Honda Clarity: brake hold fix (#1247 )

* Nidec Hybrid brake hold fix * intent fix * bump opendbc --------- Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
docs: update policy (#1898 )
2026-08-08 02:05:43 +08:00 · 2026-08-06 22:18:37 -04:00 · 2026-08-06 21:57:56 -04:00 · 2026-08-05 23:22:36 -04:00 · 2026-08-05 22:53:04 -04:00 · 2026-08-05 12:30:28 -07:00
291 changed files with 5754 additions and 4648 deletions
@@ -12,11 +12,11 @@ on:
        required: false
        type: string
      recompiled_dir:
-        description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
+        description: 'Existing recompiled directory number (e.g. 1 for recompiled1)'
        required: true
        type: string
      json_version:
-        description: 'driving_models version number to update (e.g. 5 for driving_models_v5.json)'
+        description: 'driving_models version number to update (e.g. 18 for driving_models_v18.json)'
        required: true
        type: string
      artifact_suffix:
@@ -63,12 +63,11 @@ on:
        default: 'None'
        options:
          - None
-          - Simple Plan Models
-          - Space Lab Models
-          - TR Models
-          - DTR Models
+          - Master Models
+          - Release Models
+          - 2025 World Models
+          - 2026 World Models
          - Custom Merge Models
-          - FOF series models
          - Other
      custom_model_folder:
        description: 'Custom model folder name (if "Other" selected)'
@@ -65,8 +65,21 @@ jobs:
          echo '    pushurl = ${{ env.LFS_PUSH_URL }}' >> .lfsconfig
          echo '    locksverify = false' >> .lfsconfig

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

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


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

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

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

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

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

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

-      - name: Validate Model Outputs
-        run: |
-          source /etc/profile
-          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
-          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          python3 "${{ github.workspace }}/release/ci/model_generator.py" \
-            --validate-only \
-            --model-dir "${{ env.MODELS_DIR }}"
-
      - name: Prepare Output
        run: |
          sudo rm -rf ${{ env.OUTPUT_DIR }}
@@ -166,6 +166,11 @@ env = Environment(
  tools=["default", "cython", "compilation_db", "rednose_filter"],
  toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
 )
+# SCons' Darwin linker tool doesn't define the variables used to expand RPATH.
+if arch == "Darwin":
+  env["RPATHPREFIX"] = "-Wl,-rpath,"
+  env["RPATHSUFFIX"] = ""
+  env["_RPATH"] = "${_concat(RPATHPREFIX, RPATH, RPATHSUFFIX, __env__)}"
 if arch != "larch64":
  env['_LIBFLAGS'] = _libflags

@@ -0,0 +1,44 @@
+# AI policy
+
+## Why this exists
+
+We use AI tools ourselves, so this isn't an anti-AI stance. The problem is people submitting code, issues, or comments they don't actually understand. AI makes that very easy to do, and it creates real work for reviewers who have to figure out what you meant when you can't explain it yourself.
+
+If you're not going to put effort into understanding and verifying your submission, we're not going to put effort into reviewing it.
+
+## The rule
+
+You are responsible for everything you submit: code, PR descriptions, issues, bug reports, comments.
+
+1. Understand what you submit. If a reviewer asks why you did something, you answer from your own understanding, not by re-prompting. If you can't do that, don't submit it.
+
+2. Test your change. AI gets things wrong all the time. Run it, break it, confirm it actually works.
+
+3. Driving fixes need real evidence. Attach a dongle ID, upload logs, and include segments that show the fix working. A route hash by itself proves nothing.
+
+4. No AI-generated media (images, diagrams, videos) in issues or PRs.
+
+## Disclosure
+
+If AI tools helped you write something, say so. Add an `Assisted-by:` line in your commit message:
+
+```
+Assisted-by: GitHub Copilot
+Assisted-by: Claude
+```
+
+Disclosing won't count against your PR. It helps reviewers know where to look. Hiding it and getting caught will.
+
+## How we review
+
+Reviewers are looking at whether you understand your own change. Can you explain it? Can you respond to feedback without re-prompting? Does your PR description say why you made the change, not just list what changed?
+
+Good code from someone who used AI and understands what they wrote is fine. How you got there doesn't matter as long as you can stand behind it.
+
+## What happens
+
+Submissions that don't meet this bar get closed. If it keeps happening, you get blocked.
+
+## Maintainers
+
+Maintainers use AI at their discretion. They've earned that through sustained contribution and they know the codebase.
@@ -1,3 +1,5 @@
+> sunnypilot follows [commaai/openpilot](https://github.com/commaai/openpilot)'s contributing guidelines. The following applies to all contributions here.
+
 # How to contribute

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

 ### First contribution

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

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

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

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

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

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

@@ -812,6 +812,7 @@ struct SelfdriveState {
    promptDistracted @8;

    preAlert @9;
+    complete @10;
  }

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

 struct DriverMonitoringState {
  lockout @0 :Bool;
-  lockoutRecoveryPercent @11 :Int8;
+  lockoutCount @15 :Int8;
+  lockoutMinutesRemaining @11 :Int8;
  alert3Count @12 :Int8;
  noResponseCount @13 :Int8;
  noResponseForceDecel @14 :Bool;
@@ -7,12 +7,43 @@ import os
 import capnp
 import time

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

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

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


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


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


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


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


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

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


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


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


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

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

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

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

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

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

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

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


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

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

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

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


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

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

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

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

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

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

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

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

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


 class TestSubMaster:

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

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

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

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

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

 class TestPubMaster:

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

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

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


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


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

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

  def readable(self):
    return True

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

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

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

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

    # *** IRQ config ***

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

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

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

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

  def booted(self):
    # this normally boots within 8s, but on rare occasions takes 30+s
@@ -52,7 +52,7 @@ PPPD_CMD = [
  "novj", "novjccomp", "ipcp-accept-local", "ipcp-accept-remote", "nomagic",
  "user", '""', "password", '""',
 ]
-INITIAL_STATE = {
+INITIAL_STATE: dict[str, object] = {
  "seconds_since_boot": 0,
  "state": "INITIALIZING",
  "connected": False, "ip_address": "",
@@ -37,6 +37,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"DoShutdown", {CLEAR_ON_MANAGER_START, BOOL}},
    {"DoUninstall", {CLEAR_ON_MANAGER_START, BOOL}},
    {"DriverTooDistracted", {CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON, BOOL}},
+    {"DriverLockoutCount", {CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON, INT, "0"}},
    {"AlphaLongitudinalEnabled", {PERSISTENT | DEVELOPMENT_ONLY | BACKUP, BOOL}},
    {"ExperimentalMode", {PERSISTENT | BACKUP, BOOL}},
    {"ExperimentalModeConfirmed", {PERSISTENT | BACKUP, BOOL}},
@@ -221,6 +222,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"SubaruStopAndGo", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"TeslaCoopSteering", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"TeslaMadsScreenButton", {PERSISTENT | BACKUP, INT, "0"}},
    {"ToyotaEnforceStockLongitudinal", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"ToyotaStopAndGoHack", {PERSISTENT | BACKUP, BOOL, "0"}},

@@ -1,11 +1,13 @@
 import numpy as np
-from numbers import Number
+from collections.abc import Sequence
+
+Gain = int | float | tuple[Sequence[float], Sequence[float]] | list[list[float]]

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

    self.set_limits(pos_limit, neg_limit)

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

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

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

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

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

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

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

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

+      if CS.brakeHoldActive and CS.blockPcmEnable: # set by Nidec Hybrid which cannot resume from brakehold
+        events.add(EventName.belowEngageSpeed)
+
    elif self.CP.brand == 'toyota':
      # TODO: when we check for unexpected disengagement, check gear not S1, S2, S3
      if self.CP.openpilotLongitudinalControl:
@@ -3,7 +3,7 @@ import copy
 import os
 import pytest
 import random
-import unittest # noqa: TID251
+import unittest
 from collections import defaultdict, Counter
 import hypothesis.strategies as st
 from hypothesis import Phase, given, settings
@@ -22,6 +22,7 @@ from openpilot.selfdrive.pandad import can_capnp_to_list
 from openpilot.selfdrive.test.helpers import read_segment_list
 from openpilot.common.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 from openpilot.tools.lib.logreader import LogReader, LogsUnavailable, openpilotci_source, internal_source, comma_api_source
+from openpilot.tools.lib.file_sources import Source
 from openpilot.tools.lib.route import SegmentName

 SafetyModel = car.CarParams.SafetyModel
@@ -131,7 +132,7 @@ class TestCarModelBase(unittest.TestCase):
      segment_range = f"{cls.test_route.route}/{seg}"

      try:
-        sources = [internal_source] if len(INTERNAL_SEG_LIST) else [openpilotci_source, comma_api_source]
+        sources: list[Source] = [internal_source] if len(INTERNAL_SEG_LIST) else [openpilotci_source, comma_api_source]
        lr = LogReader(segment_range, sources=sources, sort_by_time=True)
        return cls.get_testing_data_from_logreader(lr)
      except (LogsUnavailable, AssertionError):
@@ -257,7 +258,7 @@ class TestCarModelBase(unittest.TestCase):

      # Don't check relay malfunction on disabled routes (relay closed),
      # or before fingerprinting is done (elm327 and noOutput)
-      if self.openpilot_enabled and t / 1e4 > self.car_safety_mode_frame:
+      if self.car_safety_mode_frame is not None and t / 1e4 > self.car_safety_mode_frame:
        self.assertFalse(self.safety.get_relay_malfunction())
      else:
        self.safety.set_relay_malfunction(False)
@@ -451,7 +452,7 @@ class TestCarModelBase(unittest.TestCase):
      # TODO: remove this exception once this mismatch is resolved
      brake_pressed = CS.brakePressed
      if CS.brakePressed and not self.safety.get_brake_pressed_prev():
-        if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brakeDEPRECATED > 0.05:
+        if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.deprecated.brake > 0.05:
          brake_pressed = False
      checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
      checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
@@ -15,6 +15,9 @@ MAX_LATERAL_JERK = 5.0  # m/s^3
 MAX_LATERAL_ACCEL_NO_ROLL = 3.0  # m/s^2


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


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

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

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

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


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

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

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

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

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

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

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

@@ -29,12 +29,12 @@ def main():
  longitudinal_planner = LongitudinalPlanner(CP, CP_SP)
  pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState',
-                            'liveMapDataSP', 'carStateSP', gps_location_service],
-                           poll='carState', ignore_alive=ignore_services, ignore_avg_freq=ignore_services, ignore_valid=ignore_services)
+                            'liveMapDataSP', 'carStateSP', 'selfdriveStateSP', gps_location_service],
+                           poll='modelV2', ignore_alive=ignore_services, ignore_avg_freq=ignore_services, ignore_valid=ignore_services)

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


-
-
 class TestLongControlStateTransition:

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

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

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

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

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

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


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

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

@@ -66,7 +66,7 @@ class LocationEstimator:
    self.observations = {kind: np.zeros(3, dtype=np.float32) for kind in obs_kinds}
    self.observation_errors = {kind: np.zeros(3, dtype=np.float32) for kind in obs_kinds}

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

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


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

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

@@ -81,6 +81,7 @@ class TestLagd:
        assert retrieve_initial_lag(params, CP) is None

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

    desired_sig = np.sin(np.arange(0.0, 10.0, 0.1))
@@ -91,15 +92,15 @@ class TestLagd:
    assert np.argmax(corr) == lag_frames

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

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

@@ -37,9 +37,9 @@ def get_select_fields_data(logs):
  def sig_smooth(signal):
    return masked_symmetric_moving_average(signal, np.ones_like(signal), 5, 1.0)
  def get_nested_keys(msg, keys):
-    val = None
+    val = msg
    for key in keys:
-      val = getattr(msg if val is None else val, key) if isinstance(key, str) else val[key]
+      val = getattr(val, key) if isinstance(key, str) else val[key]
    return val
  lp = [x.livePose for x in logs if x.which() == 'livePose']
  data = defaultdict(list)
@@ -2,7 +2,7 @@ import random
 import numpy as np

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

-    migrate_cached_vehicle_params_if_needed(params) # this is not tested here but should not mess anything up or throw an error
    sr, sf, offset, p_init = retrieve_initial_vehicle_params(params, CP, replay=True, debug=True)
    np.testing.assert_allclose(sr, msg.liveParameters.steerRatio)
    np.testing.assert_allclose(sf, msg.liveParameters.stiffnessFactor)
    np.testing.assert_allclose(offset, msg.liveParameters.angleOffsetAverageDeg)
    np.testing.assert_equal(p_init.shape, CarKalman.P_initial.shape)
    np.testing.assert_allclose(np.diagonal(p_init), msg.liveParameters.debugFilterState.std)
-
-  # TODO Remove this test after the support for old format is removed
-  def test_read_saved_params_old_format(self):
-    params = Params()
-
-    lr = migrate(LogReader(TEST_ROUTE), [migrate_carParams])
-    CP = next(m for m in lr if m.which() == "carParams").carParams
-
-    msg = get_random_live_parameters(CP)
-    params.put("LiveParameters", msg.liveParameters.to_dict(), block=True)
-    params.put("CarParamsPrevRoute", CP.as_builder().to_bytes(), block=True)
-    params.remove("LiveParametersV2")
-
-    migrate_cached_vehicle_params_if_needed(params)
-    sr, sf, offset, _ = retrieve_initial_vehicle_params(params, CP, replay=True, debug=True)
-    np.testing.assert_allclose(sr, msg.liveParameters.steerRatio)
-    np.testing.assert_allclose(sf, msg.liveParameters.stiffnessFactor)
-    np.testing.assert_allclose(offset, msg.liveParameters.angleOffsetAverageDeg)
-    assert params.get("LiveParametersV2") is not None
-
-  def test_read_saved_params_corrupted_old_format(self):
-    params = Params()
-    params.put("LiveParameters", {}, block=True)
-    params.remove("LiveParametersV2")
-
-    migrate_cached_vehicle_params_if_needed(params)
-    assert params.get("LiveParameters") is None
-    assert params.get("LiveParametersV2") is None
@@ -2,24 +2,25 @@ from opendbc.car.structs 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
+class TestTorqued:
+  def test_cal_percent(self):
+    est = TorqueEstimator(car.CarParams())
+    msg = est.get_msg()
+    assert msg.liveTorqueParameters.calPerc == 0

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

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

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

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

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

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

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

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

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

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

@@ -25,6 +25,7 @@ from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_drivi
 from openpilot.common.file_chunker import open_file_chunked, get_manifest_path
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
 from openpilot.selfdrive.modeld.helpers import usbgpu_present, modeld_pkl_path, get_tg_input_devices, load_oob
+from openpilot.selfdrive.modeld.usbgpu_link import wait_usbgpu_link

 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
@@ -94,7 +95,7 @@ class ModelState(ModelStateBase):
    self.frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
    self.input_queues, self.npy = make_input_queues(self.input_shapes, self.frame_skip, device=self.QUEUE_DEV)
    self.full_frames: dict[str, Tensor] = {}
-    self._blob_cache: dict[int, Tensor] = {}
+    self._blob_cache: dict[tuple[str, int], Tensor] = {}
    self.parser = Parser()
    self.frame_buf_params = {k: get_nv12_info(cam_w, cam_h) for k in ('img', 'big_img')}
    self.run_policy = jits['run_policy']
@@ -173,6 +174,8 @@ def main(demo=False):
  if use_extra_client:
    cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")

+  if USBGPU:
+    wait_usbgpu_link()
  st = time.monotonic()
  cloudlog.warning("loading model")
  model = ModelState(vipc_client_main.width, vipc_client_main.height, USBGPU)
@@ -41,7 +41,7 @@ class Parser:
    raw = outs[name]
    outs[name] = sigmoid(raw)

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

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

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

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

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

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

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

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

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

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

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

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

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

    st = time.monotonic()
-    ts = {s: list() for s in socks.keys()}
+    ts = {s: [] for s in socks.keys()}
    for _ in range(int(os.getenv("TEST_TIME", "20"))):
      # send some CAN messages
      if not JUNGLE_SPAM:
@@ -7,9 +7,8 @@ from opendbc.car.structs import car
 import openpilot.cereal.messaging as messaging
 from openpilot.common.constants import CV
 from openpilot.common.git import get_short_branch
-from openpilot.common.realtime import DT_CTRL, DT_DMON
+from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
-from openpilot.selfdrive.monitoring.policy import DRIVER_MONITOR_SETTINGS
 from openpilot.system.micd import SAMPLE_RATE, SAMPLE_BUFFER
 from openpilot.selfdrive.ui.feedback.feedbackd import FEEDBACK_MAX_DURATION
 from openpilot.common.hardware import HARDWARE
@@ -25,7 +24,6 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert
 AudibleAlert = log.SelfdriveState.AudibleAlert
 EventName = log.OnroadEvent.EventName

-DMON_LOCKOUT_TIME = DRIVER_MONITOR_SETTINGS()._LOCKOUT_TIME

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

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

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

 REPLAY = "REPLAY" in os.environ
@@ -177,6 +178,7 @@ class SelfdriveD(CruiseHelper):
    self.car_events_sp = CarSpecificEventsSP(self.CP, self.CP_SP)

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

  def update_events(self, CS):
    """Compute onroadEvents from carState"""
@@ -597,6 +599,8 @@ class SelfdriveD(CruiseHelper):
    icbm.sendButton = self.icbm.cruise_button
    icbm.vTarget = self.icbm.v_target

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

    # onroadEventsSP - logged every second or on change
@@ -616,6 +620,7 @@ class SelfdriveD(CruiseHelper):
      self.mads.update(CS)
    self.update_alerts(CS)

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

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


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


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

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


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

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

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

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

  def start(
@@ -635,10 +634,10 @@ def replay_process(
  fingerprint: str | None = None, return_all_logs: bool = False, custom_params: dict[str, Any] | None = None,
  captured_output_store: dict[str, dict[str, str]] | None = None, disable_progress: bool = False
 ) -> list[capnp._DynamicStructReader]:
-  if isinstance(cfg, Iterable):
-    cfgs = list(cfg)
-  else:
+  if isinstance(cfg, ProcessConfig):
    cfgs = [cfg]
+  else:
+    cfgs = list(cfg)

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

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

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

    return self._animation.frames[frame_index]

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

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


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

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

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


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

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

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

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

 ONROAD_DELAY = 2.5  # seconds

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

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

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

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

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

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

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

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

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


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

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

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

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

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

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


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


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

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

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

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

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

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

-    del widget
+      del widget

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

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

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

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

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

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


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

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

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

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


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

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

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

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

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

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

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

    self.selfdrive_timeout_alert = False
+    self.pending_stop = False

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

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

    return ret * self.current_volume

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

  def update_alert(self, new_alert):
    current_alert_played_once = self.current_alert == AudibleAlert.none or self.current_sound_frame >= len(self.loaded_sounds[self.current_alert])
+    # let looping sounds finish the current loop instead of cutting off mid tone
+    if new_alert == AudibleAlert.none and self.current_alert != AudibleAlert.none and sound_list[self.current_alert][1] is None:
+      if current_alert_played_once:
+        self.pending_stop = True
+      else:
+        self.current_alert = AudibleAlert.none
+        self.current_sound_frame = 0
+      return
+    self.pending_stop = False
    if self.current_alert != new_alert and (new_alert != AudibleAlert.none or current_alert_played_once):
      if new_alert == AudibleAlert.warningImmediate:
        self.ramp_start_volume = self.current_volume
@@ -0,0 +1,68 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import pyray as rl
+from openpilot.selfdrive.ui.layouts.home import HomeLayout, HomeLayoutState, HEAD_BUTTON_FONT_SIZE, SPACING
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.lib.multilang import tr, trn
+from openpilot.system.ui.widgets.label import gui_label
+
+BRAND_FONT_SIZE = 48
+BRAND_DESC_SPACING = 12
+
+
+class HomeLayoutSP(HomeLayout):
+  def _render_header(self):
+    font = gui_app.font(FontWeight.MEDIUM)
+
+    version_text_width = self.header_rect.width
+
+    if self.update_available:
+      version_text_width -= self.update_notif_rect.width
+
+      highlight_color = rl.Color(75, 95, 255, 255) if self.current_state == HomeLayoutState.UPDATE else rl.Color(54, 77, 239, 255)
+      rl.draw_rectangle_rounded(self.update_notif_rect, 0.3, 10, highlight_color)
+
+      text = tr("UPDATE")
+      text_size = measure_text_cached(font, text, HEAD_BUTTON_FONT_SIZE)
+      text_x = self.update_notif_rect.x + (self.update_notif_rect.width - text_size.x) // 2
+      text_y = self.update_notif_rect.y + (self.update_notif_rect.height - text_size.y) // 2
+      rl.draw_text_ex(font, text, rl.Vector2(int(text_x), int(text_y)), HEAD_BUTTON_FONT_SIZE, 0, rl.WHITE)
+
+    if self.alert_count > 0:
+      version_text_width -= self.alert_notif_rect.width
+
+      highlight_color = rl.Color(255, 70, 70, 255) if self.current_state == HomeLayoutState.ALERTS else rl.Color(226, 44, 44, 255)
+      rl.draw_rectangle_rounded(self.alert_notif_rect, 0.3, 10, highlight_color)
+
+      alert_text = trn("{} ALERT", "{} ALERTS", self.alert_count).format(self.alert_count)
+      text_size = measure_text_cached(font, alert_text, HEAD_BUTTON_FONT_SIZE)
+      text_x = self.alert_notif_rect.x + (self.alert_notif_rect.width - text_size.x) // 2
+      text_y = self.alert_notif_rect.y + (self.alert_notif_rect.height - text_size.y) // 2
+      rl.draw_text_ex(font, alert_text, rl.Vector2(int(text_x), int(text_y)), HEAD_BUTTON_FONT_SIZE, 0, rl.WHITE)
+
+    if self.update_available or self.alert_count > 0:
+      version_text_width -= SPACING * 1.5
+
+    version_right = self.header_rect.x + self.header_rect.width
+    version_left = version_right - version_text_width
+
+    brand = "sunnypilot"
+    description = self.params.get("UpdaterCurrentDescription") or ""
+
+    desc_width = 0
+    if description:
+      desc_size = measure_text_cached(gui_app.font(FontWeight.NORMAL), description, BRAND_FONT_SIZE)
+      desc_width = desc_size.x
+      desc_rect = rl.Rectangle(version_right - desc_width, self.header_rect.y, desc_width, self.header_rect.height)
+      gui_label(desc_rect, description, BRAND_FONT_SIZE, rl.WHITE, alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT)
+
+    brand_size = measure_text_cached(gui_app.font(FontWeight.AUDIOWIDE), brand, BRAND_FONT_SIZE)
+    spacing = BRAND_DESC_SPACING if description else 0
+    brand_x = version_right - desc_width - spacing - brand_size.x
+    brand_rect = rl.Rectangle(max(version_left, brand_x), self.header_rect.y, brand_size.x, self.header_rect.height)
+    gui_label(brand_rect, brand, BRAND_FONT_SIZE, rl.WHITE, font_weight=FontWeight.AUDIOWIDE)
@@ -20,7 +20,7 @@ class SunnylinkConsentPage(Widget):
    self._done_callback = done_callback
    self._step = 0

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

    self._content = [
      {
@@ -43,7 +43,7 @@ class ModelsLayout(Widget):
    self._initialize_items()

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

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

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

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

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

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

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

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

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

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

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

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

  def show_event(self):
    super().show_event()
@@ -7,7 +7,7 @@ See the LICENSE.md file in the root directory for more details.
 from collections.abc import Callable
 import pyray as rl

-from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
+from opendbc.sunnypilot.car.tesla.values import MadsScreenButtonType, TeslaFlagsSP
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.sunnypilot.mads.helpers import MadsSteeringModeOnBrake
 from openpilot.system.ui.lib.multilang import tr, tr_noop
@@ -96,7 +96,10 @@ class MadsSettingsLayout(Widget):
    if brand == "rivian":
      return True
    elif brand == "tesla":
-      return not (ui_state.CP_SP is not None and ui_state.CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS)
+      if ui_state.CP_SP is None or not ui_state.CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS:
+        return True
+      screen_button = int(ui_state.params.get("TeslaMadsScreenButton", return_default=True))
+      return screen_button == MadsScreenButtonType.OFF
    return False

  def _update_steering_mode_description(self, button_index: int):
@@ -4,10 +4,11 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
+from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
+from openpilot.system.ui.sunnypilot.widgets.list_view import multiple_button_item_sp, toggle_item_sp

 COOP_STEERING_MIN_KMH = 23
 OEM_STEERING_MIN_KMH = 48
@@ -18,7 +19,14 @@ class TeslaSettings(BrandSettings):
  def __init__(self):
    super().__init__()
    self.coop_steering_toggle = toggle_item_sp(tr("Cooperative Steering (Beta)"), "", param="TeslaCoopSteering")
-    self.items = [self.coop_steering_toggle]
+    self.mads_screen_button = multiple_button_item_sp(
+      title=lambda: tr("MADS Screen Activation"),
+      description="",
+      buttons=[lambda: tr("Off"), lambda: tr("3-Finger"), lambda: tr("4-Finger"), lambda: tr("5-Finger")],
+      param="TeslaMadsScreenButton",
+      inline=False,
+    )
+    self.items = [self.coop_steering_toggle, self.mads_screen_button]

  def update_settings(self):
    is_metric = ui_state.is_metric
@@ -41,3 +49,18 @@ class TeslaSettings(BrandSettings):

    self.coop_steering_toggle.set_description(coop_steering_desc)
    self.coop_steering_toggle.action_item.set_enabled(ui_state.is_offroad())
+
+    has_vehicle_bus = ui_state.CP_SP is not None and bool(ui_state.CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS)
+    self.mads_screen_button.set_visible(has_vehicle_bus)
+
+    mads_screen_button_desc = (
+      f"{tr('Use a multi-finger press on the infotainment screen to toggle MADS.')} " +
+      f"{tr('This allows the use of full MADS functionality when enabled.')}<br><br>" +
+      f"{tr('Selecting a higher finger count may reduce accidental activations.')}<br><br>" +
+      f"<b>{tr('Note: Setting this to Off will reset your MADS settings to default.')}</b>"
+    )
+    if not ui_state.is_offroad():
+      mads_screen_button_disabled_msg = tr("Enable \"Always Offroad\" in Device panel, or turn vehicle off to change.")
+      mads_screen_button_desc = f"<b>{mads_screen_button_disabled_msg}</b><br><br>{mads_screen_button_desc}"
+    self.mads_screen_button.set_description(mads_screen_button_desc)
+    self.mads_screen_button.action_item.set_enabled(ui_state.is_offroad())
@@ -0,0 +1,15 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.selfdrive.ui.mici.layouts.home import MiciHomeLayout
+from openpilot.system.ui.lib.application import FontWeight
+from openpilot.system.ui.widgets.label import UnifiedLabel
+
+
+class MiciHomeLayoutSP(MiciHomeLayout):
+  def __init__(self):
+    super().__init__()
+    self._openpilot_label = UnifiedLabel("sunnypilot", font_size=88, font_weight=FontWeight.AUDIOWIDE, max_width=480, wrap_text=False)
@@ -4,7 +4,6 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from collections.abc import Callable
 import pyray as rl

 from openpilot.cereal import custom
@@ -48,10 +47,8 @@ class CurrentModelInfo(Widget):
    self.info_text.render()

 class ModelsLayoutMici(NavScroller):
-  def __init__(self, back_callback: Callable):
+  def __init__(self):
    super().__init__()
-    self.set_back_callback(back_callback)
-    self.original_back_callback = back_callback
    self.focused_widget = None

    self.current_model_info = CurrentModelInfo()
@@ -85,12 +82,10 @@ class ModelsLayoutMici(NavScroller):

    return folders

-  def _show_selection_view(self, items, back_callback: Callable):
-    self._scroller._items = items
-    for item in items:
-      item.set_touch_valid_callback(lambda: self._scroller.scroll_panel.is_touch_valid() and self._scroller.enabled)
-    self._scroller.scroll_panel.set_offset(0)
-    self.set_back_callback(back_callback)
+  def _push_selection_view(self, items):
+    scroller = NavScroller()
+    scroller._scroller.add_widgets(items)
+    gui_app.push_widget(scroller)

  def _show_folders(self):
    self.focused_widget = self.select_model_btn
@@ -112,15 +107,18 @@ class ModelsLayoutMici(NavScroller):
          folder_buttons.insert(0, btn)
        else:
          folder_buttons.append(btn)
-    self._show_selection_view(folder_buttons, self._reset_main_view)
+    self._push_selection_view(folder_buttons)
+
+  def _pop_to_main(self):
+    gui_app.pop_widgets_to(self)

  def _select_model(self, bundle):
    ui_state.params.put("ModelManager_DownloadIndex", bundle.index)
-    self._reset_main_view()
+    self._pop_to_main()

  def _select_default(self):
    ui_state.params.remove("ModelManager_ActiveBundle")
-    self._reset_main_view()
+    self._pop_to_main()

  def _select_folder(self, folder_name):
    favs = ui_state.params.get("ModelManager_Favs")
@@ -135,13 +133,7 @@ class ModelsLayoutMici(NavScroller):
      btn = BigButton(txt)
      btn.set_click_callback(lambda b=bundle: self._select_model(b))
      btns.append(btn)
-    self._show_selection_view(btns, self._show_folders)
-
-  def _reset_main_view(self):
-    self._scroller._items = self.main_items
-    self.set_back_callback(self.original_back_callback)
-    self._scroller.scroll_panel.set_offset(0)
-    self._scroller.scroll_to(0)
+    self._push_selection_view(btns)

  def hide_event(self):
    super().hide_event()
@@ -16,6 +16,9 @@ class SunnylinkConsentPage(NavScroller):
  def __init__(self, on_accept: Callable | None = None, on_decline: Callable | None = None):
    super().__init__()

+    assert on_accept is not None and callable(on_accept)
+    assert on_decline is not None and callable(on_decline)
+
    self._accept_button = BigConfirmationCircleButton("enable\nsunnylink", gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 64, 64),
                                                      on_accept,  exit_on_confirm=False)

@@ -32,11 +32,11 @@ class SettingsLayoutSP(OP.SettingsLayout):
                                                BIG_ICON_SIZE)
    self.icon_offroad_slider = gui_app.texture("icons_mici/settings/device/lkas.png", BIG_ICON_SIZE, BIG_ICON_SIZE)

-    sunnylink_panel = SunnylinkLayoutMici(back_callback=gui_app.pop_widget)
+    sunnylink_panel = SunnylinkLayoutMici()
    sunnylink_btn = SettingsBigButton(tr("sunnylink"), "", gui_app.texture("icons_mici/settings/developer/ssh.png", 55, 55))
    sunnylink_btn.set_click_callback(lambda: gui_app.push_widget(sunnylink_panel))

-    models_panel = ModelsLayoutMici(back_callback=gui_app.pop_widget)
+    models_panel = ModelsLayoutMici()
    models_btn = SettingsBigButton(tr("models"), "", gui_app.texture("../../sunnypilot/selfdrive/assets/offroad/icon_models.png", ICON_SIZE, ICON_SIZE))
    models_btn.set_click_callback(lambda: gui_app.push_widget(models_panel))

@@ -6,7 +6,6 @@ See the LICENSE.md file in the root directory for more details.
 """
 import pyray as rl

-from collections.abc import Callable

 from openpilot.cereal import custom
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigToggle
@@ -54,9 +53,8 @@ class SunnylinkInfo(Widget):
    self.sponsor_text.render()

 class SunnylinkLayoutMici(NavScroller):
-  def __init__(self, back_callback: Callable):
+  def __init__(self):
    super().__init__()
-    self.set_back_callback(back_callback)
    self._restore_in_progress = False
    self._backup_in_progress = False
    self._sunnylink_enabled = ui_state.params.get("SunnylinkEnabled")
@@ -198,7 +198,7 @@ class SpeedLimitRenderer(Widget, SpeedLimitAlertRenderer):
        self._draw_ahead_info(sign_rect)

  def _draw_sign_main(self, rect, alpha=1.0):
-    speed_limit_warning_enabled = ui_state.speed_limit_mode >= SpeedLimitMode.warning
+    speed_limit_warning_enabled = ui_state.speed_limit_mode is not None and ui_state.speed_limit_mode >= SpeedLimitMode.warning
    has_limit = self.speed_limit_valid or self.speed_limit_last_valid
    is_overspeed = has_limit and round(self.speed_limit_final_last) < round(self.speed)

@@ -224,8 +224,7 @@ class UIStateSP:


 class DeviceSP:
-  @staticmethod
-  def _set_awake(on: bool, _ui_state):
+  def _set_awake(self, on: bool, _ui_state=None):
    if _ui_state.boot_offroad_mode == 1 and not on:
      _ui_state.params.put_bool("OffroadMode", True)

--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
MVL	9e0d89968d	Honda Clarity: brake hold fix (#1247 ) * Nidec Hybrid brake hold fix * intent fix * bump opendbc --------- Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2026-08-06 22:18:37 -04:00
Jason Wen	fec5a97a9e	docs: update policy (#1898 )	2026-08-06 21:57:56 -04:00
Jason Wen	099143ad9d	[mici] ui: fix swipe-down in sunnylink and models panels (#1896 ) * [mici] ui: fix swipe-down in sunnylink and models panels * update mici replay test * [mici] ui: push model sub-views as separate widgets for correct back navigation	2026-08-05 23:22:36 -04:00
Jason Wen	6909aa95ff	ui: use sunnypilot and sunnylink branding fonts (#1895 ) * ui: use sunnypilot and sunnylink branding fonts * split	2026-08-05 22:53:04 -04:00
Nayan	5bdc0c23a9	modeld_v2: Support Deep Models (#1887 ) * modeld_v2: safe model validation * fix string * numpy * dumb * god use full attribute names please * modeld_v2: refactor compile_modeld * redundant * CREAM AND SUGAR * gpu stuffs * Update fetcher.py * Update compile_modeld.py * Update compile_modeld.py * Update compile_modeld.py * Update compile_modeld.py * summary * Update compile_modeld.py * Update compile_modeld.py * Update compile_modeld.py * i could lie say * needed * i could * Update compile_modeld.py * done done done * bye metadata * simplify * deeeeep * oopsie * i don't know what i'm doing * it's a supercombo * wtf. ghostwriter * i might be blind * fuck. i AM blind. or dumb. or both. * hmmmm * read/open - what's the difference * realize. that i don't know shit * whatever * fix paths * fuckit. dynamic everything. * simplify everything. * fix macos cabana * np.random.seed is deprecated, use Generator or default rng instead @nayan * this is annoying me * too much fluff * no * lint be crazy now, man i've been away a while * back * fix pkl loader test * that comment was wrong, its still per model, just compiled at with the input/output shapes * fix chunking * dump and assign to cpu * prev_feat in cpu to prevent corruption * add todo-sp * desire me? * allow legacy * lint * shapey * bye --------- Co-authored-by: discountchubbs <alexgrant990@gmail.com> Co-authored-by: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com> Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2026-08-05 12:30:28 -07:00
Amy Jeanes	1a07e47228	Tesla: MADS Screen Activation (#1808 ) * Tesla: MADS Screen Button Settings Adds a Tesla vehicle setting (vehicle bus required) to control how many fingers activate the MADS screen button, or disable it entirely. Rebased onto current master: - Migrated the setting metadata from the deprecated params_metadata.json (removed in #1862) to the yaml SDUI system: added TeslaMadsScreenButton to settings_ui_src/pages/vehicle.yaml and recompiled settings_ui.json. Vehicle-bus gating uses the tesla_has_vehicle_bus capability visibility. - Bumped opendbc_repo to the latest head of sunnypilot/opendbc#459. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01JiSH2KAAueUmDe29xvpuAd * bump * Tesla: address MADS Screen Activation review feedback Default TeslaMadsScreenButton to Off for fresh installs and add a param migration that seeds existing Tesla installs with 3-Finger, preserving the previous always-on behaviour. Brand resolves from CarPlatformBundle, falling back to CarParamsPersistent so auto-fingerprinted Teslas are covered too. Rename the setting to "MADS Screen Activation", hyphenate the finger-count labels, and reword the description to use <br> (descriptions render as HTML) with a note that a higher finger count may reduce accidental activations. Applied both on-device and in sunnylink. Also fix test_tesla_with_vehicle_bus_uses_param, which broke once get_mads_limited_brands started reading TeslaMadsScreenButton from the same blanket params mock, and add coverage for the screen-button-Off path. Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01X5icDp7zZ49gpyC2mpCfF1 * bump opendbc --------- Co-authored-by: Claude Opus 4.8 <noreply@anthropic.com> Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2026-08-01 23:40:52 -04:00
Jason Wen	50b860c928	Reapply "plannerd: check all services for validity (#38341 )" This reverts commit `0265ae5f76`.	2026-08-01 23:27:36 -04:00
Jason Wen	978ec800fe	plannerd & selfdriveStateSP: poll `modelV2`, relay button state via bitmask (#1893 ) * selfdrived: continuous button state and release counters in selfdriveStateSP * tests and more	2026-08-01 23:05:03 -04:00
Jason Wen	3a05c03079	ci: no more docker (#1886 )	2026-07-25 15:34:36 -04:00
Eitan	fd22de1c9a	SCC-M: fix operator precedence in quadratic roots (#1816 ) * controls/scc: fix operator precedence in map controller quadratic roots * not async --------- Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2026-07-25 09:37:18 -04:00
Christopher Haucke	ee3583df33	[tizi/tici] ui: Camera offset controls (#1813 ) * Camera offset controls * final --------- Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2026-07-25 09:15:05 -04:00
Jason Wen	7801bdf0cc	Reapply "mapd: ignore in plannerd health check (#1880 )" This reverts commit `9163d1cb74`.	2026-07-25 01:36:05 -04:00
Jason Wen	0265ae5f76	Revert "plannerd: check all services for validity (#38341 )" This reverts commit `a9ffebe96e`.	2026-07-25 01:27:25 -04:00
Jason Wen	9163d1cb74	Revert "mapd: ignore in plannerd health check (#1880 )" This reverts commit `2c334ede44`.	2026-07-25 01:27:11 -04:00
Jason Wen	a0cc313fdc	version: bump to 2026.003.000	2026-07-24 11:36:33 -04:00
Jason Wen	93bb596a2e	Sync: `commaai/openpilot:master` → `sunnypilot/sunnypilot:master` (#1883 )	2026-07-24 11:18:35 -04:00
Jason Wen	41b14fa595	Merge commaai/openpilot `fdd1df79` into sync-20260721	2026-07-24 11:07:06 -04:00
Adeeb Shihadeh	fdd1df79fb	longitudinal: remove per-car stopping tunes (#38394 ) * remove per-car longitudinal stopping tunes * bump opendbc * lil more * lil more * lil more * lil more * revert modeld for now	2026-07-20 19:52:23 -07:00
Adeeb Shihadeh	031b1ad0a3	longcontrol: remove starting state (#38340 )	2026-07-20 16:30:42 -07:00
Daniel Koepping	b1f2e638de	fix branch cleanup burning GH API requests (#38392 ) * ci: stop branch cleanup from burning API rate limit * simpler	2026-07-20 16:00:20 -07:00
Daniel Koepping	c20263d985	speedup chunk reading (#38389 ) read chunk directly into caller buffer	2026-07-20 14:46:33 -07:00
Daniel Koepping	5472e69e35	New sounds (#38154 ) * new sounds * soundd: fix sound cutoff * update sounds * add max warning_immediate variant * mici: play sounds button in developer settings * rename sounds * add complete sound * update sounds * raise soundfloor by 5% * update sounds * play unused sounds * update sounds * bump opendbc * Revert "play unused sounds" This reverts commit 47e538da2200e700804714576baa5f8c0f28cdb3. * Revert "mici: play sounds button in developer settings" This reverts commit 149141bb8a21bec7a04dc8f231d0b6b9120cc7c2. * remove unused sounds * raise soundfloor by 5% * opendbc * add space	2026-07-20 14:31:55 -07:00
Daniel Koepping	78909dac73	soundd: add complete sound (#38390 )	2026-07-20 10:50:18 -07:00
Daniel Koepping	24a9b6dae5	profile usb gpu link stability (#38368 ) * profile usb gpu link before using * ci	2026-07-20 10:36:09 -07:00
Adeeb Shihadeh	d9596fa998	gc old athena and uploader migration code	2026-07-19 14:55:42 -07:00
Adeeb Shihadeh	e124d6df9b	more dead code gc	2026-07-19 14:52:04 -07:00
Adeeb Shihadeh	3dbf02f803	cereal: gc dead ZMQ branches in tests	2026-07-19 14:45:26 -07:00
Adeeb Shihadeh	fef29ad225	start porting tests to unittest style (#38384 )	2026-07-19 14:33:26 -07:00
Adeeb Shihadeh	157c7080ce	bump opendbc (#38370 )	2026-07-19 12:21:04 -07:00
Adeeb Shihadeh	caa9e770cc	manager: remove preimport stage (#38381 )	2026-07-19 12:20:25 -07:00
Adeeb Shihadeh	24893ebadb	rm pre-commit-hooks (#38382 ) * rm pre-commit-hooks * rm test for the tests * lil more	2026-07-19 12:10:48 -07:00
Adeeb Shihadeh	39e12c8bb1	rm cffi, it's a raylib transitive dep	2026-07-19 11:14:40 -07:00
Adeeb Shihadeh	f0d93eb32d	more ty, part 2 (#38379 )	2026-07-19 11:02:00 -07:00
Adeeb Shihadeh	19ecc37de8	more ty (#38378 ) * enable no matching overload * enable call non callable * enable unsupported-operator * enable not subscriptable * refactor pass	2026-07-19 09:45:46 -07:00
Adeeb Shihadeh	ecac2d386b	these go in tools	2026-07-19 09:02:02 -07:00
Adeeb Shihadeh	e475d10adc	more ruff (#38377 ) * lil more ruff * no exclusions! * rm nb exception * and generated * not used * c408 * random * all * unittest is fine	2026-07-19 08:51:16 -07:00
Adeeb Shihadeh	7d74c3c99b	rm setuptools (#38376 ) * rm setuptools * lock	2026-07-19 08:25:31 -07:00
Adeeb Shihadeh	cefcf10ec3	rm jinja2	2026-07-19 08:15:01 -07:00
Adeeb Shihadeh	1c07e00759	rm xattr (#38373 ) * rm xattr * doesn't add new coverage	2026-07-18 13:55:47 -07:00
Adeeb Shihadeh	f0841b827a	remove av (#38366 )	2026-07-18 09:04:41 -07:00
Adeeb Shihadeh	3f49e2d33c	jp: add thumbnail source (#38363 )	2026-07-18 09:02:08 -07:00
Adeeb Shihadeh	3f93b00120	webrtc: remove av (#38369 )	2026-07-18 08:52:02 -07:00
stef	c21b0821da	fix(ui): label alignment and text with icon (#38365 ) fix align bottom and text positioning with icon	2026-07-17 16:23:44 -07:00
Adeeb Shihadeh	b9f25f8a43	webrtcd: move to libdatachannel (#38228 ) * try libdatachannel * fix uv lock * fix uv lock * remove datachannel abstraction and just use libdatachannel * clean * fix livestream bitrate controller * fix sample * fix import breaking ci * clean up and add catches * bump tele * move to teleop master * fix linter * . * remove libdatachannel explicit reference from pyproject.toml * add PyJWT crypto and catch in registration * spelling * add crypto back to lock --------- Co-authored-by: stefpi <19478336+stefpi@users.noreply.github.com>	2026-07-17 15:28:39 -07:00
ZwX1616	c8786d930d	DM: reasonable lockout ramp up (#38358 )	2026-07-17 15:27:20 -07:00
Adeeb Shihadeh	3a55f31dc5	agnos 18.5 (#38302 )	2026-07-17 15:24:34 -07:00
Adeeb Shihadeh	a04c045cd7	cabana: de-Qt, part 3 (#38360 )	2026-07-17 09:31:16 -07:00
rkdune	9aa5c3d2c6	expose submodule dependencies as an extra	2026-07-16 18:16:08 -07:00
Adeeb Shihadeh	5d23a78c77	cabana: de-Qt, part 2 (#38359 )	2026-07-16 14:35:45 -07:00
Adeeb Shihadeh	06a73f538e	cabana: de-Qt, part 1 (#38357 ) * cabana: de-Qt, part 1 * lil more	2026-07-16 13:45:57 -07:00
Shane Smiskol	60716edc37	Fix thumbnail creation (#38354 ) it's not a stream	2026-07-15 22:51:41 -07:00
Adeeb Shihadeh	61608db786	jp: fix linking on macOS (#38353 ) * jp: fix linking on macOS * mv to root	2026-07-15 21:39:47 -07:00