = [
   "sunnypilot/qt/network/sunnylink/sunnylink_client.cc",
   "sunnypilot/qt/network/sunnylink/services/base_device_service.cc",
@@ -83,7 +87,7 @@ brand_settings_qt_src = [
 
 
 sp_widgets_src = widgets_src + network_src
-sp_qt_src = qt_src + lateral_panel_qt_src + vehicle_panel_qt_src + brand_settings_qt_src + osm_panel_qt_src
+sp_qt_src = qt_src + lateral_panel_qt_src + vehicle_panel_qt_src + brand_settings_qt_src + longitudinal_panel_qt_src + osm_panel_qt_src
 sp_qt_util = qt_util
 
 Export('sp_widgets_src', 'sp_qt_src', "sp_qt_util")

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.cc

@@ -0,0 +1,47 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.h"
+
+CustomAccIncrement::CustomAccIncrement(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent)
+    : ExpandableToggleRow(param, title, desc, icon, parent) {
+  auto *accFrame = new QFrame(this);
+  auto *accFrameLayout = new QGridLayout();
+  accFrame->setLayout(accFrameLayout);
+  accFrameLayout->setSpacing(0);
+
+  auto *shortPressControl = new AccIncrementOptionControl("CustomAccShortPressIncrement", {1, 10}, 1);
+  connect(shortPressControl, &OptionControlSP::updateLabels, shortPressControl, &AccIncrementOptionControl::refresh);
+
+  auto *longPressControl = new AccIncrementOptionControl("CustomAccLongPressIncrement", {1, 3}, 1, &customLongValues);
+  connect(longPressControl, &OptionControlSP::updateLabels, longPressControl, &AccIncrementOptionControl::refresh);
+
+  shortPressControl->setFixedWidth(280);
+  longPressControl->setFixedWidth(280);
+  accFrameLayout->addWidget(shortPressControl, 0, 0, Qt::AlignLeft);
+  accFrameLayout->addWidget(longPressControl, 0, 1, Qt::AlignRight);
+
+  addItem(accFrame);
+}
+
+AccIncrementOptionControl::AccIncrementOptionControl(const QString &param, const MinMaxValue &range, const int per_value_change, const QMap<QString, QString> *valMap)
+    : OptionControlSP(param, "", "", "", range, per_value_change, true, valMap) {
+  param_name = param.toStdString();
+  refresh();
+}
+
+void AccIncrementOptionControl::refresh() {
+  std::string val = params.get(param_name);
+  std::string label = "<span style='font-size: 45px; font-weight: 450; color: #FFFFFF;'>";
+  label += param_name == "CustomAccShortPressIncrement" ? "Short Press" : "Long Press";
+  label += " <br><span style='font-size: 40px; font-weight: 450; color:rgb(174, 255, 195);'>" + val;
+  label += param_name == "CustomAccShortPressIncrement"
+             ? (val == "1" ? " (Default)" : "")
+             : (val == "5" ? " (Default)" : "");
+  label += "</span></span>";
+  setLabel(QString::fromStdString(label));
+}

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.h

@@ -0,0 +1,41 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h"
+
+class CustomAccIncrement : public ExpandableToggleRow {
+  Q_OBJECT
+
+public:
+  CustomAccIncrement(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr);
+
+private:
+  QMap<QString, QString> customLongValues = {
+    {"1", "1"},
+    {"2", "5"}, // Default
+    {"3", "10"}
+  };
+};
+
+class AccIncrementOptionControl : public OptionControlSP {
+  Q_OBJECT
+
+public:
+  AccIncrementOptionControl(const QString &param, const MinMaxValue &range, int per_value_change, const QMap<QString, QString> *valMap = nullptr);
+  void refresh();
+
+protected:
+  std::string param_name;
+
+private:
+  Params params;
+};

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc

@@ -8,4 +8,72 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h"
 
 LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
+  main_layout = new QStackedLayout(this);
+  ListWidget *list = new ListWidget(this, false);
+
+  cruisePanelScreen = new QWidget(this);
+  QVBoxLayout *vlayout = new QVBoxLayout(cruisePanelScreen);
+  vlayout->setContentsMargins(0, 0, 0, 0);
+
+  cruisePanelScroller = new ScrollViewSP(list, this);
+  vlayout->addWidget(cruisePanelScroller);
+
+  customAccIncrement = new CustomAccIncrement("CustomAccIncrementsEnabled", tr("Custom ACC Speed Increments"), "", "", this);
+  list->addItem(customAccIncrement);
+
+  QObject::connect(uiState(), &UIState::offroadTransition, this, &LongitudinalPanel::refresh);
+
+  main_layout->addWidget(cruisePanelScreen);
+  main_layout->setCurrentWidget(cruisePanelScreen);
+  refresh(offroad);
+}
+
+void LongitudinalPanel::showEvent(QShowEvent *event) {
+  main_layout->setCurrentWidget(cruisePanelScreen);
+  refresh(offroad);
+}
+
+void LongitudinalPanel::refresh(bool _offroad) {
+  auto cp_bytes = params.get("CarParamsPersistent");
+  if (!cp_bytes.empty()) {
+    AlignedBuffer aligned_buf;
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+
+    has_longitudinal_control = hasLongitudinalControl(CP);
+    is_pcm_cruise = CP.getPcmCruise();
+  } else {
+    has_longitudinal_control = false;
+    is_pcm_cruise = false;
+  }
+
+  QString accEnabledDescription = tr("Enable custom Short & Long press increments for cruise speed increase/decrease.");
+  QString accNoLongDescription = tr("This feature can only be used with openpilot longitudinal control enabled.");
+  QString accPcmCruiseDisabledDescription = tr("This feature is not supported on this platform due to vehicle limitations.");
+  QString onroadOnlyDescription = tr("Start the vehicle to check vehicle compatibility.");
+
+  if (offroad) {
+    customAccIncrement->setDescription(onroadOnlyDescription);
+    customAccIncrement->showDescription();
+  } else {
+    if (has_longitudinal_control) {
+      if (is_pcm_cruise) {
+        customAccIncrement->setDescription(accPcmCruiseDisabledDescription);
+        customAccIncrement->showDescription();
+      } else {
+        customAccIncrement->setDescription(accEnabledDescription);
+      }
+    } else {
+      params.remove("CustomAccIncrementsEnabled");
+      customAccIncrement->toggleFlipped(false);
+      customAccIncrement->setDescription(accNoLongDescription);
+      customAccIncrement->showDescription();
+    }
+  }
+
+  // enable toggle when long is available and is not PCM cruise
+  customAccIncrement->setEnabled(has_longitudinal_control && !is_pcm_cruise && !offroad);
+  customAccIncrement->refresh();
+
+  offroad = _offroad;
 }

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h

@@ -7,11 +7,26 @@
 
 #pragma once
 
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
 
 class LongitudinalPanel : public QWidget {
   Q_OBJECT
 
 public:
   explicit LongitudinalPanel(QWidget *parent = nullptr);
+  void showEvent(QShowEvent *event) override;
+  void refresh(bool _offroad);
+
+private:
+  Params params;
+  bool has_longitudinal_control = false;
+  bool is_pcm_cruise = false;
+  bool offroad = false;
+
+  QStackedLayout *main_layout = nullptr;
+  ScrollViewSP *cruisePanelScroller = nullptr;
+  QWidget *cruisePanelScreen = nullptr;
+  CustomAccIncrement *customAccIncrement = nullptr;
 };

selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc

@@ -7,21 +7,55 @@
 
 #include <algorithm>
 #include <QJsonDocument>
+#include <QStyle>
 
 #include "common/model.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
 
+static const QString progressStyleActive = "QProgressBar {"
+    "  font-size: 40px;"
+    "  font-weight: 200;"
+    "  padding: 1px;"
+    "  border: 3px solid black;"
+    "  border-radius: 10px;"
+    "}"
+    "QProgressBar::chunk {"
+    "  background-color: #1e79e8;"
+    "  border-radius: 10px;"
+    "}";
+
+static const QString progressStyleInactive = progressStyleActive +
+    "QProgressBar::chunk {"
+    "  background-color: transparent;"
+    "}";
+
+static const QString progressStyleDone = progressStyleActive +
+    "QProgressBar {"
+    "  color: #33ab4c;"
+    "}"
+    "QProgressBar::chunk {"
+    "  background-color: transparent;"
+    "}";
+
+static const QString progressStyleError = progressStyleActive +
+    "QProgressBar {"
+    "  color: red;"
+    "}"
+    "QProgressBar::chunk {"
+    "  background-color: transparent;"
+    "}";
+
 ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
   QVBoxLayout *main_layout = new QVBoxLayout(this);
   main_layout->setContentsMargins(50, 20, 50, 20);
 
-  ListWidgetSP *list = new ListWidgetSP(this);
+  ListWidgetSP *list = new ListWidgetSP(this, false);
   ScrollViewSP *scroller = new ScrollViewSP(list, this);
   main_layout->addWidget(scroller);
 
   const auto current_model = GetActiveModelName();
-  currentModelLblBtn = new ButtonControlSP(tr("Current Model"), tr("SELECT"), current_model);
+  currentModelLblBtn = new ButtonControlSP(tr("Current Model"), tr("SELECT"), "", this);
   currentModelLblBtn->setValue(current_model);
 
   connect(currentModelLblBtn, &ButtonControlSP::clicked, this, &ModelsPanel::handleCurrentModelLblBtnClicked);
@@ -32,6 +66,29 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
   connect(uiStateSP(), &UIStateSP::uiUpdate, this, &ModelsPanel::updateLabels);
   list->addItem(currentModelLblBtn);
 
+  // Create progress bars for downloads
+  supercomboProgressBar = createProgressBar(this);
+  QString supercomboType = tr("Driving Model");
+  supercomboFrame = createModelDetailFrame(this, supercomboType, supercomboProgressBar);
+  list->addItem(supercomboFrame);
+
+  navigationProgressBar = createProgressBar(this);
+  QString navigationType = tr("Navigation Model");
+  navigationFrame = createModelDetailFrame(this, navigationType, navigationProgressBar);
+  list->addItem(navigationFrame);
+
+  visionProgressBar = createProgressBar(this);
+  QString visionType = tr("Vision Model");
+  visionFrame = createModelDetailFrame(this, visionType, visionProgressBar);
+  list->addItem(visionFrame);
+
+  policyProgressBar = createProgressBar(this);
+  QString policyType = tr("Policy Model");
+  policyFrame = createModelDetailFrame(this, policyType, policyProgressBar);
+  list->addItem(policyFrame);
+
+  list->addItem(horizontal_line());
+
   // LiveDelay toggle
   list->addItem(new ParamControlSP("LagdToggle",
                                    tr("Live Learning Steer Delay"),
@@ -40,15 +97,38 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
                                    "../assets/offroad/icon_shell.png"));
 }
 
+QProgressBar* ModelsPanel::createProgressBar(QWidget *parent) {
+  QProgressBar *progressBar = new QProgressBar(parent);
+  progressBar->setRange(0, 100);
+  progressBar->setValue(0);
+  progressBar->setTextVisible(true);
+  progressBar->setAlignment(Qt::AlignVCenter);
+  return progressBar;
+}
+
+QFrame* ModelsPanel::createModelDetailFrame(QWidget *parent, QString &typeName, QProgressBar *progressBar) {
+  QFrame *frame = new QFrame(parent);
+  QHBoxLayout *layout = new QHBoxLayout(frame);
+  layout->setContentsMargins(0, 0, 0, 0);
+  layout->setSpacing(50);
+  layout->addWidget(new QLabel(typeName));
+  layout->addWidget(progressBar);
+  frame->setVisible(false);
+  return frame;
+}
 
 /**
  * @brief Updates the UI with bundle download progress information
  * Reads status from modelManagerSP cereal message and displays status for all models
  */
 void ModelsPanel::handleBundleDownloadProgress() {
+  supercomboFrame->setVisible(false);
+  visionFrame->setVisible(false);
+  policyFrame->setVisible(false);
+  navigationFrame->setVisible(false);
+
   using DS = cereal::ModelManagerSP::DownloadStatus;
   if (!model_manager.hasSelectedBundle() && !model_manager.hasActiveBundle()) {
-    currentModelLblBtn->setDescription(tr("No custom model selected!"));
     return;
   }
 
@@ -61,21 +141,27 @@ void ModelsPanel::handleBundleDownloadProgress() {
 
   // Get status for each model type in order
   for (const auto &model: models) {
-    QString typeName;
     QString modelName = QString::fromStdString(bundle.getDisplayName());
 
+    QProgressBar *progressBar = nullptr;
+    QFrame *modelFrame = nullptr;
+
     switch (model.getType()) {
       case cereal::ModelManagerSP::Model::Type::SUPERCOMBO:
-        typeName = tr("Driving");
+        progressBar = supercomboProgressBar;
+        modelFrame = supercomboFrame;
         break;
       case cereal::ModelManagerSP::Model::Type::NAVIGATION:
-        typeName = tr("Navigation");
+        progressBar = navigationProgressBar;
+        modelFrame = navigationFrame;
         break;
       case cereal::ModelManagerSP::Model::Type::VISION:
-        typeName = tr("Vision");
+        progressBar = visionProgressBar;
+        modelFrame = visionFrame;
         break;
       case cereal::ModelManagerSP::Model::Type::POLICY:
-        typeName = tr("Policy");
+        progressBar = policyProgressBar;
+        modelFrame = policyFrame;
         break;
     }
 
@@ -83,31 +169,26 @@ void ModelsPanel::handleBundleDownloadProgress() {
     QString line;
 
     if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADING) {
-      line = tr("Downloading %1 model [%2]... (%3%)").arg(typeName, modelName).arg(progress.getProgress(), 0, 'f', 2);
+      progressBar->setStyleSheet(progressStyleActive);
+      progressBar->setValue(progress.getProgress());
+      progressBar->setFormat(QString("  %1% - %2").arg(static_cast<int>(progress.getProgress())).arg(modelName));
+      device()->resetInteractiveTimeout();
     } else if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADED) {
-      line = tr("%1 model [%2] %3").arg(typeName, modelName, download_status_changed ? tr("downloaded") : tr("ready"));
+      progressBar->setStyleSheet(progressStyleDone);
+      progressBar->setFormat(tr("  %1 - %2").arg(modelName, download_status_changed ? tr("downloaded") : tr("ready")));
     } else if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::CACHED) {
-      line = tr("%1 model [%2] %3").arg(typeName, modelName, download_status_changed ? tr("from cache") : tr("ready"));
+      progressBar->setStyleSheet(progressStyleDone);
+      progressBar->setFormat(tr("  %1 - %2").arg(modelName, download_status_changed ? tr("from cache") : tr("ready")));
     } else if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::FAILED) {
-      line = tr("%1 model [%2] download failed").arg(typeName, modelName);
+      progressBar->setStyleSheet(progressStyleError);
+      progressBar->setFormat(tr("  download failed - %1").arg(modelName));
     } else {
-      line = tr("%1 model [%2] pending...").arg(typeName, modelName);
+      progressBar->setStyleSheet(progressStyleInactive);
+      progressBar->setFormat(tr("  pending - %1").arg(modelName));
     }
-    status.append(line);
-  }
-
-  currentModelLblBtn->setDescription(status.join("\n"));
-
-  if (prev_download_status != download_status) {
-    switch (bundle.getStatus()) {
-      case cereal::ModelManagerSP::DownloadStatus::DOWNLOADING:
-      case cereal::ModelManagerSP::DownloadStatus::CACHED:
-      case cereal::ModelManagerSP::DownloadStatus::DOWNLOADED:
-        currentModelLblBtn->showDescription();
-        break;
-      case cereal::ModelManagerSP::DownloadStatus::FAILED:
-      default:
-        break;
+    // keep navigation hidden for now to avoid confusion
+    if (model.getType() != cereal::ModelManagerSP::Model::Type::NAVIGATION) {
+      modelFrame->setVisible(true);
     }
   }
   prev_download_status = download_status;
@@ -125,6 +206,17 @@ QString ModelsPanel::GetActiveModelName() {
   return DEFAULT_MODEL;
 }
 
+/**
+ * @brief Gets the short name of the currently selected model bundle
+ * @return Display short name of the selected bundle or default model name
+ */
+QString ModelsPanel::GetActiveModelInternalName() {
+  if (model_manager.hasActiveBundle()) {
+    return QString::fromStdString(model_manager.getActiveBundle().getInternalName());
+  }
+  return DEFAULT_MODEL;
+}
+
 void ModelsPanel::updateModelManagerState() {
   const SubMaster &sm = *(uiStateSP()->sm);
   model_manager = sm["modelManagerSP"].getModelManagerSP();
@@ -156,7 +248,7 @@ void ModelsPanel::handleCurrentModelLblBtnClicked() {
     bundleNames.append(index_to_bundle[index]);
   }
 
-  currentModelLblBtn->setValue(GetActiveModelName());
+  currentModelLblBtn->setValue(GetActiveModelInternalName());
 
   const QString selectedBundleName = MultiOptionDialog::getSelection(
     tr("Select a Model"), bundleNames, GetActiveModelName(), this);
@@ -197,7 +289,7 @@ void ModelsPanel::updateLabels() {
   updateModelManagerState();
   handleBundleDownloadProgress();
   currentModelLblBtn->setEnabled(!is_onroad && !isDownloading());
-  currentModelLblBtn->setValue(GetActiveModelName());
+  currentModelLblBtn->setValue(GetActiveModelInternalName());
 }
 
 /**

selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h

@@ -7,6 +7,8 @@
 
 #pragma once
 
+#include <QProgressBar>
+
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 
 class ModelsPanel : public QWidget {
@@ -17,6 +19,7 @@ public:
 
 private:
   QString GetActiveModelName();
+  QString GetActiveModelInternalName();
   void updateModelManagerState();
 
   bool isDownloading() const {
@@ -33,6 +36,8 @@ private:
   void handleCurrentModelLblBtnClicked();
   void handleBundleDownloadProgress();
   void showResetParamsDialog();
+  QProgressBar* createProgressBar(QWidget *parent);
+  QFrame* createModelDetailFrame(QWidget *parent, QString &typeName, QProgressBar *progressBar);
   cereal::ModelManagerSP::Reader model_manager;
   cereal::ModelManagerSP::DownloadStatus download_status{};
   cereal::ModelManagerSP::DownloadStatus prev_download_status{};
@@ -59,6 +64,14 @@ private:
   bool is_onroad = false;
 
   ButtonControlSP *currentModelLblBtn;
+  QProgressBar *supercomboProgressBar;
+  QFrame *supercomboFrame;
+  QProgressBar *navigationProgressBar;
+  QFrame *navigationFrame;
+  QProgressBar *visionProgressBar;
+  QFrame *visionFrame;
+  QProgressBar *policyProgressBar;
+  QFrame *policyFrame;
   Params params;
 
 };

selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc

@@ -72,6 +72,7 @@ SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) {
 
   TogglesPanelSP *toggles = new TogglesPanelSP(this);
   QObject::connect(this, &SettingsWindowSP::expandToggleDescription, toggles, &TogglesPanel::expandToggleDescription);
+  QObject::connect(this, &SettingsWindowSP::scrollToToggle, toggles, &TogglesPanel::scrollToToggle);
 
   auto networking = new NetworkingSP(this);
   QObject::connect(uiState()->prime_state, &PrimeState::changed, networking, &NetworkingSP::setPrimeType);

selfdrive/ui/tests/test_ui/run.py

@@ -246,10 +246,10 @@ def setup_settings_steering_alc(click, pm: PubMaster, scroll=None):
   click(970, 534)
   time.sleep(UI_DELAY)
 
-def setup_settings_driving(click, pm: PubMaster, scroll=None):
+def setup_settings_cruise(click, pm: PubMaster, scroll=None):
   setup_settings_device(click, pm)
-  scroll(-1, 278, 962)
-  click(278, 962)
+  scroll(-400, 278, 962)
+  click(278, 324)
   time.sleep(UI_DELAY)
 
 def setup_settings_visuals(click, pm: PubMaster, scroll=None):
@@ -312,7 +312,7 @@ CASES.update({
   "settings_steering": setup_settings_steering,
   "settings_steering_mads": setup_settings_steering_mads,
   "settings_steering_alc": setup_settings_steering_alc,
-  "settings_driving": setup_settings_driving,
+  "settings_cruise": setup_settings_cruise,
   "settings_visuals": setup_settings_visuals,
   "settings_trips": setup_settings_trips,
   "settings_vehicle": setup_settings_vehicle,
@@ -391,9 +391,9 @@ def create_screenshots():
       driver_img = frames[2]
   else:
     with open(frames_cache, 'wb') as f:
-      road_img = FrameReader(route.camera_paths()[segnum]).get(0, pix_fmt="nv12")[0]
-      wide_road_img = FrameReader(route.ecamera_paths()[segnum]).get(0, pix_fmt="nv12")[0]
-      driver_img = FrameReader(route.dcamera_paths()[segnum]).get(0, pix_fmt="nv12")[0]
+      road_img = FrameReader(route.camera_paths()[segnum], pix_fmt="nv12").get(0)
+      wide_road_img = FrameReader(route.ecamera_paths()[segnum], pix_fmt="nv12").get(0)
+      driver_img = FrameReader(route.dcamera_paths()[segnum], pix_fmt="nv12").get(0)
       pickle.dump([road_img, wide_road_img, driver_img], f)
 
   STREAMS.append((VisionStreamType.VISION_STREAM_ROAD, cam.fcam, road_img.flatten().tobytes()))

selfdrive/ui/ui.py

@@ -6,16 +6,16 @@ from openpilot.selfdrive.ui.layouts.main import MainLayout
 from openpilot.selfdrive.ui.ui_state import ui_state
 
 
-
 def main():
   gui_app.init_window("UI")
   main_layout = MainLayout()
+  main_layout.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
   for _ in gui_app.render():
     ui_state.update()
 
-    #TODO handle brigntness and awake state here
+    # TODO handle brigntness and awake state here
 
-    main_layout.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+    main_layout.render()
 
     kick_watchdog()
 

selfdrive/ui/ui_state.py

@@ -1,8 +1,10 @@
 import pyray as rl
+import time
+from collections.abc import Callable
 from enum import Enum
 from cereal import messaging, log
 from openpilot.common.params import Params, UnknownKeyName
-
+from openpilot.selfdrive.ui.lib.prime_state import PrimeState
 
 UI_BORDER_SIZE = 30
 
@@ -44,6 +46,8 @@ class UIState:
       ]
     )
 
+    self.prime_state = PrimeState()
+
     # UI Status tracking
     self.status: UIStatus = UIStatus.DISENGAGED
     self.started_frame: int = 0
@@ -64,10 +68,17 @@ class UIState:
   def engaged(self) -> bool:
     return self.started and self.sm["selfdriveState"].enabled
 
+  def is_onroad(self) -> bool:
+    return self.started
+
+  def is_offroad(self) -> bool:
+    return not self.started
+
   def update(self) -> None:
     self.sm.update(0)
     self._update_state()
     self._update_status()
+    device.update()
 
   def _update_state(self) -> None:
     # Handle panda states updates
@@ -125,5 +136,36 @@ class UIState:
       self.is_metric = False
 
 
+class Device:
+  def __init__(self):
+    self._ignition = False
+    self._interaction_time: float = 0.0
+    self._interactive_timeout_callbacks: list[Callable] = []
+    self._prev_timed_out = False
+    self.reset_interactive_timeout()
+
+  def reset_interactive_timeout(self, timeout: int = -1) -> None:
+    if timeout == -1:
+      timeout = 10 if ui_state.ignition else 30
+    self._interaction_time = time.monotonic() + timeout
+
+  def add_interactive_timeout_callback(self, callback: Callable):
+    self._interactive_timeout_callbacks.append(callback)
+
+  def update(self):
+    # Handle interactive timeout
+    ignition_just_turned_off = not ui_state.ignition and self._ignition
+    self._ignition = ui_state.ignition
+
+    interaction_timeout = time.monotonic() > self._interaction_time
+    if ignition_just_turned_off or rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT):
+      self.reset_interactive_timeout()
+    elif interaction_timeout and not self._prev_timed_out:
+      for callback in self._interactive_timeout_callbacks:
+        callback()
+    self._prev_timed_out = interaction_timeout
+
+
 # Global instance
 ui_state = UIState()
+device = Device()

selfdrive/ui/widgets/exp_mode_button.py

@@ -0,0 +1,74 @@
+import pyray as rl
+from openpilot.common.params import Params
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.widget import Widget
+
+
+class ExperimentalModeButton(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self.img_width = 80
+    self.horizontal_padding = 50
+    self.button_height = 125
+
+    self.params = Params()
+    self.experimental_mode = self.params.get_bool("ExperimentalMode")
+    self.is_pressed = False
+
+    self.chill_pixmap = gui_app.texture("icons/couch.png", self.img_width, self.img_width)
+    self.experimental_pixmap = gui_app.texture("icons/experimental_grey.png", self.img_width, self.img_width)
+
+  def _get_gradient_colors(self):
+    alpha = 0xCC if self.is_pressed else 0xFF
+
+    if self.experimental_mode:
+      return rl.Color(255, 155, 63, alpha), rl.Color(219, 56, 34, alpha)
+    else:
+      return rl.Color(20, 255, 171, alpha), rl.Color(35, 149, 255, alpha)
+
+  def _draw_gradient_background(self, rect):
+    start_color, end_color = self._get_gradient_colors()
+    rl.draw_rectangle_gradient_h(int(rect.x), int(rect.y), int(rect.width), int(rect.height),
+                                 start_color, end_color)
+
+  def _handle_interaction(self, rect):
+    mouse_pos = rl.get_mouse_position()
+    mouse_in_rect = rl.check_collision_point_rec(mouse_pos, rect)
+
+    self.is_pressed = mouse_in_rect and rl.is_mouse_button_down(rl.MOUSE_BUTTON_LEFT)
+    return mouse_in_rect and rl.is_mouse_button_released(rl.MOUSE_BUTTON_LEFT)
+
+  def _render(self, rect):
+    if self._handle_interaction(rect):
+      self.experimental_mode = not self.experimental_mode
+      # TODO: Opening settings for ExperimentalMode
+      self.params.put_bool("ExperimentalMode", self.experimental_mode)
+
+    rl.draw_rectangle_rounded(rect, 0.08, 20, rl.Color(255, 255, 255, 255))
+
+    rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height))
+    self._draw_gradient_background(rect)
+    rl.end_scissor_mode()
+
+    # Draw vertical separator line
+    line_x = rect.x + rect.width - self.img_width - (2 * self.horizontal_padding)
+    separator_color = rl.Color(0, 0, 0, 77)  # 0x4d = 77
+    rl.draw_line_ex(rl.Vector2(line_x, rect.y), rl.Vector2(line_x, rect.y + rect.height), 3, separator_color)
+
+    # Draw text label (left aligned)
+    text = "EXPERIMENTAL MODE ON" if self.experimental_mode else "CHILL MODE ON"
+    text_x = rect.x + self.horizontal_padding
+    text_y = rect.y + rect.height / 2 - 45 // 2  # Center vertically
+
+    rl.draw_text_ex(gui_app.font(FontWeight.NORMAL), text, rl.Vector2(int(text_x), int(text_y)), 45, 0, rl.Color(0, 0, 0, 255))
+
+    # Draw icon (right aligned)
+    icon_x = rect.x + rect.width - self.horizontal_padding - self.img_width
+    icon_y = rect.y + (rect.height - self.img_width) / 2
+    icon_rect = rl.Rectangle(icon_x, icon_y, self.img_width, self.img_width)
+
+    # Draw current mode icon
+    current_icon = self.experimental_pixmap if self.experimental_mode else self.chill_pixmap
+    source_rect = rl.Rectangle(0, 0, current_icon.width, current_icon.height)
+    rl.draw_texture_pro(current_icon, source_rect, icon_rect, rl.Vector2(0, 0), 0, rl.Color(255, 255, 255, 255))

selfdrive/ui/widgets/offroad_alerts.py

@@ -9,6 +9,8 @@ from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.lib.wrap_text import wrap_text
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.widget import Widget
+
 
 class AlertColors:
   HIGH_SEVERITY = rl.Color(226, 44, 44, 255)
@@ -40,8 +42,9 @@ class AlertData:
   visible: bool = False
 
 
-class AbstractAlert(ABC):
+class AbstractAlert(Widget, ABC):
   def __init__(self, has_reboot_btn: bool = False):
+    super().__init__()
     self.params = Params()
     self.has_reboot_btn = has_reboot_btn
     self.dismiss_callback: Callable | None = None
@@ -67,8 +70,7 @@ class AbstractAlert(ABC):
     pass
 
   def handle_input(self, mouse_pos: rl.Vector2, mouse_clicked: bool) -> bool:
-    # TODO: fix scroll_panel.is_click_valid()
-    if not mouse_clicked:
+    if not mouse_clicked or not self.scroll_panel.is_touch_valid():
       return False
 
     if rl.check_collision_point_rec(mouse_pos, self.dismiss_btn_rect):
@@ -88,7 +90,7 @@ class AbstractAlert(ABC):
 
     return False
 
-  def render(self, rect: rl.Rectangle):
+  def _render(self, rect: rl.Rectangle):
     rl.draw_rectangle_rounded(rect, AlertConstants.BORDER_RADIUS / rect.width, 10, AlertColors.BACKGROUND)
 
     footer_height = AlertConstants.BUTTON_SIZE[1] + AlertConstants.SPACING

selfdrive/ui/widgets/pairing_dialog.py

@@ -0,0 +1,170 @@
+import pyray as rl
+import qrcode
+import numpy as np
+import time
+
+from openpilot.common.api import Api
+from openpilot.common.swaglog import cloudlog
+from openpilot.common.params import Params
+from openpilot.system.ui.lib.application import FontWeight, gui_app
+from openpilot.system.ui.lib.wrap_text import wrap_text
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+
+
+class PairingDialog:
+  """Dialog for device pairing with QR code."""
+
+  QR_REFRESH_INTERVAL = 300  # 5 minutes in seconds
+
+  def __init__(self):
+    self.params = Params()
+    self.qr_texture: rl.Texture | None = None
+    self.last_qr_generation = 0
+
+  def _get_pairing_url(self) -> str:
+    try:
+      dongle_id = self.params.get("DongleId", encoding='utf8') or ""
+      token = Api(dongle_id).get_token()
+    except Exception as e:
+      cloudlog.warning(f"Failed to get pairing token: {e}")
+      token = ""
+    return f"https://connect.comma.ai/setup?token={token}"
+
+  def _generate_qr_code(self) -> None:
+    try:
+      qr = qrcode.QRCode(version=1, error_correction=qrcode.constants.ERROR_CORRECT_L, box_size=10, border=4)
+      qr.add_data(self._get_pairing_url())
+      qr.make(fit=True)
+
+      pil_img = qr.make_image(fill_color="black", back_color="white").convert('RGBA')
+      img_array = np.array(pil_img, dtype=np.uint8)
+
+      if self.qr_texture and self.qr_texture.id != 0:
+        rl.unload_texture(self.qr_texture)
+
+      rl_image = rl.Image()
+      rl_image.data = rl.ffi.cast("void *", img_array.ctypes.data)
+      rl_image.width = pil_img.width
+      rl_image.height = pil_img.height
+      rl_image.mipmaps = 1
+      rl_image.format = rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_R8G8B8A8
+
+      self.qr_texture = rl.load_texture_from_image(rl_image)
+    except Exception as e:
+      cloudlog.warning(f"QR code generation failed: {e}")
+      self.qr_texture = None
+
+  def _check_qr_refresh(self) -> None:
+    current_time = time.time()
+    if current_time - self.last_qr_generation >= self.QR_REFRESH_INTERVAL:
+      self._generate_qr_code()
+      self.last_qr_generation = current_time
+
+  def render(self, rect: rl.Rectangle) -> int:
+    rl.clear_background(rl.Color(224, 224, 224, 255))
+
+    self._check_qr_refresh()
+
+    margin = 70
+    content_rect = rl.Rectangle(rect.x + margin, rect.y + margin, rect.width - 2 * margin, rect.height - 2 * margin)
+    y = content_rect.y
+
+    # Close button
+    close_size = 80
+    close_icon = gui_app.texture("icons/close.png", close_size, close_size)
+    close_rect = rl.Rectangle(content_rect.x, y, close_size, close_size)
+
+    mouse_pos = rl.get_mouse_position()
+    is_hover = rl.check_collision_point_rec(mouse_pos, close_rect)
+    is_pressed = rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT)
+    is_released = rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT)
+
+    color = rl.Color(180, 180, 180, 150) if (is_hover and is_pressed) else rl.WHITE
+    rl.draw_texture(close_icon, int(content_rect.x), int(y), color)
+
+    if (is_hover and is_released) or rl.is_key_pressed(rl.KeyboardKey.KEY_ESCAPE):
+      return 1
+
+    y += close_size + 40
+
+    # Title
+    title = "Pair your device to your comma account"
+    title_font = gui_app.font(FontWeight.NORMAL)
+    left_width = int(content_rect.width * 0.5 - 15)
+
+    title_wrapped = wrap_text(title_font, title, 75, left_width)
+    rl.draw_text_ex(title_font, "\n".join(title_wrapped), rl.Vector2(content_rect.x, y), 75, 0.0, rl.BLACK)
+    y += len(title_wrapped) * 75 + 60
+
+    # Two columns: instructions and QR code
+    remaining_height = content_rect.height - (y - content_rect.y)
+    right_width = content_rect.width // 2 - 20
+
+    # Instructions
+    self._render_instructions(rl.Rectangle(content_rect.x, y, left_width, remaining_height))
+
+    # QR code
+    qr_size = min(right_width, content_rect.height) - 40
+    qr_x = content_rect.x + left_width + 40 + (right_width - qr_size) // 2
+    qr_y = content_rect.y
+    self._render_qr_code(rl.Rectangle(qr_x, qr_y, qr_size, qr_size))
+
+    return -1
+
+  def _render_instructions(self, rect: rl.Rectangle) -> None:
+    instructions = [
+      "Go to https://connect.comma.ai on your phone",
+      "Click \"add new device\" and scan the QR code on the right",
+      "Bookmark connect.comma.ai to your home screen to use it like an app",
+    ]
+
+    font = gui_app.font(FontWeight.BOLD)
+    y = rect.y
+
+    for i, text in enumerate(instructions):
+      circle_radius = 25
+      circle_x = rect.x + circle_radius + 15
+      text_x = rect.x + circle_radius * 2 + 40
+      text_width = rect.width - (circle_radius * 2 + 40)
+
+      wrapped = wrap_text(font, text, 47, int(text_width))
+      text_height = len(wrapped) * 47
+      circle_y = y + text_height // 2
+
+      # Circle and number
+      rl.draw_circle(int(circle_x), int(circle_y), circle_radius, rl.Color(70, 70, 70, 255))
+      number = str(i + 1)
+      number_width = measure_text_cached(font, number, 30).x
+      rl.draw_text(number, int(circle_x - number_width // 2), int(circle_y - 15), 30, rl.WHITE)
+
+      # Text
+      rl.draw_text_ex(font, "\n".join(wrapped), rl.Vector2(text_x, y), 47, 0.0, rl.BLACK)
+      y += text_height + 50
+
+  def _render_qr_code(self, rect: rl.Rectangle) -> None:
+    if not self.qr_texture:
+      rl.draw_rectangle_rounded(rect, 0.1, 20, rl.Color(240, 240, 240, 255))
+      error_font = gui_app.font(FontWeight.BOLD)
+      rl.draw_text_ex(
+        error_font, "QR Code Error", rl.Vector2(rect.x + 20, rect.y + rect.height // 2 - 15), 30, 0.0, rl.RED
+      )
+      return
+
+    source = rl.Rectangle(0, 0, self.qr_texture.width, self.qr_texture.height)
+    rl.draw_texture_pro(self.qr_texture, source, rect, rl.Vector2(0, 0), 0, rl.WHITE)
+
+  def __del__(self):
+    if self.qr_texture and self.qr_texture.id != 0:
+      rl.unload_texture(self.qr_texture)
+
+
+if __name__ == "__main__":
+  gui_app.init_window("pairing device")
+  pairing = PairingDialog()
+  try:
+    for _ in gui_app.render():
+      result = pairing.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+      if result != -1:
+        break
+  finally:
+    del pairing

selfdrive/ui/widgets/prime.py

@@ -0,0 +1,62 @@
+import pyray as rl
+
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.label import gui_label
+from openpilot.system.ui.lib.wrap_text import wrap_text
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.lib.widget import Widget
+
+
+class PrimeWidget(Widget):
+  """Widget for displaying comma prime subscription status"""
+
+  PRIME_BG_COLOR = rl.Color(51, 51, 51, 255)
+
+  def _render(self, rect):
+    if ui_state.prime_state.is_prime():
+      self._render_for_prime_user(rect)
+    else:
+      self._render_for_non_prime_users(rect)
+
+  def _render_for_non_prime_users(self, rect: rl.Rectangle):
+    """Renders the advertisement for non-Prime users."""
+
+    rl.draw_rectangle_rounded(rect, 0.02, 10, self.PRIME_BG_COLOR)
+
+    # Layout
+    x, y = rect.x + 80, rect.y + 90
+    w = rect.width - 160
+
+    # Title
+    gui_label(rl.Rectangle(x, y, w, 90), "Upgrade Now", 75, font_weight=FontWeight.BOLD)
+
+    # Description with wrapping
+    desc_y = y + 140
+    font = gui_app.font(FontWeight.LIGHT)
+    wrapped_text = "\n".join(wrap_text(font, "Become a comma prime member at connect.comma.ai", 56, int(w)))
+    text_size = measure_text_cached(font, wrapped_text, 56)
+    rl.draw_text_ex(font, wrapped_text, rl.Vector2(x, desc_y), 56, 0, rl.Color(255, 255, 255, 255))
+
+    # Features section
+    features_y = desc_y + text_size.y + 50
+    gui_label(rl.Rectangle(x, features_y, w, 50), "PRIME FEATURES:", 41, font_weight=FontWeight.BOLD)
+
+    # Feature list
+    features = ["Remote access", "24/7 LTE connectivity", "1 year of drive storage", "Remote snapshots"]
+    for i, feature in enumerate(features):
+      item_y = features_y + 80 + i * 65
+      gui_label(rl.Rectangle(x, item_y, 50, 60), "✓", 50, color=rl.Color(70, 91, 234, 255))
+      gui_label(rl.Rectangle(x + 60, item_y, w - 60, 60), feature, 50)
+
+  def _render_for_prime_user(self, rect: rl.Rectangle):
+    """Renders the prime user widget with subscription status."""
+
+    rl.draw_rectangle_rounded(rl.Rectangle(rect.x, rect.y, rect.width, 230), 0.02, 10, self.PRIME_BG_COLOR)
+
+    x = rect.x + 56
+    y = rect.y + 40
+
+    font = gui_app.font(FontWeight.BOLD)
+    rl.draw_text_ex(font, "✓ SUBSCRIBED", rl.Vector2(x, y), 41, 0, rl.Color(134, 255, 78, 255))
+    rl.draw_text_ex(font, "comma prime", rl.Vector2(x, y + 61), 75, 0, rl.WHITE)

selfdrive/ui/widgets/setup.py

@@ -0,0 +1,94 @@
+import pyray as rl
+from openpilot.selfdrive.ui.lib.prime_state import PrimeType
+from openpilot.selfdrive.ui.widgets.pairing_dialog import PairingDialog
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.button import gui_button, ButtonStyle
+from openpilot.system.ui.lib.wrap_text import wrap_text
+from openpilot.system.ui.lib.widget import Widget
+
+
+class SetupWidget(Widget):
+  def __init__(self):
+    super().__init__()
+    self._open_settings_callback = None
+    self._pairing_dialog: PairingDialog | None = None
+
+  def set_open_settings_callback(self, callback):
+    self._open_settings_callback = callback
+
+  def _render(self, rect: rl.Rectangle):
+    if ui_state.prime_state.get_type() == PrimeType.UNPAIRED:
+      self._render_registration(rect)
+    else:
+      self._render_firehose_prompt(rect)
+
+  def _render_registration(self, rect: rl.Rectangle):
+    """Render registration prompt."""
+
+    rl.draw_rectangle_rounded(rl.Rectangle(rect.x, rect.y, rect.width, 590), 0.02, 20, rl.Color(51, 51, 51, 255))
+
+    x = rect.x + 64
+    y = rect.y + 48
+    w = rect.width - 128
+
+    # Title
+    font = gui_app.font(FontWeight.BOLD)
+    rl.draw_text_ex(font, "Finish Setup", rl.Vector2(x, y), 75, 0, rl.WHITE)
+    y += 113  # 75 + 38 spacing
+
+    # Description
+    desc = "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
+    light_font = gui_app.font(FontWeight.LIGHT)
+    wrapped = wrap_text(light_font, desc, 50, int(w))
+    for line in wrapped:
+      rl.draw_text_ex(light_font, line, rl.Vector2(x, y), 50, 0, rl.WHITE)
+      y += 50
+
+    button_rect = rl.Rectangle(x, y + 50, w, 128)
+    if gui_button(button_rect, "Pair device", button_style=ButtonStyle.PRIMARY):
+      self._show_pairing()
+
+  def _render_firehose_prompt(self, rect: rl.Rectangle):
+    """Render firehose prompt widget."""
+
+    rl.draw_rectangle_rounded(rl.Rectangle(rect.x, rect.y, rect.width, 450), 0.02, 20, rl.Color(51, 51, 51, 255))
+
+    # Content margins (56, 40, 56, 40)
+    x = rect.x + 56
+    y = rect.y + 40
+    w = rect.width - 112
+    spacing = 42
+
+    # Title with fire emojis
+    title_font = gui_app.font(FontWeight.MEDIUM)
+    title_text = "Firehose Mode"
+    rl.draw_text_ex(title_font, title_text, rl.Vector2(x, y), 64, 0, rl.WHITE)
+    y += 64 + spacing
+
+    # Description
+    desc_font = gui_app.font(FontWeight.NORMAL)
+    desc_text = "Maximize your training data uploads to improve openpilot's driving models."
+    wrapped_desc = wrap_text(desc_font, desc_text, 40, int(w))
+
+    for line in wrapped_desc:
+      rl.draw_text_ex(desc_font, line, rl.Vector2(x, y), 40, 0, rl.WHITE)
+      y += 40
+
+    y += spacing
+
+    # Open button
+    button_height = 48 + 64  # font size + padding
+    button_rect = rl.Rectangle(x, y, w, button_height)
+    if gui_button(button_rect, "Open", button_style=ButtonStyle.PRIMARY):
+      if self._open_settings_callback:
+        self._open_settings_callback()
+
+  def _show_pairing(self):
+    if not self._pairing_dialog:
+      self._pairing_dialog = PairingDialog()
+    gui_app.set_modal_overlay(self._pairing_dialog, lambda result: setattr(self, '_pairing_dialog', None))
+
+  def __del__(self):
+    if self._pairing_dialog:
+      del self._pairing_dialog

selfdrive/ui/widgets/ssh_key.py

@@ -0,0 +1,128 @@
+import pyray as rl
+import requests
+import threading
+import copy
+from enum import Enum
+
+from openpilot.common.params import Params
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.button import gui_button, ButtonStyle
+from openpilot.system.ui.lib.list_view import (
+  ItemAction,
+  ListItem,
+  BUTTON_HEIGHT,
+  BUTTON_BORDER_RADIUS,
+  BUTTON_FONT_SIZE,
+  BUTTON_WIDTH,
+)
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.lib.widget import DialogResult
+from openpilot.system.ui.widgets.confirm_dialog import alert_dialog
+from openpilot.system.ui.widgets.keyboard import Keyboard
+
+
+class SshKeyActionState(Enum):
+  LOADING = "LOADING"
+  ADD = "ADD"
+  REMOVE = "REMOVE"
+
+
+class SshKeyAction(ItemAction):
+  HTTP_TIMEOUT = 15  # seconds
+  MAX_WIDTH = 500
+
+  def __init__(self):
+    super().__init__(self.MAX_WIDTH, True)
+
+    self._keyboard = Keyboard()
+    self._params = Params()
+    self._error_message: str = ""
+    self._text_font = gui_app.font(FontWeight.MEDIUM)
+
+    self._refresh_state()
+
+  def _refresh_state(self):
+    self._username = self._params.get("GithubUsername", "")
+    self._state = SshKeyActionState.REMOVE if self._params.get("GithubSshKeys") else SshKeyActionState.ADD
+
+  def _render(self, rect: rl.Rectangle) -> bool:
+    # Show error dialog if there's an error
+    if self._error_message:
+      message = copy.copy(self._error_message)
+      gui_app.set_modal_overlay(lambda: alert_dialog(message))
+      self._username = ""
+      self._error_message = ""
+
+    # Draw username if exists
+    if self._username:
+      text_size = measure_text_cached(self._text_font, self._username, BUTTON_FONT_SIZE)
+      rl.draw_text_ex(
+        self._text_font,
+        self._username,
+        (rect.x + rect.width - BUTTON_WIDTH - text_size.x - 30, rect.y + (rect.height - text_size.y) / 2),
+        BUTTON_FONT_SIZE,
+        1.0,
+        rl.WHITE,
+      )
+
+    # Draw button
+    if gui_button(
+      rl.Rectangle(
+        rect.x + rect.width - BUTTON_WIDTH, rect.y + (rect.height - BUTTON_HEIGHT) / 2, BUTTON_WIDTH, BUTTON_HEIGHT
+      ),
+      self._state.value,
+      is_enabled=self._state != SshKeyActionState.LOADING,
+      border_radius=BUTTON_BORDER_RADIUS,
+      font_size=BUTTON_FONT_SIZE,
+      button_style=ButtonStyle.LIST_ACTION,
+    ):
+      self._handle_button_click()
+      return True
+    return False
+
+  def _handle_button_click(self):
+    if self._state == SshKeyActionState.ADD:
+      self._keyboard.clear()
+      self._keyboard.set_title("Enter your GitHub username")
+      gui_app.set_modal_overlay(self._keyboard, callback=self._on_username_submit)
+    elif self._state == SshKeyActionState.REMOVE:
+      self._params.remove("GithubUsername")
+      self._params.remove("GithubSshKeys")
+      self._refresh_state()
+
+  def _on_username_submit(self, result: DialogResult):
+    if result != DialogResult.CONFIRM:
+      return
+
+    username = self._keyboard.text.strip()
+    if not username:
+      return
+
+    self._state = SshKeyActionState.LOADING
+    threading.Thread(target=lambda: self._fetch_ssh_key(username), daemon=True).start()
+
+  def _fetch_ssh_key(self, username: str):
+    try:
+      url = f"https://github.com/{username}.keys"
+      response = requests.get(url, timeout=self.HTTP_TIMEOUT)
+      response.raise_for_status()
+      keys = response.text.strip()
+      if not keys:
+        raise requests.exceptions.HTTPError("No SSH keys found")
+
+      # Success - save keys
+      self._params.put("GithubUsername", username)
+      self._params.put("GithubSshKeys", keys)
+      self._state = SshKeyActionState.REMOVE
+      self._username = username
+
+    except requests.exceptions.Timeout:
+      self._error_message = "Request timed out"
+      self._state = SshKeyActionState.ADD
+    except Exception:
+      self._error_message = f"No SSH keys found for user '{username}'"
+      self._state = SshKeyActionState.ADD
+
+
+def ssh_key_item(title: str, description: str):
+  return ListItem(title=title, description=description, action_item=SshKeyAction())

sunnypilot/mapd/mapd_installer.py

@@ -18,7 +18,7 @@ from cereal import messaging
 from openpilot.common.params import Params
 from openpilot.sunnypilot.mapd.mapd_manager import MAPD_PATH, MAPD_BIN_DIR
 from openpilot.system.hardware.hw import Paths
-from openpilot.system.ui.spinner import Spinner
+from openpilot.common.spinner import Spinner
 from openpilot.system.version import is_prebuilt
 import openpilot.system.sentry as sentry
 

sunnypilot/modeld_v2/SConscript

@@ -13,7 +13,6 @@ common_src = [
   "transforms/transform.cc",
 ]
 
-
 # OpenCL is a framework on Mac
 if arch == "Darwin":
   frameworks += ['OpenCL']
@@ -29,4 +28,3 @@ for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transfor
 cython_libs = envCython["LIBS"] + libs
 commonmodel_lib = lenv.Library('commonmodel', common_src)
 lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
-

sunnypilot/modeld_v2/fill_model_msg.py

@@ -118,30 +118,14 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   # action (includes lateral planning now)
   modelV2.action = action
 
-  # times at X_IDXS according to model plan
-  PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N
-  PLAN_T_IDXS[0] = 0.0
-  plan_x = net_output_data['plan'][0,:,Plan.POSITION][:,0].tolist()
-  for xidx in range(1, ModelConstants.IDX_N):
-    tidx = 0
-    # increment tidx until we find an element that's further away than the current xidx
-    while tidx < ModelConstants.IDX_N - 1 and plan_x[tidx+1] < ModelConstants.X_IDXS[xidx]:
-      tidx += 1
-    if tidx == ModelConstants.IDX_N - 1:
-      # if the Plan doesn't extend far enough, set plan_t to the max value (10s), then break
-      PLAN_T_IDXS[xidx] = ModelConstants.T_IDXS[ModelConstants.IDX_N - 1]
-      break
-    # interpolate to find `t` for the current xidx
-    current_x_val = plan_x[tidx]
-    next_x_val = plan_x[tidx+1]
-    p = (ModelConstants.X_IDXS[xidx] - current_x_val) / (next_x_val - current_x_val) if abs(next_x_val - current_x_val) > 1e-9 else float('nan')
-    PLAN_T_IDXS[xidx] = p * ModelConstants.T_IDXS[tidx+1] + (1 - p) * ModelConstants.T_IDXS[tidx]
+  # times at X_IDXS of edges and lines aren't used
+  LINE_T_IDXS: list[float] = []
 
   # lane lines
   modelV2.init('laneLines', 4)
   for i in range(4):
     lane_line = modelV2.laneLines[i]
-    fill_xyzt(lane_line, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['lane_lines'][0,i,:,0], net_output_data['lane_lines'][0,i,:,1])
+    fill_xyzt(lane_line, LINE_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['lane_lines'][0,i,:,0], net_output_data['lane_lines'][0,i,:,1])
   modelV2.laneLineStds = net_output_data['lane_lines_stds'][0,:,0,0].tolist()
   modelV2.laneLineProbs = net_output_data['lane_lines_prob'][0,1::2].tolist()
 
@@ -151,7 +135,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   modelV2.init('roadEdges', 2)
   for i in range(2):
     road_edge = modelV2.roadEdges[i]
-    fill_xyzt(road_edge, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['road_edges'][0,i,:,0], net_output_data['road_edges'][0,i,:,1])
+    fill_xyzt(road_edge, LINE_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['road_edges'][0,i,:,0], net_output_data['road_edges'][0,i,:,1])
   modelV2.roadEdgeStds = net_output_data['road_edges_stds'][0,:,0,0].tolist()
 
   # leads

sunnypilot/modeld_v2/modeld.py

@@ -62,7 +62,7 @@ class ModelState:
     self.MIN_LAT_CONTROL_SPEED = 0.3
 
     buffer_length = 5 if self.model_runner.is_20hz else 2
-    self.frames = {'input_imgs': DrivingModelFrame(context, buffer_length), 'big_input_imgs': DrivingModelFrame(context, buffer_length)}
+    self.frames = {name: DrivingModelFrame(context, buffer_length) for name in self.model_runner.vision_input_names}
     self.prev_desire = np.zeros(self.constants.DESIRE_LEN, dtype=np.float32)
 
     # img buffers are managed in openCL transform code
@@ -86,7 +86,7 @@ class ModelState:
       self.desire_reshape_dims = (self.numpy_inputs['desire'].shape[0], self.numpy_inputs['desire'].shape[1], -1,
                                   self.numpy_inputs['desire'].shape[2])
 
-  def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray,
+  def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
                 inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
     # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
     inputs['desire'][0] = 0
@@ -110,8 +110,7 @@ class ModelState:
       if key in inputs and key not in ['desire']:
         self.numpy_inputs[key][:] = inputs[key]
 
-    imgs_cl = {'input_imgs': self.frames['input_imgs'].prepare(buf, transform.flatten()),
-               'big_input_imgs': self.frames['big_input_imgs'].prepare(wbuf, transform_wide.flatten())}
+    imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.model_runner.vision_input_names}
 
     # Prepare inputs using the model runner
     self.model_runner.prepare_inputs(imgs_cl, self.numpy_inputs, self.frames)
@@ -315,6 +314,8 @@ def main(demo=False):
     if prepare_only:
       cloudlog.error(f"skipping model eval. Dropped {vipc_dropped_frames} frames")
 
+    bufs = {name: buf_extra if 'big' in name else buf_main for name in model.model_runner.vision_input_names}
+    transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.model_runner.vision_input_names}
     inputs:dict[str, np.ndarray] = {
       'desire': vec_desire,
       'traffic_convention': traffic_convention,
@@ -324,7 +325,7 @@ def main(demo=False):
       inputs['lateral_control_params'] = np.array([v_ego, steer_delay], dtype=np.float32)
 
     mt1 = time.perf_counter()
-    model_output = model.run(buf_main, buf_extra, model_transform_main, model_transform_extra, inputs, prepare_only)
+    model_output = model.run(bufs, transforms, inputs, prepare_only)
     mt2 = time.perf_counter()
     model_execution_time = mt2 - mt1
 

sunnypilot/models/helpers.py

@@ -19,7 +19,7 @@ from openpilot.system.hardware import PC
 from openpilot.system.hardware.hw import Paths
 from pathlib import Path
 
-CURRENT_SELECTOR_VERSION = 5
+CURRENT_SELECTOR_VERSION = 6
 REQUIRED_MIN_SELECTOR_VERSION = 5
 
 USE_ONNX = os.getenv('USE_ONNX', PC)

sunnypilot/models/runners/model_runner.py

@@ -12,8 +12,15 @@ CUSTOM_MODEL_PATH = Paths.model_root()
 
 
 # Set QCOM environment variable for TICI devices, potentially enabling hardware acceleration
-if TICI:
+USBGPU = "USBGPU" in os.environ
+if USBGPU:
+  os.environ['AMD'] = '1'
+  os.environ['AMD_IFACE'] = 'USB'
+elif TICI:
   os.environ['QCOM'] = '1'
+else:
+  os.environ['LLVM'] = '1'
+  os.environ['JIT'] = '2'  # TODO: This may cause issues
 
 
 class ModelData:
@@ -132,6 +139,13 @@ class ModelRunner(ModularRunner):
       return self._model_data.output_slices
     raise ValueError("Model data is not available. Ensure the model is loaded correctly.")
 
+  @property
+  def vision_input_names(self) -> list[str]:
+    """Returns the list of vision input names from the input shapes."""
+    if self._model_data:
+      return list(self._model_data.input_shapes.keys())
+    raise ValueError("Model data is not available. Ensure the model is loaded correctly.")
+
   @abstractmethod
   def prepare_inputs(self, imgs_cl: CLMemDict, numpy_inputs: NumpyDict, frames: FrameDict) -> dict:
     """

sunnypilot/models/runners/tinygrad/tinygrad_runner.py

@@ -54,6 +54,11 @@ class TinygradRunner(ModelRunner, SupercomboTinygrad, PolicyTinygrad, VisionTiny
       self.input_to_dtype[name] = info[2]  # dtype
       self.input_to_device[name] = info[3]  # device
 
+  @property
+  def vision_input_names(self) -> list[str]:
+    """Returns the list of vision input names from the input shapes."""
+    return [name for name in self.input_shapes.keys() if 'img' in name]
+
   def prepare_vision_inputs(self, imgs_cl: CLMemDict, frames: FrameDict):
     """Prepares vision (image) inputs as Tinygrad Tensors."""
     for key in imgs_cl:
@@ -109,6 +114,11 @@ class TinygradSplitRunner(ModelRunner):
     vision_output = self.vision_runner.run_model()
     return {**policy_output, **vision_output} # Combine results
 
+  @property
+  def vision_input_names(self) -> list[str]:
+    """Returns the list of vision input names from the vision runner."""
+    return list(self.vision_runner.vision_input_names)
+
   @property
   def input_shapes(self) -> ShapeDict:
     """Returns the combined input shapes from both vision and policy models."""

sunnypilot/models/tests/model_hash

@@ -1 +1 @@
-dec34c57c4131f6fca5d1035201d1afbf43e5250cede7bfdc798371af008afad
+71979b29c4bab3007de1a4265442d79f44c0eaef066af66086dddfc432709b94

sunnypilot/selfdrive/car/cruise_ext.py

@@ -0,0 +1,47 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import numpy as np
+
+from cereal import car
+from openpilot.common.params import Params
+
+ButtonType = car.CarState.ButtonEvent.Type
+
+
+class VCruiseHelperSP:
+  def __init__(self) -> None:
+    self.params = Params()
+
+    self.custom_acc_enabled = self.params.get_bool("CustomAccIncrementsEnabled")
+    self.short_increment = self.read_int_param("CustomAccShortPressIncrement", 1)
+    self.long_increment = self.read_int_param("CustomAccLongPressIncrement", 5)
+
+  def read_int_param(self, key: str, default: int = 0) -> int:
+    try:
+      return int(self.params.get(key, encoding='utf8'))
+    except (ValueError, TypeError):
+      return default
+
+  def read_custom_set_speed_params(self) -> None:
+    self.custom_acc_enabled = self.params.get_bool("CustomAccIncrementsEnabled")
+    self.short_increment = self.read_int_param("CustomAccShortPressIncrement", 1)
+    self.long_increment = self.read_int_param("CustomAccLongPressIncrement", 5)
+
+  def update_v_cruise_delta(self, long_press: bool, v_cruise_delta: float) -> tuple[bool, float]:
+    if not self.custom_acc_enabled:
+      v_cruise_delta = v_cruise_delta * (5 if long_press else 1)
+      return long_press, v_cruise_delta
+
+    # Apply user-specified multipliers to the base increment
+    short_increment = np.clip(self.short_increment, 1, 10)
+    long_increment = np.clip(self.long_increment, 1, 10)
+
+    actual_increment = long_increment if long_press else short_increment
+    round_to_nearest = actual_increment in (5, 10)
+    v_cruise_delta = v_cruise_delta * actual_increment
+
+    return round_to_nearest, v_cruise_delta

sunnypilot/selfdrive/car/tests/test_custom_cruise.py

@@ -0,0 +1,149 @@
+import pytest
+from parameterized import parameterized_class
+
+from cereal import car
+from openpilot.common.conversions import Conversions as CV
+from openpilot.common.params import Params
+from openpilot.selfdrive.car.cruise import V_CRUISE_INITIAL
+from openpilot.selfdrive.car.tests.test_cruise_speed import TestVCruiseHelper
+
+ButtonEvent = car.CarState.ButtonEvent
+ButtonType = car.CarState.ButtonEvent.Type
+
+
+@parameterized_class(('pcm_cruise',), [(False,)])
+class TestCustomAccIncrements(TestVCruiseHelper):
+  def setup_method(self):
+    TestVCruiseHelper.setup_method(self)
+    self.params = Params()
+    self.reset_custom_params()
+
+  def reset_custom_params(self) -> None:
+    """Reset to default custom ACC parameters"""
+    self.params.put_bool("CustomAccIncrementsEnabled", False)
+    self.params.put("CustomAccShortPressIncrement", "1")
+    self.params.put("CustomAccLongPressIncrement", "5")
+    self.v_cruise_helper.read_custom_set_speed_params()
+
+  def press_button_short(self, button_type: car.CarState.ButtonEvent.Type) -> None:
+    """Simulate a short button press (press + release)"""
+    CS = car.CarState(cruiseState={"available": True})
+    CS.buttonEvents = [ButtonEvent(type=button_type, pressed=True)]
+    self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=True)
+
+    CS.buttonEvents = [ButtonEvent(type=button_type, pressed=False)]
+    self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=True)
+
+  def press_button_long(self, button_type: car.CarState.ButtonEvent.Type) -> None:
+    """Simulate a long button press (50+ frames)"""
+    CS = car.CarState(cruiseState={"available": True})
+    CS.buttonEvents = [ButtonEvent(type=button_type, pressed=True)]
+    self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=True)
+
+    # Hold for 50 frames to trigger long press
+    CS.buttonEvents = []
+    for _ in range(50):
+      self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=True)
+
+    CS.buttonEvents = [ButtonEvent(type=button_type, pressed=False)]
+    self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=True)
+
+  def set_custom_increments(self, enabled: bool, short_inc: int, long_inc: int) -> None:
+    """Set custom ACC increment parameters"""
+    self.params.put_bool("CustomAccIncrementsEnabled", enabled)
+    self.params.put("CustomAccShortPressIncrement", str(short_inc))
+    self.params.put("CustomAccLongPressIncrement", str(long_inc))
+    self.v_cruise_helper.read_custom_set_speed_params()
+
+  def test_default_behavior_when_disabled(self):
+    """Test that default increments are used when custom ACC is disabled"""
+    self.set_custom_increments(enabled=False, short_inc=5, long_inc=10)
+    self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False, False)
+
+    initial_speed = self.v_cruise_helper.v_cruise_kph
+
+    # Short press should increment by 1 (default)
+    self.press_button_short(ButtonType.accelCruise)
+    assert self.v_cruise_helper.v_cruise_kph == initial_speed + 1
+
+  @pytest.mark.parametrize("increment", (1, 2, 3, 4, 5, 6, 7, 8, 9, 10))
+  def test_custom_short_press_increments(self, increment):
+    """Test custom short press increments (1-10)"""
+    self.set_custom_increments(enabled=True, short_inc=increment, long_inc=5)
+    self.enable(50 * CV.KPH_TO_MS, False, False)
+
+    initial_speed = self.v_cruise_helper.v_cruise_kph
+    self.press_button_short(ButtonType.accelCruise)
+
+    if increment in (5, 10):
+      # Should round to nearest increment
+      expected_speed = ((initial_speed // increment) + 1) * increment
+    else:
+      expected_speed = initial_speed + increment
+
+    assert self.v_cruise_helper.v_cruise_kph == expected_speed
+
+  @pytest.mark.parametrize("increment", (1, 5, 10))
+  def test_custom_long_press_increments(self, increment):
+    """Test custom long press increments (1, 5, 10)"""
+    self.set_custom_increments(enabled=True, short_inc=1, long_inc=increment)
+    self.enable(50 * CV.KPH_TO_MS, False, False)
+
+    initial_speed = self.v_cruise_helper.v_cruise_kph
+    self.press_button_long(ButtonType.accelCruise)
+
+    if increment in (5, 10):
+      # Should round to nearest increment
+      expected_speed = ((initial_speed // increment) + 1) * increment
+    else:
+      expected_speed = initial_speed + increment
+
+    assert self.v_cruise_helper.v_cruise_kph == expected_speed
+
+  @pytest.mark.parametrize("button_type", [ButtonType.accelCruise, ButtonType.decelCruise])
+  def test_accel_decel_symmetry(self, button_type):
+    """Test that acceleration and deceleration work symmetrically"""
+    self.set_custom_increments(enabled=True, short_inc=3, long_inc=5)
+    self.enable(50 * CV.KPH_TO_MS, False, False)
+
+    initial_speed = self.v_cruise_helper.v_cruise_kph
+    self.press_button_short(button_type)
+
+    expected_change = 3 if button_type == ButtonType.accelCruise else -3
+    assert self.v_cruise_helper.v_cruise_kph == initial_speed + expected_change
+
+  def test_rounding_behavior(self):
+    """Test rounding behavior for 5 and 10 increments"""
+    test_cases = [
+      (47, 5, 50),   # 47 -> 50 (round up to next 5)
+      (45, 5, 50),   # 45 -> 50 (already at 5, increment by 5)
+      (43, 10, 50),  # 43 -> 50 (round up to next 10)
+      (40, 10, 50),  # 40 -> 50 (already at 10, increment by 10)
+    ]
+
+    for initial, increment, expected in test_cases:
+      self.set_custom_increments(enabled=True, short_inc=increment, long_inc=increment)
+      self.reset_cruise_speed_state()
+      self.enable(initial * CV.KPH_TO_MS, False, False)
+
+      self.press_button_short(ButtonType.accelCruise)
+      assert self.v_cruise_helper.v_cruise_kph == expected
+
+  def test_invalid_values_fallback(self):
+    """Test that invalid values fallback to safe defaults"""
+    # Test invalid short increment
+    self.set_custom_increments(enabled=True, short_inc=-1, long_inc=5)
+    self.enable(50 * CV.KPH_TO_MS, False, False)
+
+    initial_speed = self.v_cruise_helper.v_cruise_kph
+    self.press_button_short(ButtonType.accelCruise)
+    assert self.v_cruise_helper.v_cruise_kph == initial_speed + 1  # Should fallback to 1
+
+    # Test invalid long increment
+    self.reset_cruise_speed_state()
+    self.set_custom_increments(enabled=True, short_inc=1, long_inc=99)
+    self.enable(50 * CV.KPH_TO_MS, False, False)
+
+    initial_speed = self.v_cruise_helper.v_cruise_kph
+    self.press_button_long(ButtonType.accelCruise)
+    assert self.v_cruise_helper.v_cruise_kph == initial_speed + 10  # Should fallback to 10

sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py

@@ -11,7 +11,7 @@ from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
 from openpilot.selfdrive.modeld.constants import ModelConstants
 
 LAT_PLAN_MIN_IDX = 5
-
+LATERAL_LAG_MOD = 0.0 # seconds, modifies how far in the future we look ahead for the lateral plan
 
 def get_predicted_lateral_jerk(lat_accels, t_diffs):
   # compute finite difference between subsequent model_v2.acceleration.y values
@@ -85,12 +85,15 @@ class LatControlTorqueExtBase:
 
     # precompute time differences between ModelConstants.T_IDXS
     self.t_diffs = np.diff(ModelConstants.T_IDXS)
-    self.desired_lat_jerk_time = CP.steerActuatorDelay + 0.3
+    self.desired_lat_jerk_time = CP.steerActuatorDelay + LATERAL_LAG_MOD
 
   def update_model_v2(self, model_v2):
     self.model_v2 = model_v2
     self.model_valid = self.model_v2 is not None and len(self.model_v2.orientation.x) >= CONTROL_N
 
+  def update_lateral_lag(self, lag):
+    self.desired_lat_jerk_time = max(0.01, lag) + LATERAL_LAG_MOD
+
   def update_friction_input(self, val_1, val_2):
     _error = val_1 - val_2
     _value = self.lat_accel_friction_factor * _error + self.lat_jerk_friction_factor * self.lookahead_lateral_jerk

sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py

@@ -45,9 +45,8 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase):
     self.pitch_last = 0.0
 
     # setup future time offsets
-    self.nn_time_offset = CP.steerActuatorDelay + 0.2
-    future_times = [0.3, 0.6, 1.0, 1.5] # seconds in the future
-    self.nn_future_times = [i + self.nn_time_offset for i in future_times]
+    self.future_times = [0.3, 0.6, 1.0, 1.5] # seconds in the future
+    self.nn_future_times = [i + self.desired_lat_jerk_time for i in self.future_times]
 
     # setup past time offsets
     self.past_times = [-0.3, -0.2, -0.1]
@@ -58,6 +57,10 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase):
     self.error_deque = deque(maxlen=history_check_frames[0])
     self.past_future_len = len(self.past_times) + len(self.nn_future_times)
 
+  def update_lateral_lag(self, lag):
+    super().update_lateral_lag(lag)
+    self.nn_future_times = [t + self.desired_lat_jerk_time for t in self.future_times]
+
   def update_neural_network_feedforward(self, CS, params, calibrated_pose) -> None:
     if not self.enabled or not self.model_valid or not self.has_nn_model:
       return

sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py

@@ -73,17 +73,21 @@ class TestNeuralNetworkLateralControl:
     controller.extension.model_v2 = model_v2
 
     # Saturate for curvature limited and controller limited
+    test_lag = 0.3
     for _ in range(1000):
       controller.extension.update_model_v2(model_v2)
+      controller.extension.update_lateral_lag(test_lag)
       _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, True)
     assert lac_log.saturated
 
     for _ in range(1000):
       controller.extension.update_model_v2(model_v2)
+      controller.extension.update_lateral_lag(test_lag)
       _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, False)
     assert not lac_log.saturated
 
     for _ in range(1000):
       controller.extension.update_model_v2(model_v2)
+      controller.extension.update_lateral_lag(test_lag)
       _, _, lac_log = controller.update(True, CS, VM, params, False, 1, pose, False)
     assert lac_log.saturated