temp: comment out blind-spot monitoring signals due to DBC changes

- Avoided crash caused by missing signals in updated DBC definitions. - Added a TODO to revisit and validate blind-spot logic.
bump
2026-06-24 18:42:07 +08:00 · 2026-04-01 08:55:26 +02:00 · 2026-03-31 21:57:58 -04:00 · 2026-03-31 21:42:06 -04:00 · 2026-03-31 07:46:13 -04:00 · 2026-03-31 06:56:52 -04:00
187 changed files with 9410 additions and 7265 deletions
@@ -2,5 +2,6 @@ Wen
 REGIST
 PullRequest
 cancelled
+indeces
 FOF
 NoO
@@ -34,10 +34,10 @@ jobs:
          echo "tinygrad_ref=$ref" >> $GITHUB_OUTPUT
          echo "tinygrad_ref is $ref"

-      - name: Checkout docs repo (sunnypilot-docs, gh-pages)
+      - name: Checkout docs repo (sunnypilot-models, gh-pages)
        uses: actions/checkout@v4
        with:
-          repository: sunnypilot/sunnypilot-docs
+          repository: sunnypilot/sunnypilot-models
          ref: gh-pages
          path: docs
          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
@@ -202,7 +202,7 @@ jobs:
      - name: Checkout docs repo
        uses: actions/checkout@v4
        with:
-          repository: sunnypilot/sunnypilot-docs
+          repository: sunnypilot/sunnypilot-models
          ref: gh-pages
          path: docs
          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
@@ -119,7 +119,7 @@ jobs:
      - name: Checkout docs repo
        uses: actions/checkout@v4
        with:
-          repository: sunnypilot/sunnypilot-docs
+          repository: sunnypilot/sunnypilot-models
          ref: gh-pages
          path: docs
          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
@@ -72,7 +72,6 @@ jobs:
        git add .
    - name: update car docs
      run: |
-        scons -j$(nproc) --minimal opendbc_repo
        python selfdrive/car/docs.py
        git add docs/CARS.md
    - name: Create Pull Request
@@ -181,7 +181,7 @@ jobs:
        echo "${{ github.sha }}" > ref_commit
        git add .
        git commit -m "process-replay refs for ${{ github.repository }}@${{ github.sha }}" || echo "No changes to commit"
-        git push origin process-replay
+        git push origin process-replay --force
    - name: Run regen
      if: false
      timeout-minutes: 4
@@ -13,13 +13,13 @@ venv/
 a.out
 .hypothesis
 .cache/
-
-/docs_site/
+bin/

 *.mp4
 *.dylib
 *.DSYM
 *.d
+*.pem
 *.pyc
 *.pyo
 .*.swp
@@ -39,11 +39,13 @@ a.out
 *.mo
 *_pyx.cpp
 *.stats
+*.pkl
+*.pkl*
 config.json
-clcache
 compile_commands.json
 compare_runtime*.html

+# build artifacts
 selfdrive/pandad/pandad
 cereal/services.h
 cereal/gen
@@ -56,51 +58,36 @@ system/camerad/test/ae_gray_test
 .coverage*
 coverage.xml
 htmlcov
-pandaextra
-
-.mypy_cache/
-flycheck_*
-
-cppcheck_report.txt
-comma*.sh
-
-selfdrive/modeld/models/*.pkl*
-sunnypilot/modeld*/models/*.pkl

 # openpilot log files
 *.bz2
 *.zst
+*.rlog

 build/

 !**/.gitkeep

-poetry.toml
-Pipfile

 ### VisualStudioCode ###
+*.vsix
+.history
+.ionide
 .vscode/*
+.history/
 !.vscode/settings.json
 !.vscode/tasks.json
 !.vscode/launch.json
 !.vscode/extensions.json
 !.vscode/*.code-snippets

-# Local History for Visual Studio Code
-.history/
-
-# Built Visual Studio Code Extensions
-*.vsix
-
-### VisualStudioCode Patch ###
-# Ignore all local history of files
-.history
-.ionide
-
+# agents
 .claude/
 .context/
 PLAN.md
 TASK.md
+CLAUDE.md
+SKILL.md

 ### JetBrains ###
 !.idea/customTargets.xml
@@ -21,5 +21,12 @@
        </clean>
      </configuration>
    </target>
+    <target id="f2590b2b-9b93-49f9-8510-da3f3724a2ae" name="replay" defaultType="TOOL">
+      <configuration id="d475264f-6f4c-4092-9b4e-6773309f38b7" name="replay" toolchainName="Default">
+        <build type="TOOL">
+          <tool actionId="Tool_External Tools_uv build tools replay" />
+        </build>
+      </configuration>
+    </target>
  </component>
 </project>
@@ -20,4 +20,11 @@
      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
    </exec>
  </tool>
+  <tool name="uv build tools replay" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
+    <exec>
+      <option name="COMMAND" value="bash" />
+      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) tools/replay/&quot;" />
+      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
+    </exec>
+  </tool>
 </toolSet>
@@ -0,0 +1 @@
+3.12.13
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
+  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
    <envs>
      <env name="QT_DBL_CLICK_DIST" value="150" />
    </envs>
@@ -0,0 +1,27 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Debug Route Controls" type="PythonConfigurationType" factoryName="Python">
+    <module name="openpilot-special" />
+    <option name="ENV_FILES" value="" />
+    <option name="INTERPRETER_OPTIONS" value="" />
+    <option name="PARENT_ENVS" value="true" />
+    <envs>
+      <env name="PYTHONUNBUFFERED" value="1" />
+      <env name="FINGERPRINT" value="KIA_EV9" />
+      <env name="SKIP_FW_QUERY" value="1" />
+    </envs>
+    <option name="SDK_HOME" value="" />
+    <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$/selfdrive/car" />
+    <option name="IS_MODULE_SDK" value="true" />
+    <option name="ADD_CONTENT_ROOTS" value="true" />
+    <option name="ADD_SOURCE_ROOTS" value="true" />
+    <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
+    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/selfdrive/car/card.py" />
+    <option name="PARAMETERS" value="" />
+    <option name="SHOW_COMMAND_LINE" value="false" />
+    <option name="EMULATE_TERMINAL" value="true" />
+    <option name="MODULE_MODE" value="false" />
+    <option name="REDIRECT_INPUT" value="false" />
+    <option name="INPUT_FILE" value="" />
+    <method v="2" />
+  </configuration>
+</component>
@@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Replay for controls + ui" type="Multirun" separateTabs="false" reuseTabsWithFailures="false" startOneByOne="true" markFailedProcess="true" hideSuccessProcess="false" delayTime="0.0">
+    <runConfiguration name="replay for controls" type="Native Application" />
+    <runConfiguration name="Build Debug" type="Custom Build Application" />
+    <method v="2" />
+  </configuration>
+</component>
@@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="replay for controls" type="CLionNativeAppRunConfigurationType" focusToolWindowBeforeRun="true" PROGRAM_PARAMS="&quot;$Prompt$&quot; --block &quot;sendcan,carState,carParams,carOutput,liveTracks,carParamsSP,carStateSP,bookmarkButton&quot;" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="true" WORKING_DIR="file://$ProjectFileDir$/tools/replay" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="replay" CONFIG_NAME="replay" version="1" RUN_PATH="replay">
+    <method v="2">
+      <option name="CLION.COMPOUND.BUILD" enabled="true" />
+    </method>
+  </configuration>
+</component>
@@ -167,7 +167,7 @@ node {
  env.GIT_COMMIT = checkout(scm).GIT_COMMIT

  def excludeBranches = ['__nightly', 'devel', 'devel-staging', 'release3', 'release3-staging',
-                         'release-tici', 'release-tizi', 'release-tizi-staging', 'testing-closet*', 'hotfix-*']
+                         'release-tici', 'release-tizi', 'release-tizi-staging', 'release-mici-staging', 'testing-closet*', 'hotfix-*']
  def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')

  if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
@@ -179,7 +179,7 @@ node {
  try {
    if (env.BRANCH_NAME == 'devel-staging') {
      deviceStage("build release-tizi-staging", "tizi-needs-can", [], [
-        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging $SOURCE_DIR/release/build_release.sh"),
+        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging $SOURCE_DIR/release/build_release.sh && git push -f origin release-tizi-staging:release-mici-staging"),
      ])
    }

@@ -218,14 +218,14 @@ node {
      'camerad OX03C10': {
        deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [
          step("build", "cd system/manager && ./build.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
+          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"),
          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]),
        ])
      },
      'camerad OS04C10': {
        deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
          step("build", "cd system/manager && ./build.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
+          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"),
          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]),
        ])
      },
@@ -1,8 +1,16 @@
-Version 0.10.4 (2026-02-17)
+Version 0.11.1 (2026-04-08)
 ========================
+* New driver monitoring model
+* Improved image processing pipeline for driver camera
+
+Version 0.11.0 (2026-03-17)
+========================
+* New driving model #36798
+  * Fully trained using a learned simulator
+  * Improved longitudinal performance in Experimental mode
+* Reduce comma four standby power usage by 77% to 52 mW
 * Kia K7 2017 support thanks to royjr!
 * Lexus LS 2018 support thanks to Hacheoy!
-* Reduce comma four standby power usage by 77% to 52 mW

 Version 0.10.3 (2025-12-17)
 ========================
@@ -4,9 +4,11 @@ import sys
 import sysconfig
 import platform
 import shlex
+import importlib
 import numpy as np

 import SCons.Errors
+from SCons.Defaults import _stripixes

 SCons.Warnings.warningAsException(True)

@@ -14,9 +16,6 @@ Decider('MD5-timestamp')

 SetOption('num_jobs', max(1, int(os.cpu_count()/2)))

-AddOption('--asan', action='store_true', help='turn on ASAN')
-AddOption('--ubsan', action='store_true', help='turn on UBSan')
-AddOption('--mutation', action='store_true', help='generate mutation-ready code')
 AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
 AddOption('--verbose', action='store_true', default=False, help='show full build commands')
 AddOption('--minimal',
@@ -38,23 +37,46 @@ assert arch in [
  "Darwin",   # macOS arm64 (x86 not supported)
 ]

-if arch != "larch64":
-  import bzip2
-  import capnproto
-  import eigen
-  import ffmpeg as ffmpeg_pkg
-  import libjpeg
-  import libyuv
-  import ncurses
-  import python3_dev
-  import zeromq
-  import zstd
-  pkgs = [bzip2, capnproto, eigen, ffmpeg_pkg, libjpeg, libyuv, ncurses, zeromq, zstd]
-  py_include = python3_dev.INCLUDE_DIR
-else:
-  # TODO: remove when AGNOS has our new vendor pkgs
-  pkgs = []
-  py_include = sysconfig.get_paths()['include']
+pkg_names = ['bzip2', 'capnproto', 'eigen', 'ffmpeg', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
+pkgs = [importlib.import_module(name) for name in pkg_names]
+
+
+# ***** enforce a whitelist of system libraries *****
+# this prevents silently relying on a 3rd party package,
+# e.g. apt-installed libusb. all libraries should either
+# be distributed with all Linux distros and macOS, or
+# vendored in commaai/dependencies.
+allowed_system_libs = {
+  "EGL", "GLESv2", "GL", "Qt5Charts", "Qt5Core", "Qt5Gui", "Qt5Widgets",
+  "dl", "drm", "gbm", "m", "pthread",
+}
+
+def _resolve_lib(env, name):
+  for d in env.Flatten(env.get('LIBPATH', [])):
+    p = Dir(str(d)).abspath
+    for ext in ('.a', '.so', '.dylib'):
+      f = File(os.path.join(p, f'lib{name}{ext}'))
+      if f.exists() or f.has_builder():
+        return name
+  if name in allowed_system_libs:
+    return name
+  raise SCons.Errors.UserError(f"Unexpected non-vendored library '{name}'")
+
+def _libflags(target, source, env, for_signature):
+  libs = []
+  lp = env.subst('$LIBLITERALPREFIX')
+  for lib in env.Flatten(env.get('LIBS', [])):
+    if isinstance(lib, str):
+      if os.sep in lib or lib.startswith('#'):
+        libs.append(File(lib))
+      elif lib.startswith('-') or (lp and lib.startswith(lp)):
+        libs.append(lib)
+      else:
+        libs.append(_resolve_lib(env, lib))
+    else:
+      libs.append(lib)
+  return _stripixes(env['LIBLINKPREFIX'], libs, env['LIBLINKSUFFIX'],
+                    env['LIBPREFIXES'], env['LIBSUFFIXES'], env, env['LIBLITERALPREFIX'])

 env = Environment(
  ENV={
@@ -107,14 +129,14 @@ env = Environment(
  tools=["default", "cython", "compilation_db", "rednose_filter"],
  toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
 )
+if arch != "larch64":
+  env['_LIBFLAGS'] = _libflags

 # Arch-specific flags and paths
 if arch == "larch64":
  env["CC"] = "clang"
  env["CXX"] = "clang++"
  env.Append(LIBPATH=[
-    "/usr/local/lib",
-    "/system/vendor/lib64",
    "/usr/lib/aarch64-linux-gnu",
  ])
  arch_flags = ["-D__TICI__", "-mcpu=cortex-a57", "-DQCOM2"]
@@ -126,19 +148,6 @@ elif arch == "Darwin":
  ])
  env.Append(CCFLAGS=["-DGL_SILENCE_DEPRECATION"])
  env.Append(CXXFLAGS=["-DGL_SILENCE_DEPRECATION"])
-else:
-  env.Append(LIBPATH=[
-    "/usr/lib",
-    "/usr/local/lib",
-  ])
-
-# Sanitizers and extra CCFLAGS from CLI
-if GetOption('asan'):
-  env.Append(CCFLAGS=["-fsanitize=address", "-fno-omit-frame-pointer"])
-  env.Append(LINKFLAGS=["-fsanitize=address"])
-elif GetOption('ubsan'):
-  env.Append(CCFLAGS=["-fsanitize=undefined"])
-  env.Append(LINKFLAGS=["-fsanitize=undefined"])

 _extra_cc = shlex.split(GetOption('ccflags') or '')
 if _extra_cc:
@@ -176,7 +185,7 @@ if os.environ.get('SCONS_PROGRESS'):

 # ********** Cython build environment **********
 envCython = env.Clone()
-envCython["CPPPATH"] += [py_include, np.get_include()]
+envCython["CPPPATH"] += [sysconfig.get_paths()['include'], np.get_include()]
 envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-cpp", "-Wno-shadow", "-Wno-deprecated-declarations"]
 envCython["CCFLAGS"].remove("-Werror")

@@ -210,7 +219,6 @@ Export('common')
 env_swaglog = env.Clone()
 env_swaglog['CXXFLAGS'].append('-DSWAGLOG="\\"common/swaglog.h\\""')
 SConscript(['msgq_repo/SConscript'], exports={'env': env_swaglog})
-SConscript(['opendbc_repo/SConscript'], exports={'env': env_swaglog})

 SConscript(['cereal/SConscript'])

@@ -236,7 +244,15 @@ if arch == "larch64":
 # Build openpilot
 SConscript(['third_party/SConscript'])

-SConscript(['selfdrive/SConscript'])
+# Build selfdrive
+SConscript([
+  'selfdrive/pandad/SConscript',
+  'selfdrive/controls/lib/lateral_mpc_lib/SConscript',
+  'selfdrive/controls/lib/longitudinal_mpc_lib/SConscript',
+  'selfdrive/locationd/SConscript',
+  'selfdrive/modeld/SConscript',
+  'selfdrive/ui/SConscript',
+])

 SConscript(['sunnypilot/SConscript'])

@@ -1 +0,0 @@
-*.cpp
@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch')
+Import('env', 'envCython')

 common_libs = [
  'params.cc',
@@ -28,7 +28,7 @@ class BounceFilter(FirstOrderFilter):
    scale = self.dt / (1.0 / 60.0)  # tuned at 60 fps
    self.velocity.x += (x - self.x) * self.bounce * scale * self.dt
    self.velocity.update(0.0)
-    if abs(self.velocity.x) < 1e-5:
+    if abs(self.velocity.x) < 1e-3:
      self.velocity.x = 0.0
    self.x += self.velocity.x
    return self.x
@@ -275,4 +275,11 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"TorqueParamsOverrideEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"TorqueParamsOverrideFriction", {PERSISTENT | BACKUP, FLOAT, "0.1"}},
    {"TorqueParamsOverrideLatAccelFactor", {PERSISTENT | BACKUP, FLOAT, "2.5"}},
+
+    // Tuning keys
+    {"EnableHkgTuningAngleSmoothingFactor", {PERSISTENT | BACKUP, BOOL, "1"}},
+    {"HkgTuningAngleMinTorqueReductionGain", {PERSISTENT | BACKUP, INT, "10"}},
+    {"HkgTuningAngleMaxTorqueReductionGain", {PERSISTENT | BACKUP, INT, "100"}},
+    {"HkgTuningAngleActiveTorqueReductionGain", {PERSISTENT | BACKUP, INT, "100"}},
+    {"HkgTuningOverridingCycles", {PERSISTENT | BACKUP, INT, "17"}},
 };
@@ -2,6 +2,7 @@ import datetime
 from pathlib import Path

 MIN_DATE = datetime.datetime(year=2025, month=2, day=21)
+MAX_DATE = datetime.datetime(year=2035, month=1, day=1)

 def min_date():
  # on systemd systems, the default time is the systemd build time
@@ -12,4 +13,4 @@ def min_date():
  return MIN_DATE

 def system_time_valid():
-  return datetime.datetime.now() > min_date()
+  return min_date() < datetime.datetime.now() < MAX_DATE
@@ -1,2 +0,0 @@
-transformations
-transformations.cpp
@@ -1 +1 @@
-#define COMMA_VERSION "0.10.4"
+#define COMMA_VERSION "0.11.1"
@@ -10,7 +10,6 @@ from openpilot.system.hardware import TICI, HARDWARE
 # TODO: pytest-cpp doesn't support FAIL, and we need to create test translations in sessionstart
 # pending https://github.com/pytest-dev/pytest-cpp/pull/147
 collect_ignore = [
-  "selfdrive/ui/tests/test_translations",
  "selfdrive/test/process_replay/test_processes.py",
  "selfdrive/test/process_replay/test_regen.py",
 ]
@@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1
 export QCOM_PRIORITY=12

 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="16"
+  export AGNOS_VERSION="17.2"
 fi

 export STAGING_ROOT="/data/safe_staging"
@@ -26,18 +26,18 @@ dependencies = [
  "numpy >=2.0",

  # vendored native dependencies
-  "bzip2 @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=bzip2",
-  "capnproto @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=capnproto",
-  "eigen @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=eigen",
-  "ffmpeg @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=ffmpeg",
-  "libjpeg @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=libjpeg",
-  "libyuv @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=libyuv",
-  "python3-dev @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=python3-dev",
-  "zstd @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=zstd",
-  "ncurses @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=ncurses",
-  "zeromq @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=zeromq",
-  "git-lfs @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=git-lfs",
-  "gcc-arm-none-eabi @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=gcc-arm-none-eabi",
+  "bzip2 @ git+https://github.com/commaai/dependencies.git@release-bzip2#subdirectory=bzip2",
+  "capnproto @ git+https://github.com/commaai/dependencies.git@release-capnproto#subdirectory=capnproto",
+  "eigen @ git+https://github.com/commaai/dependencies.git@release-eigen#subdirectory=eigen",
+  "ffmpeg @ git+https://github.com/commaai/dependencies.git@release-ffmpeg#subdirectory=ffmpeg",
+  "libjpeg @ git+https://github.com/commaai/dependencies.git@release-libjpeg#subdirectory=libjpeg",
+  "libyuv @ git+https://github.com/commaai/dependencies.git@release-libyuv#subdirectory=libyuv",
+  "zstd @ git+https://github.com/commaai/dependencies.git@release-zstd#subdirectory=zstd",
+  "ncurses @ git+https://github.com/commaai/dependencies.git@release-ncurses#subdirectory=ncurses",
+  "zeromq @ git+https://github.com/commaai/dependencies.git@release-zeromq#subdirectory=zeromq",
+  "libusb @ git+https://github.com/commaai/dependencies.git@release-libusb#subdirectory=libusb",
+  "git-lfs @ git+https://github.com/commaai/dependencies.git@release-git-lfs#subdirectory=git-lfs",
+  "gcc-arm-none-eabi @ git+https://github.com/commaai/dependencies.git@release-gcc-arm-none-eabi#subdirectory=gcc-arm-none-eabi",

  # body / webrtcd
  "av",
@@ -206,6 +206,7 @@ lint.flake8-implicit-str-concat.allow-multiline = false
 "pyray.is_mouse_button_pressed".msg = "This can miss events. Use Widget._handle_mouse_press"
 "pyray.is_mouse_button_released".msg = "This can miss events. Use Widget._handle_mouse_release"
 "pyray.draw_text".msg = "Use a function (such as rl.draw_font_ex) that takes font as an argument"
+"pyray.draw_texture".msg = "Use rl.draw_texture_ex for float position support"

 [tool.ruff.format]
 quote-style = "preserve"
@@ -249,3 +250,6 @@ unsupported-operator = "ignore"
 # Ignore not-subscriptable - false positives from dynamic types
 not-subscriptable = "ignore"
 # not-iterable errors are now fixed
+
+[tool.uv]
+python-preference = "only-managed"
@@ -13,11 +13,12 @@ from openpilot.common.basedir import BASEDIR

 DIRS = ['cereal', 'openpilot']
 EXTS = ['.png', '.py', '.ttf', '.capnp', '.json', '.fnt', '.mo', '.po']
+EXCLUDE = ['selfdrive/assets/training', 'third_party/raylib/raylib_repo/examples']
 INTERPRETER = '/usr/bin/env python3'


 def copy(src, dest):
-  if any(src.endswith(ext) for ext in EXTS):
+  if any(src.endswith(ext) for ext in EXTS) and not any(exc in src for exc in EXCLUDE):
    shutil.copy2(src, dest, follow_symlinks=True)


@@ -28,6 +29,8 @@ if __name__ == '__main__':
  parser.add_argument('module', help="the module to target, e.g. 'openpilot.system.ui.spinner'")
  args = parser.parse_args()

+  print('WARNING: copying all files! make sure to run scons and git tree is clean')
+
  if not args.output:
    args.output = args.module

@@ -13,7 +13,7 @@ cd $ROOT

 FAILED=0

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

 function run() {
@@ -1,6 +0,0 @@
-SConscript(['pandad/SConscript'])
-SConscript(['controls/lib/lateral_mpc_lib/SConscript'])
-SConscript(['controls/lib/longitudinal_mpc_lib/SConscript'])
-SConscript(['locationd/SConscript'])
-SConscript(['modeld/SConscript'])
-SConscript(['ui/SConscript'])
@@ -1,4 +1,2 @@
-*.cc
 fonts/*.fnt
 fonts/*.png
-translations_assets.qrc
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:f3f57346a1cf9a66f9fd746f87bcebb23b7a403e9d6e4fd7701b126abcdd47ea
-size 18476
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:f646263b26de46f79cac836ef6865b0f25ddc91e386b99311723b68bd06693c9
-size 3304
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:d29a9c295b33b3164c37a68ad77795595e6ac877a5b308d28112b0315ecd498f
-size 1687
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:122a614d1aa26187507951f932160eebfddfebcb4293e78f8d23e350fc97bc0f
+size 11489
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:9e363a79dc35ca4c4e9efaa6a843d37ad219efa5299d3e538d8249affa230096
-size 7935
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:cc6fb48520143b6fa1f060d8212e6d929917ab616ce943b5fab5a60665f00da5
-size 18225
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:7a198f13f30b3dbc09f30d7fd8033a0bc07a0da9b010b7ca6ed2678430c9e5b4
-size 6949
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:75289d004709def2a2d6101a0330ec867895068ec3807aefc2a26d423d907a13
-size 13437
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:2452aaf59da18be1b74b475851d66e5c73c50aa49820419a288b1fdb7b42dee1
-size 9071
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:6478f7c1c5ef2013e94fc4218ab370889883c5c12231ba3e0975874cb0b6fec9
-size 21893
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d5b8f76e5f47e77e5af3016ebdbe548ad3bc9af83a1111b3214bf4017c95a28
+size 11792
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:a733c425113a7f6ff5ec3dc50ef94b5481c0f2d306e33d1485be8ee6b2798532
-size 1136
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:b3a336afddad80dc91caca91d54bd29897ce491f180374edf9a5ba517cbc00e9
-size 8765
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:8eee9f10ca80a4e6100c00c02bb46aa5f253b14b086ab9982cfa85ee94eec162
-size 22512
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:94a86fac6ffe8a8179812cf55350ab9ca6935f36244c6f679c1cf521a842316b
-size 5723
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:6ccb5f2298389ae36df87de84d85440ee5a82c50e803c9bd362c9b89ea45aa69
-size 6611
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:a804da77b268f0a625f93949642ae74cdfe5b5caa5baea1c52c4605ae25c80e4
-size 12916
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:89ca7e6bb01dfa78300126ce828cb2a64e7a2e68e1e9152de242f57a36d0e57a
-size 8604
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:b3242a411b559f1d0308f189fe0d25b81d6c7d964ca418a0c599a1bab4bffcbb
-size 5341
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:d354651c0c8107dcc5f599777d260f53ef1901123315785ed8190466166cdce8
-size 17554
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:74fc21132b1e761ea54ce64617730c6ee79d01668244ab555b3b89870cfea181
-size 7112
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:9728423bd5e3197ef02d62e4bae415e6694aab875ca8630ffc9f188c38e18e5f
-size 4141
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:0ff179f93f421edcb503ca5c22a12b37e3a2aaabc414bf90f57e20ff5255dd75
-size 15572
@@ -1 +0,0 @@
-*.bz2
@@ -1,2 +0,0 @@
-calibration_param
-traces
@@ -11,7 +11,7 @@ class LatControlAngle(LatControl):
  def __init__(self, CP, CP_SP, CI, dt):
    super().__init__(CP, CP_SP, CI, dt)
    self.sat_check_min_speed = 5.
-    self.use_steer_limited_by_safety = CP.brand == "tesla"
+    self.use_steer_limited_by_safety = CP.brand in ("tesla", "hyundai")

  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited, lat_delay):
    angle_log = log.ControlsState.LateralAngleState.new_message()
@@ -1,2 +0,0 @@
-params_learner
-paramsd
@@ -29,11 +29,26 @@ MIN_LAG = 0.15
 MAX_LAG_STD = 0.1
 MAX_LAT_ACCEL = 2.0
 MAX_LAT_ACCEL_DIFF = 0.6
+MIN_LAT_ACCEL_RANGE = 0.5
 MIN_CONFIDENCE = 0.7
 CORR_BORDER_OFFSET = 5
 LAG_CANDIDATE_CORR_THRESHOLD = 0.9
+SMOOTH_K = 5
+SMOOTH_SIGMA = 1.0


+def masked_symmetric_moving_average(x: np.ndarray, mask: np.ndarray, k: int, sigma: float) -> np.ndarray:
+  assert k >= 1 and k % 2 == 1, "k must be positive and odd"
+  pad = k // 2
+  i = np.arange(k) - pad
+  w = np.exp(-0.5 * (i / sigma) ** 2)
+  w /= w.sum()
+  xp = np.pad(x * mask, pad, mode="edge")
+  mp = np.pad(mask, pad, mode="edge")
+  num = np.convolve(xp, w, mode="valid")
+  den = np.convolve(mp, w, mode="valid")
+  return np.divide(num, den, out=np.full_like(num, np.nan, dtype=np.float64), where=den != 0)
+
 def masked_normalized_cross_correlation(expected_sig: np.ndarray, actual_sig: np.ndarray, mask: np.ndarray, n: int):
  """
  References:
@@ -295,11 +310,14 @@ class LateralLagEstimator:

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

+    desired = masked_symmetric_moving_average(desired, okay, SMOOTH_K, SMOOTH_SIGMA)
+    actual = masked_symmetric_moving_average(actual, okay, SMOOTH_K, SMOOTH_SIGMA)
+
    delay, corr, confidence = self.actuator_delay(desired, actual, okay, self.dt, MIN_LAG, MAX_LAG)
    if corr < self.min_ncc or confidence < self.min_confidence or not is_valid:
      return
@@ -311,16 +329,16 @@ class LateralLagEstimator:
  def actuator_delay(expected_sig: np.ndarray, actual_sig: np.ndarray, mask: np.ndarray,
                     dt: float, min_lag: float, max_lag: float) -> tuple[float, float, float]:
    assert len(expected_sig) == len(actual_sig)
-    min_lag_samples, max_lag_samples = int(round(min_lag / dt)), int(round(max_lag / dt))
-    padded_size = fft_next_good_size(len(expected_sig) + max_lag_samples)
+    min_lag_samples, max_lag_samples, one_sec_samples = int(round(min_lag / dt)), int(round(max_lag / dt)), int(round(1.0 / dt))
+    padded_size = fft_next_good_size(len(expected_sig) + max(max_lag_samples, one_sec_samples))

    ncc = masked_normalized_cross_correlation(expected_sig, actual_sig, mask, padded_size)

-    # only consider lags from min_lag to max_lag
-    roi = np.s_[len(expected_sig) - 1 + min_lag_samples: len(expected_sig) - 1 + max_lag_samples]
-    extended_roi = np.s_[roi.start - CORR_BORDER_OFFSET: roi.stop + CORR_BORDER_OFFSET]
-    roi_ncc = ncc[roi]
-    extended_roi_ncc = ncc[extended_roi]
+    # only consider lags from ranges:
+    roi = np.s_[len(expected_sig) - 1 + min_lag_samples: len(expected_sig) - 1 + max_lag_samples] # min_lag - max_lag range
+    threshold_roi = np.s_[len(expected_sig) - 1: len(expected_sig) - 1 + one_sec_samples] # 0 - 1 second range
+    confidence_roi = np.s_[threshold_roi.start - CORR_BORDER_OFFSET: threshold_roi.stop + CORR_BORDER_OFFSET] # threshold range +/- border
+    roi_ncc, confidence_roi_ncc, threshold_roi_ncc = ncc[roi], ncc[confidence_roi], ncc[threshold_roi]

    max_corr_index = np.argmax(roi_ncc)
    corr = roi_ncc[max_corr_index]
@@ -328,8 +346,8 @@ class LateralLagEstimator:

    # to estimate lag confidence, gather all high-correlation candidates and see how spread they are
    # if e.g. 0.8 and 0.4 are both viable, this is an ambiguous case
-    ncc_thresh = (roi_ncc.max() - roi_ncc.min()) * LAG_CANDIDATE_CORR_THRESHOLD + roi_ncc.min()
-    good_lag_candidate_mask = extended_roi_ncc >= ncc_thresh
+    ncc_thresh = (threshold_roi_ncc.max() - threshold_roi_ncc.min()) * LAG_CANDIDATE_CORR_THRESHOLD + threshold_roi_ncc.min()
+    good_lag_candidate_mask = confidence_roi_ncc >= ncc_thresh
    good_lag_candidate_edges = np.diff(good_lag_candidate_mask.astype(int), prepend=0, append=0)
    starts, ends = np.where(good_lag_candidate_edges == 1)[0], np.where(good_lag_candidate_edges == -1)[0] - 1
    run_idx = np.searchsorted(starts, max_corr_index + CORR_BORDER_OFFSET, side='right') - 1
@@ -1 +0,0 @@
-out/
@@ -19,8 +19,8 @@ DT = 0.05
 def process_messages(estimator, lag_frames, n_frames, vego=20.0, rejection_threshold=0.0):
  for i in range(n_frames):
    t = i * estimator.dt
-    desired_la = np.cos(10 * t) * 0.1
-    actual_la = np.cos(10 * (t - lag_frames * estimator.dt)) * 0.1
+    desired_la = np.cos(10 * t) * 0.3
+    actual_la = np.cos(10 * (t - lag_frames * estimator.dt)) * 0.3

    # if sample is masked out, set it to desired value (no lag)
    rejected = random.uniform(0, 1) < rejection_threshold
@@ -45,13 +45,17 @@ def tg_compile(flags, model_name):
  pkl = fn + "_tinygrad.pkl"
  onnx_path = fn + ".onnx"
  chunk_targets = get_chunk_paths(pkl, estimate_pickle_max_size(os.path.getsize(onnx_path)))
+  compile_node = lenv.Command(
+    pkl,
+    [onnx_path] + tinygrad_files + [chunker_file],
+    f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}',
+  )
  def do_chunk(target, source, env):
    chunk_file(pkl, chunk_targets)
  return lenv.Command(
    chunk_targets,
-    [onnx_path] + tinygrad_files + [chunker_file],
-    [f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}',
-     do_chunk]
+    compile_node,
+    do_chunk,
  )

 # Compile small models
@@ -3,7 +3,7 @@ docker_out/

 process_replay/diff.txt
 process_replay/model_diff.txt
+process_replay/fakedata/
 valgrind_logs.txt

-*.bz2
 *.hevc
@@ -1 +0,0 @@
-fakedata/
@@ -342,10 +342,15 @@ class TestOnroad:

        start, end = min(first_fid), min(last_fid)
        for i in range(end-start):
-          ts = {c: round(self.ts[c]['timestampSof'][i]/1e6, 1) for c in cams}
+          # road and wide cameras (first two) should be synced within 2ms
+          ts = {c: round(self.ts[c]['timestampSof'][i]/1e6, 1) for c in cams[:2]}
          diff = (max(ts.values()) - min(ts.values()))
          assert diff < 2, f"Cameras not synced properly: frame_id={start+i}, {diff=:.1f}ms, {ts=}"

+          # driver camera should be staggered ~25ms from road camera
+          offset_ms = abs(self.ts[cams[2]]['timestampSof'][i] - self.ts[cams[0]]['timestampSof'][i]) / 1e6
+          assert 20 < offset_ms < 30, f"driver camera stagger out of range at frame {start+i}: {offset_ms:.1f}ms"
+
  def test_camera_encoder_matches(self, subtests):
    # sanity check that the frame metadata is consistent with the encoded frames
    pairs = [('roadCameraState', 'roadEncodeIdx'),
@@ -1 +1,4 @@
 installer/installers/*
+
+tests/diff/report
+.coverage
@@ -1,4 +1,3 @@
-import re
 from pathlib import Path
 Import('env', 'arch', 'common')

@@ -19,39 +18,38 @@ env.Command(

 if GetOption('extras') and arch == "larch64":
  # build installers
-  if arch != "Darwin":
-    raylib_env = env.Clone()
-    raylib_env['LIBPATH'] += [f'#third_party/raylib/{arch}/']
-    raylib_env['LINKFLAGS'].append('-Wl,-strip-debug')
+  raylib_env = env.Clone()
+  raylib_env['LIBPATH'] += [f'#third_party/raylib/{arch}/']
+  raylib_env['LINKFLAGS'].append('-Wl,-strip-debug')

-    raylib_libs = common + ["raylib"]
-    if arch == "larch64":
-      raylib_libs += ["GLESv2", "EGL", "gbm", "drm"]
-    else:
-      raylib_libs += ["GL"]
+  raylib_libs = common + ["raylib"]
+  if arch == "larch64":
+    raylib_libs += ["GLESv2", "EGL", "gbm", "drm"]
+  else:
+    raylib_libs += ["GL"]

-    release = "release3"
-    installers = [
-      ("openpilot", release),
-      ("openpilot_test", f"{release}-staging"),
-      ("openpilot_nightly", "nightly"),
-      ("openpilot_internal", "nightly-dev"),
-    ]
+  release = "release3"
+  installers = [
+    ("openpilot", release),
+    ("openpilot_test", f"{release}-staging"),
+    ("openpilot_nightly", "nightly"),
+    ("openpilot_internal", "nightly-dev"),
+  ]

-    cont = raylib_env.Command("installer/continue_openpilot.o", "installer/continue_openpilot.sh",
+  cont = raylib_env.Command("installer/continue_openpilot.o", "installer/continue_openpilot.sh",
+                            "ld -r -b binary -o $TARGET $SOURCE")
+  inter = raylib_env.Command("installer/inter_ttf.o", "installer/inter-ascii.ttf",
+                             "ld -r -b binary -o $TARGET $SOURCE")
+  inter_bold = raylib_env.Command("installer/inter_bold.o", "../assets/fonts/Inter-Bold.ttf",
                              "ld -r -b binary -o $TARGET $SOURCE")
-    inter = raylib_env.Command("installer/inter_ttf.o", "installer/inter-ascii.ttf",
-                               "ld -r -b binary -o $TARGET $SOURCE")
-    inter_bold = raylib_env.Command("installer/inter_bold.o", "../assets/fonts/Inter-Bold.ttf",
-                                "ld -r -b binary -o $TARGET $SOURCE")
-    inter_light = raylib_env.Command("installer/inter_light.o", "../assets/fonts/Inter-Light.ttf",
-                                "ld -r -b binary -o $TARGET $SOURCE")
-    for name, branch in installers:
-      d = {'BRANCH': f"'\"{branch}\"'"}
-      if "internal" in name:
-        d['INTERNAL'] = "1"
+  inter_light = raylib_env.Command("installer/inter_light.o", "../assets/fonts/Inter-Light.ttf",
+                              "ld -r -b binary -o $TARGET $SOURCE")
+  for name, branch in installers:
+    d = {'BRANCH': f"'\"{branch}\"'"}
+    if "internal" in name:
+      d['INTERNAL'] = "1"

-      obj = raylib_env.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d)
-      f = raylib_env.Program(f"installer/installers/installer_{name}", [obj, cont, inter, inter_bold, inter_light], LIBS=raylib_libs)
-      # keep installers small
-      assert f[0].get_size() < 2500*1e3, f[0].get_size()
+    obj = raylib_env.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d)
+    f = raylib_env.Program(f"installer/installers/installer_{name}", [obj, cont, inter, inter_bold, inter_light], LIBS=raylib_libs)
+    # keep installers small
+    assert f[0].get_size() < 2500*1e3, f[0].get_size()
@@ -81,14 +81,16 @@ void run(const char* cmd) {
 }

 void finishInstall() {
-  if (tici_device) {
-    BeginDrawing();
-      ClearBackground(BLACK);
+  BeginDrawing();
+    ClearBackground(BLACK);
+    if (tici_device) {
      const char *m = "Finishing install...";
      int text_width = MeasureText(m, FONT_SIZE);
      DrawTextEx(font_display, m, (Vector2){(float)(GetScreenWidth() - text_width)/2 + FONT_SIZE, (float)(GetScreenHeight() - FONT_SIZE)/2}, FONT_SIZE, 0, WHITE);
-    EndDrawing();
-  }
+    } else {
+      DrawTextEx(font_display, "finishing setup", (Vector2){12, 0}, 77, 0, (Color){255, 255, 255, (unsigned char)(255 * 0.9)});
+    }
+  EndDrawing();
  util::sleep_for(60 * 1000);
 }

@@ -62,6 +62,7 @@ class HomeLayout(Widget):
    self._setup_callbacks()

  def show_event(self):
+    super().show_event()
    self._exp_mode_button.show_event()
    self.last_refresh = time.monotonic()
    self._refresh()
@@ -94,7 +94,7 @@ class TrainingGuide(Widget):
  def _render(self, _):
    # Safeguard against fast tapping
    step = min(self._step, len(self._textures) - 1)
-    rl.draw_texture(self._textures[step], 0, 0, rl.WHITE)
+    rl.draw_texture_ex(self._textures[step], rl.Vector2(0, 0), 0.0, 1.0, rl.WHITE)

    # progress bar
    if 0 < step < len(STEP_RECTS) - 1:
@@ -104,6 +104,7 @@ class DeveloperLayout(Widget):
    self._scroller.render(rect)

  def show_event(self):
+    super().show_event()
    self._scroller.show_event()
    self._update_toggles()

@@ -75,6 +75,7 @@ class DeviceLayout(Widget):
    self._power_off_btn.action_item.right_button.set_visible(ui_state.is_offroad())

  def show_event(self):
+    super().show_event()
    self._scroller.show_event()

  def _render(self, rect):
@@ -82,6 +82,7 @@ class SoftwareLayout(Widget):
    ], line_separator=True, spacing=0)

  def show_event(self):
+    super().show_event()
    self._scroller.show_event()

  def _render(self, rect):
@@ -152,6 +152,7 @@ class TogglesLayout(Widget):
      ui_state.personality = personality

  def show_event(self):
+    super().show_event()
    self._scroller.show_event()
    self._update_toggles()

@@ -165,14 +165,14 @@ class Sidebar(Widget, SidebarSP):
    # Settings button
    settings_down = mouse_down and rl.check_collision_point_rec(mouse_pos, SETTINGS_BTN)
    tint = Colors.BUTTON_PRESSED if settings_down else Colors.BUTTON_NORMAL
-    rl.draw_texture(self._settings_img, int(SETTINGS_BTN.x), int(SETTINGS_BTN.y), tint)
+    rl.draw_texture_ex(self._settings_img, rl.Vector2(SETTINGS_BTN.x, SETTINGS_BTN.y), 0.0, 1.0, tint)

    # Home/Flag button
    flag_pressed = mouse_down and rl.check_collision_point_rec(mouse_pos, HOME_BTN)
    button_img = self._flag_img if ui_state.started else self._home_img

    tint = Colors.BUTTON_PRESSED if (ui_state.started and flag_pressed) else Colors.BUTTON_NORMAL
-    rl.draw_texture(button_img, int(HOME_BTN.x), int(HOME_BTN.y), tint)
+    rl.draw_texture_ex(button_img, rl.Vector2(HOME_BTN.x, HOME_BTN.y), 0.0, 1.0, tint)

    # Microphone button
    if self._recording_audio:
@@ -182,8 +182,8 @@ class Sidebar(Widget, SidebarSP):
      bg_color = rl.Color(Colors.DANGER.r, Colors.DANGER.g, Colors.DANGER.b, int(255 * 0.65)) if mic_pressed else Colors.DANGER

      rl.draw_rectangle_rounded(self._mic_indicator_rect, 1, 10, bg_color)
-      rl.draw_texture(self._mic_img, int(self._mic_indicator_rect.x + (self._mic_indicator_rect.width - self._mic_img.width) / 2),
-                      int(self._mic_indicator_rect.y + (self._mic_indicator_rect.height - self._mic_img.height) / 2), Colors.WHITE)
+      rl.draw_texture_ex(self._mic_img, rl.Vector2(self._mic_indicator_rect.x + (self._mic_indicator_rect.width - self._mic_img.width) / 2,
+                         self._mic_indicator_rect.y + (self._mic_indicator_rect.height - self._mic_img.height) / 2), 0.0, 1.0, Colors.WHITE)

  def _draw_network_indicator(self, rect: rl.Rectangle):
    # Signal strength dots
@@ -7,7 +7,7 @@ from collections.abc import Callable
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.layouts import HBoxLayout
 from openpilot.system.ui.widgets.icon_widget import IconWidget
-from openpilot.system.ui.widgets.label import MiciLabel, UnifiedLabel
+from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.version import RELEASE_BRANCHES
@@ -77,7 +77,7 @@ class NetworkIcon(Widget):
      # Offset by difference in height between slashless and slash icons to make center align match
      draw_y -= (self._wifi_slash_txt.height - self._wifi_none_txt.height) / 2

-    rl.draw_texture(draw_net_txt, int(draw_x), int(draw_y), rl.Color(255, 255, 255, int(255 * 0.9)))
+    rl.draw_texture_ex(draw_net_txt, rl.Vector2(draw_x, draw_y), 0.0, 1.0, rl.Color(255, 255, 255, int(255 * 0.9)))


 class MiciHomeLayout(Widget):
@@ -103,14 +103,15 @@ class MiciHomeLayout(Widget):
      self._mic_icon,
    ], spacing=18)

-    self._openpilot_label = MiciLabel("sunnypilot", font_size=90, color=rl.Color(255, 255, 255, int(255 * 0.9)), font_weight=FontWeight.AUDIOWIDE)
-    self._version_label = MiciLabel("", font_size=36, font_weight=FontWeight.ROMAN)
-    self._large_version_label = MiciLabel("", font_size=64, color=rl.GRAY, font_weight=FontWeight.ROMAN)
-    self._date_label = MiciLabel("", font_size=36, color=rl.GRAY, font_weight=FontWeight.ROMAN)
+    self._openpilot_label = UnifiedLabel("sunnypilot", font_size=96, font_weight=FontWeight.DISPLAY, max_width=480, wrap_text=False)
+    self._version_label = UnifiedLabel("", font_size=36, font_weight=FontWeight.ROMAN, max_width=480, wrap_text=False)
+    self._large_version_label = UnifiedLabel("", font_size=64, text_color=rl.GRAY, font_weight=FontWeight.ROMAN, max_width=480, wrap_text=False)
+    self._date_label = UnifiedLabel("", font_size=36, text_color=rl.GRAY, font_weight=FontWeight.ROMAN, max_width=480, wrap_text=False)
    self._branch_label = UnifiedLabel("", font_size=36, text_color=rl.GRAY, font_weight=FontWeight.ROMAN, scroll=True)
-    self._version_commit_label = MiciLabel("", font_size=36, color=rl.GRAY, font_weight=FontWeight.ROMAN)
+    self._version_commit_label = UnifiedLabel("", font_size=36, text_color=rl.GRAY, font_weight=FontWeight.ROMAN, max_width=480, wrap_text=False)

  def show_event(self):
+    super().show_event()
    self._version_text = self._get_version_text()
    self._update_params()

@@ -182,12 +183,12 @@ class MiciHomeLayout(Widget):
      self._version_label.render()

      self._date_label.set_text(" " + self._version_text[3])
-      self._date_label.set_position(version_pos.x + self._version_label.rect.width + 10, version_pos.y)
+      self._date_label.set_position(version_pos.x + self._version_label.text_width + 10, version_pos.y)
      self._date_label.render()

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

      if not release_branch:
@@ -144,7 +144,7 @@ class AlertItem(Widget):
      bg_texture = self._bg_small_pressed if self.is_pressed else self._bg_small

    # Draw background
-    rl.draw_texture(bg_texture, int(self._rect.x), int(self._rect.y), rl.WHITE)
+    rl.draw_texture_ex(bg_texture, rl.Vector2(self._rect.x, self._rect.y), 0.0, 1.0, rl.WHITE)

    # Calculate text area (left side, avoiding icon on right)
    title_width = self.ALERT_WIDTH - (self.ALERT_PADDING * 2) - self.ICON_SIZE - self.ICON_MARGIN
@@ -183,7 +183,7 @@ class AlertItem(Widget):
      icon_texture = self._icon_orange
    icon_x = self._rect.x + self.ALERT_WIDTH - self.ALERT_PADDING - self.ICON_SIZE
    icon_y = self._rect.y + self.ALERT_PADDING
-    rl.draw_texture(icon_texture, int(icon_x), int(icon_y), rl.WHITE)
+    rl.draw_texture_ex(icon_texture, rl.Vector2(icon_x, icon_y), 0.0, 1.0, rl.WHITE)


 class MiciOffroadAlerts(Scroller):
@@ -15,8 +15,7 @@ from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.version import terms_version, training_version, terms_version_sp
 from openpilot.system.version import sunnylink_consent_version, sunnylink_consent_declined
 from openpilot.selfdrive.ui.ui_state import ui_state, device
-from openpilot.selfdrive.ui.mici.widgets.button import BigCircleButton
-from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationDialogV2
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationCircleButton
 from openpilot.selfdrive.ui.mici.onroad.driver_state import DriverStateRenderer
 from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import BaseDriverCameraDialog
 from openpilot.selfdrive.ui.sunnypilot.mici.layouts.onboarding import SunnylinkConsentPage
@@ -154,8 +153,10 @@ class TrainingGuideDMTutorial(NavWidget):
  def _render(self, _):
    self._dialog.render(self._rect)

-    rl.draw_rectangle_gradient_v(int(self._rect.x), int(self._rect.y + self._rect.height - 80),
-                                 int(self._rect.width), 80, rl.BLANK, rl.BLACK)
+    gradient_y = int(self._rect.y + self._rect.height - 80)
+    gradient_h = int(self._rect.y) + int(self._rect.height) - gradient_y
+    rl.draw_rectangle_gradient_v(int(self._rect.x), gradient_y,
+                                 int(self._rect.width), gradient_h, rl.BLANK, rl.BLACK)

    # draw white ring around dm icon to indicate progress
    ring_thickness = 8
@@ -217,26 +218,19 @@ class TrainingGuideRecordFront(NavScroller):
  def __init__(self, continue_callback: Callable[[], None]):
    super().__init__()

-    def show_accept_dialog():
-      def on_accept():
-        ui_state.params.put_bool_nonblocking("RecordFront", True)
-        continue_callback()
+    def on_accept():
+      ui_state.params.put_bool_nonblocking("RecordFront", True)
+      continue_callback()

-      gui_app.push_widget(BigConfirmationDialogV2("allow data uploading", "icons_mici/setup/driver_monitoring/dm_check.png", exit_on_confirm=False,
-                                                  confirm_callback=on_accept))
+    def on_decline():
+      ui_state.params.put_bool_nonblocking("RecordFront", False)
+      continue_callback()

-    def show_decline_dialog():
-      def on_decline():
-        ui_state.params.put_bool_nonblocking("RecordFront", False)
-        continue_callback()
+    self._accept_button = BigConfirmationCircleButton("allow data uploading", gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 64, 64),
+                                                      on_accept, exit_on_confirm=False)

-      gui_app.push_widget(BigConfirmationDialogV2("no, don't upload", "icons_mici/setup/cancel.png", exit_on_confirm=False, confirm_callback=on_decline))
-
-    self._accept_button = BigCircleButton("icons_mici/setup/driver_monitoring/dm_check.png")
-    self._accept_button.set_click_callback(show_accept_dialog)
-
-    self._decline_button = BigCircleButton("icons_mici/setup/cancel.png")
-    self._decline_button.set_click_callback(show_decline_dialog)
+    self._decline_button = BigConfirmationCircleButton("no, don't upload", gui_app.texture("icons_mici/setup/cancel.png", 64, 64), on_decline,
+                                                       exit_on_confirm=False)

    self._scroller.add_widgets([
      GreyBigButton("driver camera data", "do you want to share video data for training?",
@@ -276,12 +270,9 @@ class TrainingGuide(NavWidget):
      TrainingGuideRecordFront(continue_callback=completed_callback),
    ]

+    self._child(self._steps[0])
    self._steps[0].set_enabled(lambda: self.enabled and not self.is_dismissing)  # for nav stack

-  def show_event(self):
-    super().show_event()
-    self._steps[0].show_event()
-
  def _render(self, _):
    self._steps[0].render(self._rect)

@@ -314,7 +305,7 @@ class QRCodeWidget(Widget):
  def _render(self, _):
    if self._qr_texture:
      scale = self._size / self._qr_texture.height
-      rl.draw_texture_ex(self._qr_texture, rl.Vector2(self._rect.x, self._rect.y), 0.0, scale, rl.WHITE)
+      rl.draw_texture_ex(self._qr_texture, rl.Vector2(round(self._rect.x), round(self._rect.y)), 0.0, scale, rl.WHITE)

  def __del__(self):
    if self._qr_texture and self._qr_texture.id != 0:
@@ -325,27 +316,20 @@ class TermsPage(Scroller):
  def __init__(self, on_accept, on_decline):
    super().__init__()

-    def show_accept_dialog():
-      gui_app.push_widget(BigConfirmationDialogV2("accept\nterms", "icons_mici/setup/driver_monitoring/dm_check.png",
-                                                  confirm_callback=on_accept))
+    self._accept_button = BigConfirmationCircleButton("accept\nterms", gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 64, 64), on_accept)
+    self._decline_button = BigConfirmationCircleButton("decline &\nuninstall", gui_app.texture("icons_mici/setup/cancel.png", 64, 64), on_decline,
+                                                       red=True, exit_on_confirm=False)

-    def show_decline_dialog():
-      gui_app.push_widget(BigConfirmationDialogV2("decline &\nuninstall", "icons_mici/setup/cancel.png",
-                                                  red=True, exit_on_confirm=False, confirm_callback=on_decline))
-
-    self._accept_button = BigCircleButton("icons_mici/setup/driver_monitoring/dm_check.png")
-    self._accept_button.set_click_callback(show_accept_dialog)
-
-    self._decline_button = BigCircleButton("icons_mici/setup/cancel.png", red=True)
-    self._decline_button.set_click_callback(show_decline_dialog)
+    self._terms_header = GreyBigButton("terms of\nservice", "scroll to continue",
+                                       gui_app.texture("icons_mici/setup/green_info.png", 64, 64))
+    self._must_accept_card = GreyBigButton("", "You must accept the Terms of Service to use sunnypilot.")

    self._scroller.add_widgets([
-      GreyBigButton("terms and\nconditions", "scroll to continue",
-                    gui_app.texture("icons_mici/setup/green_info.png", 64, 64)),
+      self._terms_header,
      GreyBigButton("swipe for QR code", "or go to https://sunnypilot.ai/terms",
                    gui_app.texture("icons_mici/setup/small_slider/slider_arrow.png", 64, 56, flip_x=True)),
      QRCodeWidget("https://sunnypilot.ai/terms"),
-      GreyBigButton("", "You must accept the Terms & Conditions to use sunnypilot."),
+      self._must_accept_card,
      self._accept_button,
      self._decline_button,
    ])
@@ -5,32 +5,37 @@ from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigInputDialog
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.selfdrive.ui.layouts.settings.common import restart_needed_callback
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.selfdrive.ui.widgets.ssh_key import SshKeyAction
+from openpilot.selfdrive.ui.widgets.ssh_key import SshKeyFetcher


 class DeveloperLayoutMici(NavScroller):
  def __init__(self):
    super().__init__()
+    self._ssh_fetcher = SshKeyFetcher(ui_state.params)

    def github_username_callback(username: str):
      if username:
-        ssh_keys = SshKeyAction()
-        ssh_keys._fetch_ssh_key(username)
-        if not ssh_keys._error_message:
-          self._ssh_keys_btn.set_value(username)
-        else:
-          dlg = BigDialog("", ssh_keys._error_message)
-          gui_app.push_widget(dlg)
+        self._ssh_keys_btn.set_value("Loading...")
+        self._ssh_keys_btn.set_enabled(False)
+
+        def on_response(error):
+          self._ssh_keys_btn.set_enabled(True)
+          if error is None:
+            self._ssh_keys_btn.set_value(username)
+          else:
+            self._ssh_keys_btn.set_value("Not set")
+            gui_app.push_widget(BigDialog("", error))
+
+        self._ssh_fetcher.fetch(username, on_response)
      else:
-        ui_state.params.remove("GithubUsername")
-        ui_state.params.remove("GithubSshKeys")
+        self._ssh_fetcher.clear()
        self._ssh_keys_btn.set_value("Not set")

    def ssh_keys_callback():
      github_username = ui_state.params.get("GithubUsername") or ""
      dlg = BigInputDialog("enter GitHub username...", github_username, minimum_length=0, confirm_callback=github_username_callback)
      if not system_time_valid():
-        dlg = BigDialog("Please connect to Wi-Fi to fetch your key", "")
+        dlg = BigDialog("", "Please connect to Wi-Fi to fetch your key.")
        gui_app.push_widget(dlg)
        return
      gui_app.push_widget(dlg)
@@ -42,8 +47,8 @@ class DeveloperLayoutMici(NavScroller):

    # adb, ssh, ssh keys, debug mode, joystick debug mode, longitudinal maneuver mode, ip address
    # ******** Main Scroller ********
-    self._adb_toggle = BigCircleParamControl("icons_mici/adb_short.png", "AdbEnabled", icon_size=(82, 82), icon_offset=(0, 12))
-    self._ssh_toggle = BigCircleParamControl("icons_mici/ssh_short.png", "SshEnabled", icon_size=(82, 82), icon_offset=(0, 12))
+    self._adb_toggle = BigCircleParamControl(gui_app.texture("icons_mici/adb_short.png", 82, 82), "AdbEnabled", icon_offset=(0, 12))
+    self._ssh_toggle = BigCircleParamControl(gui_app.texture("icons_mici/ssh_short.png", 82, 82), "SshEnabled", icon_offset=(0, 12))
    self._joystick_toggle = BigToggle("joystick debug mode",
                                      initial_state=ui_state.params.get_bool("JoystickDebugMode"),
                                      toggle_callback=self._on_joystick_debug_mode)
@@ -99,6 +104,10 @@ class DeveloperLayoutMici(NavScroller):

    ui_state.add_offroad_transition_callback(self._update_toggles)

+  def _update_state(self):
+    super()._update_state()
+    self._ssh_fetcher.update()
+
  def show_event(self):
    super().show_event()
    self._update_toggles()
@@ -9,16 +9,15 @@ from openpilot.common.params import Params
 from openpilot.common.time_helpers import system_time_valid
 from openpilot.system.ui.widgets.scroller import NavRawScrollPanel, NavScroller
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigCircleButton
-from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialogV2
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialog
 from openpilot.selfdrive.ui.mici.widgets.pairing_dialog import PairingDialog
 from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import DriverCameraDialog
 from openpilot.selfdrive.ui.mici.layouts.onboarding import TrainingGuide, TermsPage
-from openpilot.system.ui.mici_setup import BigPillButton
 from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
 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 MiciLabel
+from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets.html_render import HtmlModal, HtmlRenderer
 from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID

@@ -27,13 +26,11 @@ class ReviewTermsPage(TermsPage, NavScroller):
  """TermsPage with NavWidget swipe-to-dismiss for reviewing in device settings."""
  def __init__(self):
    super().__init__(on_accept=self.dismiss, on_decline=self.dismiss)
+    self._terms_header.set_visible(False)
+    self._must_accept_card.set_visible(False)
    self._accept_button.set_visible(False)
    self._decline_button.set_visible(False)

-    close_button = BigPillButton("close")
-    close_button.set_click_callback(self.dismiss)
-    self._scroller.add_widget(close_button)
-

 class ReviewTrainingGuide(TrainingGuide):
  def show_event(self):
@@ -67,34 +64,31 @@ class MiciFccModal(NavRawScrollPanel):
    rl.draw_texture_ex(self._fcc_logo, fcc_pos, 0.0, 1.0, rl.WHITE)


-def _engaged_confirmation_callback(callback: Callable, action_text: str):
+def _engaged_confirmation_click(callback: Callable, action_text: str, icon: rl.Texture, exit_on_confirm: bool = True, red: bool = False):
  if not ui_state.engaged:
    def confirm_callback():
      # Check engaged again in case it changed while the dialog was open
+      # TODO: if true, we stay on the dialog if not exit_on_confirm until normal onroad timeout
      if not ui_state.engaged:
        callback()

-    red = False
-    if action_text == "power off":
-      icon = "icons_mici/settings/device/power.png"
-      red = True
-    elif action_text == "reboot":
-      icon = "icons_mici/settings/device/reboot.png"
-    elif action_text == "reset":
-      icon = "icons_mici/settings/device/lkas.png"
-    elif action_text == "uninstall":
-      icon = "icons_mici/settings/device/uninstall.png"
-    else:
-      # TODO: check
-      icon = "icons_mici/settings/comma_icon.png"
-
-    dlg: BigConfirmationDialogV2 | BigDialog = BigConfirmationDialogV2(f"slide to\n{action_text.lower()}", icon, red=red,
-                                                                       exit_on_confirm=action_text == "reset",
-                                                                       confirm_callback=confirm_callback)
-    gui_app.push_widget(dlg)
+    gui_app.push_widget(BigConfirmationDialog(f"slide to\n{action_text.lower()}", icon, confirm_callback, exit_on_confirm=exit_on_confirm, red=red))
  else:
-    dlg = BigDialog(f"Disengage to {action_text}", "")
-    gui_app.push_widget(dlg)
+    gui_app.push_widget(BigDialog("", f"Disengage to {action_text}"))
+
+
+class EngagedConfirmationCircleButton(BigCircleButton):
+  def __init__(self, title: str, icon: rl.Texture, callback: Callable[[], None], exit_on_confirm: bool = True,
+               red: bool = False, icon_offset: tuple[int, int] = (0, 0)):
+    super().__init__(icon, red, icon_offset)
+    self.set_click_callback(lambda: _engaged_confirmation_click(callback, title, icon, exit_on_confirm=exit_on_confirm, red=red))
+
+
+class EngagedConfirmationButton(BigButton):
+  def __init__(self, text: str, action_text: str, icon: rl.Texture, callback: Callable[[], None],
+               exit_on_confirm: bool = True, red: bool = False):
+    super().__init__(text, "", icon)
+    self.set_click_callback(lambda: _engaged_confirmation_click(callback, action_text, icon, exit_on_confirm=exit_on_confirm, red=red))


 class DeviceInfoLayoutMici(Widget):
@@ -104,14 +98,15 @@ class DeviceInfoLayoutMici(Widget):
    self.set_rect(rl.Rectangle(0, 0, 360, 180))

    params = Params()
-    header_color = rl.Color(255, 255, 255, int(255 * 0.9))
    subheader_color = rl.Color(255, 255, 255, int(255 * 0.9 * 0.65))
    max_width = int(self._rect.width - 20)
-    self._dongle_id_label = MiciLabel("device ID", 48, width=max_width, color=header_color, font_weight=FontWeight.DISPLAY)
-    self._dongle_id_text_label = MiciLabel(params.get("DongleId") or 'N/A', 32, width=max_width, color=subheader_color, font_weight=FontWeight.ROMAN)
+    self._dongle_id_label = UnifiedLabel("device ID", 48, max_width=max_width, font_weight=FontWeight.DISPLAY, wrap_text=False)
+    self._dongle_id_text_label = UnifiedLabel(params.get("DongleId") or 'N/A', 32, max_width=max_width, text_color=subheader_color,
+                                              font_weight=FontWeight.ROMAN, wrap_text=False)

-    self._serial_number_label = MiciLabel("serial", 48, color=header_color, font_weight=FontWeight.DISPLAY)
-    self._serial_number_text_label = MiciLabel(params.get("HardwareSerial") or 'N/A', 32, width=max_width, color=subheader_color, font_weight=FontWeight.ROMAN)
+    self._serial_number_label = UnifiedLabel("serial", 48, max_width=max_width, font_weight=FontWeight.DISPLAY, wrap_text=False)
+    self._serial_number_text_label = UnifiedLabel(params.get("HardwareSerial") or 'N/A', 32, max_width=max_width, text_color=subheader_color,
+                                                  font_weight=FontWeight.ROMAN, wrap_text=False)

  def _render(self, _):
    self._dongle_id_label.set_position(self._rect.x + 20, self._rect.y - 10)
@@ -135,7 +130,7 @@ class UpdaterState(IntEnum):

 class PairBigButton(BigButton):
  def __init__(self):
-    super().__init__("pair", "connect.comma.ai", "icons_mici/settings/comma_icon.png", icon_size=(33, 60))
+    super().__init__("pair", "connect.comma.ai", gui_app.texture("icons_mici/settings/comma_icon.png", 33, 60))

  def _get_label_font_size(self):
    return 64
@@ -161,9 +156,9 @@ class PairBigButton(BigButton):
      return
    dlg: BigDialog | PairingDialog
    if not system_time_valid():
-      dlg = BigDialog(tr("Please connect to Wi-Fi to complete initial pairing"), "")
+      dlg = BigDialog("", tr("Please connect to Wi-Fi to complete initial pairing."))
    elif UNREGISTERED_DONGLE_ID == (ui_state.params.get("DongleId") or UNREGISTERED_DONGLE_ID):
-      dlg = BigDialog(tr("Device must be registered with the comma.ai backend to pair"), "")
+      dlg = BigDialog("", tr("Device must be registered with the comma.ai backend to pair."))
    else:
      dlg = PairingDialog()
    gui_app.push_widget(dlg)
@@ -193,7 +188,7 @@ class UpdateOpenpilotBigButton(BigButton):
    super()._handle_mouse_release(mouse_pos)

    if not system_time_valid():
-      dlg = BigDialog(tr("Please connect to Wi-Fi to update"), "")
+      dlg = BigDialog("", tr("Please connect to Wi-Fi to update."))
      gui_app.push_widget(dlg)
      return

@@ -314,33 +309,33 @@ class DeviceLayoutMici(NavScroller):
    def uninstall_openpilot_callback():
      ui_state.params.put_bool("DoUninstall", True)

-    reset_calibration_btn = BigButton("reset calibration", "", "icons_mici/settings/device/lkas.png", icon_size=(114, 60))
-    reset_calibration_btn.set_click_callback(lambda: _engaged_confirmation_callback(reset_calibration_callback, "reset"))
+    reset_calibration_btn = EngagedConfirmationButton("reset calibration", "reset", gui_app.texture("icons_mici/settings/device/lkas.png", 122, 64),
+                                                      reset_calibration_callback)

-    uninstall_openpilot_btn = BigButton("uninstall sunnypilot", "", "icons_mici/settings/device/uninstall.png")
-    uninstall_openpilot_btn.set_click_callback(lambda: _engaged_confirmation_callback(uninstall_openpilot_callback, "uninstall"))
+    uninstall_openpilot_btn = EngagedConfirmationButton("uninstall sunnypilot", "uninstall",
+                                                        gui_app.texture("icons_mici/settings/device/uninstall.png", 64, 64),
+                                                        uninstall_openpilot_callback, exit_on_confirm=False)

-    reboot_btn = BigCircleButton("icons_mici/settings/device/reboot.png", red=False, icon_size=(64, 70))
-    reboot_btn.set_click_callback(lambda: _engaged_confirmation_callback(reboot_callback, "reboot"))
+    reboot_btn = EngagedConfirmationCircleButton("reboot", gui_app.texture("icons_mici/settings/device/reboot.png", 64, 70),
+                                                 reboot_callback, exit_on_confirm=False)

-    self._power_off_btn = BigCircleButton("icons_mici/settings/device/power.png", red=True, icon_size=(64, 66))
-    self._power_off_btn.set_click_callback(lambda: _engaged_confirmation_callback(power_off_callback, "power off"))
+    self._power_off_btn = EngagedConfirmationCircleButton("power off", gui_app.texture("icons_mici/settings/device/power.png", 64, 66),
+                                                          power_off_callback, exit_on_confirm=False, red=True)
    self._power_off_btn.set_visible(lambda: not ui_state.ignition)

-    regulatory_btn = BigButton("regulatory info", "", "icons_mici/settings/device/info.png")
+    regulatory_btn = BigButton("regulatory info", "", gui_app.texture("icons_mici/settings/device/info.png", 64, 64))
    regulatory_btn.set_click_callback(self._on_regulatory)

-    driver_cam_btn = BigButton("driver\ncamera preview", "", "icons_mici/settings/device/cameras.png")
+    driver_cam_btn = BigButton("driver\ncamera preview", "", gui_app.texture("icons_mici/settings/device/cameras.png", 64, 64))
    driver_cam_btn.set_click_callback(lambda: gui_app.push_widget(DriverCameraDialog()))
    driver_cam_btn.set_enabled(lambda: ui_state.is_offroad())

-    review_training_guide_btn = BigButton("review\ntraining guide", "", "icons_mici/settings/device/info.png")
+    review_training_guide_btn = BigButton("review\ntraining guide", "", gui_app.texture("icons_mici/settings/device/info.png", 64, 64))
    review_training_guide_btn.set_click_callback(lambda: gui_app.push_widget(ReviewTrainingGuide(completed_callback=lambda: gui_app.pop_widgets_to(self))))
    review_training_guide_btn.set_enabled(lambda: ui_state.is_offroad())

-    terms_btn = BigButton("terms &\nconditions", "", "icons_mici/settings/device/info.png")
+    terms_btn = BigButton("terms &\nconditions", "", gui_app.texture("icons_mici/settings/device/info.png", 64, 64))
    terms_btn.set_click_callback(lambda: gui_app.push_widget(ReviewTermsPage()))
-    terms_btn.set_enabled(lambda: ui_state.is_offroad())

    self._scroller.add_widgets([
      DeviceInfoLayoutMici(),
@@ -81,12 +81,12 @@ class FirehoseLayoutBase(Widget):
  def _render(self, rect: rl.Rectangle):
    # compute total content height for scrolling
    content_height = self._measure_content_height(rect)
-    scroll_offset = round(self._scroll_panel.update(rect, content_height))
+    scroll_offset = self._scroll_panel.update(rect, content_height)

    # start drawing with offset
-    x = int(rect.x + 40)
-    y = int(rect.y + 40 + scroll_offset)
-    w = int(rect.width - 80)
+    x = rect.x + 40
+    y = rect.y + 40 + scroll_offset
+    w = rect.width - 80

    # Title
    title_text = tr(TITLE)
@@ -100,7 +100,7 @@ class FirehoseLayoutBase(Widget):
    y += 20

    # Separator
-    rl.draw_rectangle(x, y, w, 2, self.GRAY)
+    rl.draw_rectangle_rec(rl.Rectangle(x, y, w, 2), self.GRAY)
    y += 20

    # Status
@@ -116,7 +116,7 @@ class FirehoseLayoutBase(Widget):
      y += 20

    # Separator
-    rl.draw_rectangle(x, y, w, 2, self.GRAY)
+    rl.draw_rectangle_rec(rl.Rectangle(x, y, w, 2), self.GRAY)
    y += 20

    # Instructions intro
@@ -3,9 +3,8 @@ import numpy as np
 import pyray as rl
 from collections.abc import Callable

-from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.swaglog import cloudlog
-from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog, BigConfirmationDialogV2
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog, BigConfirmationDialog
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton, LABEL_COLOR
 from openpilot.system.ui.lib.application import gui_app, MousePos, FontWeight
 from openpilot.system.ui.widgets import Widget
@@ -14,39 +13,26 @@ from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, SecurityT


 class LoadingAnimation(Widget):
-  HIDE_TIME = 4
+  RADIUS = 8
+  SPACING = 24  # center-to-center: diameter (16) + gap (8)
+  Y_MAG = 11.2

  def __init__(self):
    super().__init__()
-    self._opacity_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
-    self._opacity_target = 1.0
-    self._hide_time = 0.0
-
-  def show_event(self):
-    self._opacity_target = 1.0
-    self._hide_time = rl.get_time()
+    w = self.SPACING * 2 + self.RADIUS * 2
+    h = self.RADIUS * 2 + int(self.Y_MAG)
+    self.set_rect(rl.Rectangle(0, 0, w, h))

  def _render(self, _):
-    if rl.get_time() - self._hide_time > self.HIDE_TIME:
-      self._opacity_target = 0.0
-
-    self._opacity_filter.update(self._opacity_target)
-
-    if self._opacity_filter.x < 0.01:
-      return
-
-    cx = int(self._rect.x + self._rect.width / 2)
-    cy = int(self._rect.y + self._rect.height / 2)
-
-    y_mag = 7
-    anim_scale = 4
-    spacing = 14
+    # Balls rest at bottom center; bounce upward
+    base_x = int(self._rect.x + self._rect.width / 2)
+    base_y = int(self._rect.y + self._rect.height - self.RADIUS)

    for i in range(3):
-      x = cx - spacing + i * spacing
-      y = int(cy + min(math.sin((rl.get_time() - i * 0.2) * anim_scale) * y_mag, 0))
-      alpha = int(np.interp(cy - y, [0, y_mag], [255 * 0.45, 255 * 0.9]) * self._opacity_filter.x)
-      rl.draw_circle(x, y, 5, rl.Color(255, 255, 255, alpha))
+      x = base_x + (i - 1) * self.SPACING
+      y = int(base_y + min(math.sin((rl.get_time() - i * 0.2) * 4) * self.Y_MAG, 0))
+      alpha = int(np.interp(base_y - y, [0, self.Y_MAG], [255 * 0.45, 255 * 0.9]))
+      rl.draw_circle(x, y, self.RADIUS, rl.Color(255, 255, 255, alpha))


 class WifiIcon(Widget):
@@ -124,6 +110,10 @@ class WifiButton(BigButton):
    if self._is_connected or self._is_connecting:
      self._wrong_password = False

+  @property
+  def network_forgetting(self) -> bool:
+    return self._network_forgetting
+
  def _forget_network(self):
    if self._network_forgetting:
      return
@@ -175,7 +165,7 @@ class WifiButton(BigButton):

      if self._is_connected and not self._network_forgetting:
        check_y = int(label_y - sub_label_height + (sub_label_height - self._check_txt.height) / 2)
-        rl.draw_texture(self._check_txt, int(sub_label_x), check_y, rl.Color(255, 255, 255, int(255 * 0.9 * 0.65)))
+        rl.draw_texture_ex(self._check_txt, rl.Vector2(sub_label_x, check_y), 0.0, 1.0, rl.Color(255, 255, 255, int(255 * 0.9 * 0.65)))
        sub_label_x += self._check_txt.width + 14

      sub_label_rect = rl.Rectangle(sub_label_x, label_y - sub_label_height, sub_label_w, sub_label_height)
@@ -256,8 +246,7 @@ class ForgetButton(Widget):

  def _handle_mouse_release(self, mouse_pos: MousePos):
    super()._handle_mouse_release(mouse_pos)
-    dlg = BigConfirmationDialogV2("slide to forget", "icons_mici/settings/network/new/trash.png", red=True,
-                                  confirm_callback=self._forget_network)
+    dlg = BigConfirmationDialog("slide to forget", gui_app.texture("icons_mici/settings/network/new/trash.png", 54, 64), self._forget_network, red=True)
    gui_app.push_widget(dlg)

  def _render(self, _):
@@ -270,11 +259,26 @@ class ForgetButton(Widget):
    rl.draw_texture_ex(self._trash_txt, (trash_x, trash_y), 0, 1.0, rl.WHITE)


+class ScanningButton(BigButton):
+  def __init__(self):
+    super().__init__("", "searching for networks")
+    self.set_enabled(False)
+    self._loading_animation = LoadingAnimation()
+
+  def _draw_content(self, btn_y: float):
+    super()._draw_content(btn_y)
+    anim = self._loading_animation
+    x = self._rect.x + self._rect.width - anim.rect.width - 40
+    y = btn_y + self._rect.height - anim.rect.height - 30
+    anim.set_position(x, y)
+    anim.render()
+
+
 class WifiUIMici(NavScroller):
  def __init__(self, wifi_manager: WifiManager):
    super().__init__()

-    self._loading_animation = LoadingAnimation()
+    self._scanning_btn = ScanningButton()

    self._wifi_manager = wifi_manager
    self._networks: dict[str, Network] = {}
@@ -285,20 +289,23 @@ class WifiUIMici(NavScroller):
      networks_updated=self._on_network_updated,
    )

+  @property
+  def any_network_forgetting(self) -> bool:
+    # TODO: deactivate before forget and add DISCONNECTING state
+    return any(btn.network_forgetting for btn in self._scroller.items if isinstance(btn, WifiButton))
+
  def show_event(self):
-    # Clear scroller items and update from latest scan results
+    # Re-sort scroller items and update from latest scan results
    super().show_event()
-    self._loading_animation.show_event()
    self._wifi_manager.set_active(True)
-    self._scroller.items.clear()
-    # trigger button update on latest sorted networks
-    self._on_network_updated(self._wifi_manager.networks)
+    self._networks = {n.ssid: n for n in self._wifi_manager.networks}
+    self._update_buttons(re_sort=True)

  def _on_network_updated(self, networks: list[Network]):
    self._networks = {network.ssid: network for network in networks}
    self._update_buttons()

-  def _update_buttons(self):
+  def _update_buttons(self, re_sort: bool = False):
    # Update existing buttons, add new ones to the end
    existing = {btn.network.ssid: btn for btn in self._scroller.items if isinstance(btn, WifiButton)}

@@ -310,10 +317,22 @@ class WifiUIMici(NavScroller):
        btn.set_click_callback(lambda ssid=network.ssid: self._connect_to_network(ssid))
        self._scroller.add_widget(btn)

-    # Mark networks no longer in scan results (display handled by _update_state)
-    for btn in self._scroller.items:
-      if isinstance(btn, WifiButton) and btn.network.ssid not in self._networks:
-        btn.set_network_missing(True)
+    if re_sort:
+      # Remove stale buttons and sort to match scan order, preserving eager state
+      btn_map = {btn.network.ssid: btn for btn in self._scroller.items if isinstance(btn, WifiButton)}
+      self._scroller.items[:] = [btn_map[ssid] for ssid in self._networks if ssid in btn_map]
+    else:
+      # Mark networks no longer in scan results (display handled by _update_state)
+      for btn in self._scroller.items:
+        if isinstance(btn, WifiButton) and btn.network.ssid not in self._networks:
+          btn.set_network_missing(True)
+
+    # Keep scanning button at the end
+    items = self._scroller.items
+    if self._scanning_btn in items:
+      items.append(items.pop(items.index(self._scanning_btn)))
+    else:
+      self._scroller.add_widget(self._scanning_btn)

  def _connect_with_password(self, ssid: str, password: str):
    self._wifi_manager.connect_to_network(ssid, password)
@@ -370,17 +389,3 @@ class WifiUIMici(NavScroller):
    super()._update_state()

    self._move_network_to_front(self._wifi_manager.wifi_state.ssid)
-
-    # Show loading animation near end
-    max_scroll = max(self._scroller.content_size - self._scroller.rect.width, 1)
-    progress = -self._scroller.scroll_panel.get_offset() / max_scroll
-    if progress > 0.8 or len(self._scroller.items) <= 1:
-      self._loading_animation.show_event()
-
-  def _render(self, _):
-    super()._render(self._rect)
-
-    anim_w = 90
-    anim_x = self._rect.x + self._rect.width - anim_w
-    anim_y = self._rect.y + self._rect.height - 25 + 2
-    self._loading_animation.render(rl.Rectangle(anim_x, anim_y, anim_w, 20))
@@ -20,23 +20,23 @@ class SettingsLayout(NavScroller):
    self._params = Params()

    toggles_panel = TogglesLayoutMici()
-    toggles_btn = SettingsBigButton("toggles", "", "icons_mici/settings.png")
+    toggles_btn = SettingsBigButton("toggles", "", gui_app.texture("icons_mici/settings.png", 64, 64))
    toggles_btn.set_click_callback(lambda: gui_app.push_widget(toggles_panel))

    network_panel = NetworkLayoutMici()
-    network_btn = SettingsBigButton("network", "", "icons_mici/settings/network/wifi_strength_full.png", icon_size=(76, 56))
+    network_btn = SettingsBigButton("network", "", gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 76, 56))
    network_btn.set_click_callback(lambda: gui_app.push_widget(network_panel))

    device_panel = DeviceLayoutMici()
-    device_btn = SettingsBigButton("device", "", "icons_mici/settings/device_icon.png", icon_size=(74, 60))
+    device_btn = SettingsBigButton("device", "", gui_app.texture("icons_mici/settings/device_icon.png", 72, 58))
    device_btn.set_click_callback(lambda: gui_app.push_widget(device_panel))

    developer_panel = DeveloperLayoutMici()
-    developer_btn = SettingsBigButton("developer", "", "icons_mici/settings/developer_icon.png", icon_size=(64, 60))
+    developer_btn = SettingsBigButton("developer", "", gui_app.texture("icons_mici/settings/developer_icon.png", 64, 60))
    developer_btn.set_click_callback(lambda: gui_app.push_widget(developer_panel))

    firehose_panel = FirehoseLayout()
-    firehose_btn = SettingsBigButton("firehose", "", "icons_mici/settings/firehose.png", icon_size=(52, 62))
+    firehose_btn = SettingsBigButton("firehose", "", gui_app.texture("icons_mici/settings/firehose.png", 52, 62))
    firehose_btn.set_click_callback(lambda: gui_app.push_widget(firehose_panel))

    self._scroller.add_widgets([
@@ -272,8 +272,8 @@ class AlertRenderer(Widget, SpeedLimitAlertRenderer):
    else:
      icon_alpha = int(min(self._turn_signal_alpha_filter.x, 255))

-    rl.draw_texture(alert_layout.icon.texture, pos_x, int(self._rect.y + alert_layout.icon.margin_y),
-                    rl.Color(255, 255, 255, int(icon_alpha * self._alpha_filter.x)))
+    rl.draw_texture_ex(alert_layout.icon.texture, rl.Vector2(pos_x, self._rect.y + alert_layout.icon.margin_y), 0.0, 1.0,
+                       rl.Color(255, 255, 255, int(icon_alpha * self._alpha_filter.x)))

  def _draw_background(self, alert: Alert) -> None:
    # draw top gradient for alert text at top
@@ -130,7 +130,7 @@ class BookmarkIcon(Widget):
    if self._offset_filter.x > 0:
      icon_x = self.rect.x + self.rect.width - round(self._offset_filter.x)
      icon_y = self.rect.y + (self.rect.height - self._icon.height) / 2  # Vertically centered
-      rl.draw_texture(self._icon, int(icon_x), int(icon_y), rl.WHITE)
+      rl.draw_texture_ex(self._icon, rl.Vector2(icon_x, icon_y), 0.0, 1.0, rl.WHITE)


 class AugmentedRoadView(CameraView):
@@ -61,7 +61,7 @@ class DriverStateRenderer(Widget):
    self._dm_cone = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_cone.png", cone_and_person_size, cone_and_person_size)
    center_size = round(36 / self.BASE_SIZE * self._rect.width)
    self._dm_center = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_center.png", center_size, center_size)
-    self._dm_background = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_background.png", self._rect.width, self._rect.height)
+    self._dm_background = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_background.png", int(self._rect.width), int(self._rect.height))

  def set_should_draw(self, should_draw: bool):
    self._should_draw = should_draw
@@ -88,15 +88,14 @@ class DriverStateRenderer(Widget):
    if DEBUG:
      rl.draw_rectangle_lines_ex(self._rect, 1, rl.RED)

-    rl.draw_texture(self._dm_background,
-                    int(self._rect.x),
-                    int(self._rect.y),
-                    rl.Color(255, 255, 255, int(255 * self._fade_filter.x)))
+    rl.draw_texture_ex(self._dm_background,
+                       rl.Vector2(self._rect.x, self._rect.y), 0.0, 1.0,
+                       rl.Color(255, 255, 255, int(255 * self._fade_filter.x)))

-    rl.draw_texture(self._dm_person,
-                    int(self._rect.x + (self._rect.width - self._dm_person.width) / 2),
-                    int(self._rect.y + (self._rect.height - self._dm_person.height) / 2),
-                    rl.Color(255, 255, 255, int(255 * 0.9 * self._fade_filter.x)))
+    rl.draw_texture_ex(self._dm_person,
+                       rl.Vector2(self._rect.x + (self._rect.width - self._dm_person.width) / 2,
+                                  self._rect.y + (self._rect.height - self._dm_person.height) / 2), 0.0, 1.0,
+                       rl.Color(255, 255, 255, int(255 * 0.9 * self._fade_filter.x)))

    if self.effective_active:
      source_rect = rl.Rectangle(0, 0, self._dm_cone.width, self._dm_cone.height)
@@ -221,7 +221,7 @@ class HudRenderer(Widget):
      EXCLAMATION_POINT_SPACING = 10
      exclamation_pos_x = pos_x - self._txt_exclamation_point.width / 2 + wheel_txt.width / 2 + EXCLAMATION_POINT_SPACING
      exclamation_pos_y = pos_y - self._txt_exclamation_point.height / 2
-      rl.draw_texture(self._txt_exclamation_point, int(exclamation_pos_x), int(exclamation_pos_y), rl.WHITE)
+      rl.draw_texture_ex(self._txt_exclamation_point, rl.Vector2(exclamation_pos_x, exclamation_pos_y), 0.0, 1.0, rl.WHITE)

  def _draw_set_speed(self, rect: rl.Rectangle) -> None:
    """Draw the MAX speed indicator box."""
@@ -10,7 +10,7 @@ from openpilot.system.ui.widgets import Widget
 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, BigConfirmationDialogV2, BigInputDialog
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialog, BigInputDialog
 from openpilot.selfdrive.ui.mici.layouts.settings.device import MiciFccModal

 # tici dialogs
@@ -44,7 +44,7 @@ KNOWN_LEAKS = {
  "openpilot.system.ui.widgets.scroller_tici.Scroller",
  "openpilot.system.ui.widgets.label.UnifiedLabel",
  "openpilot.system.ui.widgets.mici_keyboard.MiciKeyboard",
-  "openpilot.selfdrive.ui.mici.widgets.dialog.BigConfirmationDialogV2",
+  "openpilot.selfdrive.ui.mici.widgets.dialog.BigConfirmationDialog",
  "openpilot.system.ui.widgets.keyboard.Keyboard",
  "openpilot.system.ui.widgets.slider.BigSlider",
  "openpilot.selfdrive.ui.mici.widgets.dialog.BigInputDialog",
@@ -72,7 +72,7 @@ def test_dialogs_do_not_leak():
    lambda: MiciTrainingGuide(lambda: None),
    lambda: MiciOnboardingWindow(lambda: None),
    lambda: BigDialog("test", "test"),
-    lambda: BigConfirmationDialogV2("test", "icons_mici/settings/network/new/trash.png"),
+    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
@@ -28,7 +28,7 @@ class ScrollState(Enum):


 class BigCircleButton(Widget):
-  def __init__(self, icon: str, red: bool = False, icon_size: tuple[int, int] = (64, 53), icon_offset: tuple[int, int] = (0, 0)):
+  def __init__(self, icon: rl.Texture, red: bool = False, icon_offset: tuple[int, int] = (0, 0)):
    super().__init__()
    self._red = red
    self._icon_offset = icon_offset
@@ -39,7 +39,7 @@ class BigCircleButton(Widget):
    self._click_delay = 0.075

    # Icons
-    self._txt_icon = gui_app.texture(icon, *icon_size)
+    self._txt_icon = icon
    self._txt_btn_disabled_bg = gui_app.texture("icons_mici/buttons/button_circle_disabled.png", 180, 180)

    self._txt_btn_bg = gui_app.texture("icons_mici/buttons/button_circle.png", 180, 180)
@@ -71,8 +71,8 @@ class BigCircleButton(Widget):


 class BigCircleToggle(BigCircleButton):
-  def __init__(self, icon: str, toggle_callback: Callable | None = None, icon_size: tuple[int, int] = (64, 53), icon_offset: tuple[int, int] = (0, 0)):
-    super().__init__(icon, False, icon_size=icon_size, icon_offset=icon_offset)
+  def __init__(self, icon: rl.Texture, toggle_callback: Callable | None = None, icon_offset: tuple[int, int] = (0, 0)):
+    super().__init__(icon, False, icon_offset=icon_offset)
    self._toggle_callback = toggle_callback

    # State
@@ -107,15 +107,13 @@ class BigButton(Widget):

  """A lightweight stand-in for the Qt BigButton, drawn & updated each frame."""

-  def __init__(self, text: str, value: str = "", icon: Union[str, rl.Texture] = "", icon_size: tuple[int, int] = (64, 64),
-               scroll: bool = False):
+  def __init__(self, text: str, value: str = "", icon: Union[rl.Texture, None] = None, scroll: bool = False):
    super().__init__()
    self.set_rect(rl.Rectangle(0, 0, 402, 180))
    self.text = text
    self.value = value
-    self._icon_size = icon_size
+    self._txt_icon = icon
    self._scroll = scroll
-    self.set_icon(icon)

    self._scale_filter = BounceFilter(1.0, 0.1, 1 / gui_app.target_fps)
    self._click_delay = 0.075
@@ -133,8 +131,8 @@ class BigButton(Widget):

    self._load_images()

-  def set_icon(self, icon: Union[str, rl.Texture]):
-    self._txt_icon = gui_app.texture(icon, *self._icon_size) if isinstance(icon, str) and len(icon) else icon
+  def set_icon(self, icon: Union[rl.Texture, None]):
+    self._txt_icon = icon

  def set_rotate_icon(self, rotate: bool):
    if rotate and self._rotate_icon_t is not None:
@@ -151,7 +149,7 @@ class BigButton(Widget):

  def _width_hint(self) -> int:
    # Single line if scrolling, so hide behind icon if exists
-    icon_size = self._icon_size[0] if self._txt_icon and self._scroll and self.value else 0
+    icon_size = self._txt_icon.width if self._txt_icon and self._scroll and self.value else 0
    return int(self._rect.width - self.LABEL_HORIZONTAL_PADDING * 2 - icon_size)

  def _get_label_font_size(self):
@@ -194,7 +192,9 @@ class BigButton(Widget):
    SHAKE_DURATION = 0.5
    SHAKE_AMPLITUDE = 24.0
    SHAKE_FREQUENCY = 32.0
-    t = rl.get_time() - (self._shake_start or 0.0)
+    if self._shake_start is None:
+      return 0.0
+    t = rl.get_time() - self._shake_start
    if t > SHAKE_DURATION:
      return 0.0
    decay = 1.0 - t / SHAKE_DURATION
@@ -335,6 +335,43 @@ class BigMultiToggle(BigToggle):
      y += 35


+class GreyBigButton(BigButton):
+  """Users should manage newlines with this class themselves"""
+
+  LABEL_HORIZONTAL_PADDING = 30
+
+  def __init__(self, *args, **kwargs):
+    super().__init__(*args, **kwargs)
+    self.set_touch_valid_callback(lambda: False)
+
+    self._rect.width = 476
+
+    self._label.set_font_size(36)
+    self._label.set_font_weight(FontWeight.BOLD)
+    self._label.set_line_height(1.0)
+
+    self._sub_label.set_font_size(36)
+    self._sub_label.set_text_color(rl.Color(255, 255, 255, int(255 * 0.9)))
+    self._sub_label.set_font_weight(FontWeight.DISPLAY_REGULAR)
+    self._sub_label.set_alignment_vertical(rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE if not self._label.text else
+                                           rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM)
+    self._sub_label.set_line_height(0.95)
+
+  @property
+  def LABEL_VERTICAL_PADDING(self):
+    return BigButton.LABEL_VERTICAL_PADDING if self._label.text else 18
+
+  def _width_hint(self) -> int:
+    return int(self._rect.width - self.LABEL_HORIZONTAL_PADDING * 2)
+
+  def _get_label_font_size(self):
+    return 36
+
+  def _render(self, _):
+    rl.draw_rectangle_rounded(self._rect, 0.4, 10, rl.Color(255, 255, 255, int(255 * 0.15)))
+    self._draw_content(self._rect.y)
+
+
 class BigMultiParamToggle(BigMultiToggle):
  def __init__(self, text: str, param: str, options: list[str], toggle_callback: Callable | None = None,
               select_callback: Callable | None = None):
@@ -370,9 +407,9 @@ class BigParamControl(BigToggle):

 # TODO: param control base class
 class BigCircleParamControl(BigCircleToggle):
-  def __init__(self, icon: str, param: str, toggle_callback: Callable | None = None, icon_size: tuple[int, int] = (64, 53),
+  def __init__(self, icon: rl.Texture, param: str, toggle_callback: Callable | None = None,
               icon_offset: tuple[int, int] = (0, 0)):
-    super().__init__(icon, toggle_callback, icon_size=icon_size, icon_offset=icon_offset)
+    super().__init__(icon, toggle_callback, icon_offset=icon_offset)
    self._param = param
    self.params = Params()
    self.set_checked(self.params.get_bool(self._param, False))
@@ -4,14 +4,13 @@ import pyray as rl
 from typing import Union
 from collections.abc import Callable
 from openpilot.system.ui.widgets.nav_widget import NavWidget
-from openpilot.system.ui.widgets.label import UnifiedLabel, gui_label
+from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets.mici_keyboard import MiciKeyboard
 from openpilot.system.ui.lib.text_measure import measure_text_cached
-from openpilot.system.ui.lib.wrap_text import wrap_text
 from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
 from openpilot.system.ui.widgets.slider import RedBigSlider, BigSlider
 from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.selfdrive.ui.mici.widgets.button import BigButton
+from openpilot.selfdrive.ui.mici.widgets.button import BigCircleButton, BigButton, GreyBigButton

 DEBUG = False

@@ -25,58 +24,31 @@ class BigDialogBase(NavWidget, abc.ABC):


 class BigDialog(BigDialogBase):
-  def __init__(self,
-               title: str,
-               description: str):
+  def __init__(self, title: str, description: str, icon: Union[rl.Texture, None] = None):
    super().__init__()
-    self._title = title
-    self._description = description
+    self._card = GreyBigButton(title, description, icon)

  def _render(self, _):
-    super()._render(_)
-
-    # draw title
-    # TODO: we desperately need layouts
-    # TODO: coming up with these numbers manually is a pain and not scalable
-    # TODO: no clue what any of these numbers mean. VBox and HBox would remove all of this shite
-    max_width = self._rect.width - PADDING * 2
-
-    title_wrapped = '\n'.join(wrap_text(gui_app.font(FontWeight.BOLD), self._title, 50, int(max_width)))
-    title_size = measure_text_cached(gui_app.font(FontWeight.BOLD), title_wrapped, 50)
-    text_x_offset = 0
-    title_rect = rl.Rectangle(int(self._rect.x + text_x_offset + PADDING),
-                              int(self._rect.y + PADDING),
-                              int(max_width),
-                              int(title_size.y))
-    gui_label(title_rect, title_wrapped, 50, font_weight=FontWeight.BOLD,
-              alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
-
-    # draw description
-    desc_wrapped = '\n'.join(wrap_text(gui_app.font(FontWeight.MEDIUM), self._description, 30, int(max_width)))
-    desc_size = measure_text_cached(gui_app.font(FontWeight.MEDIUM), desc_wrapped, 30)
-    desc_rect = rl.Rectangle(int(self._rect.x + text_x_offset + PADDING),
-                             int(self._rect.y + self._rect.height / 3),
-                             int(max_width),
-                             int(desc_size.y))
-    # TODO: text align doesn't seem to work properly with newlines
-    gui_label(desc_rect, desc_wrapped, 30, font_weight=FontWeight.MEDIUM,
-              alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
+    self._card.render(rl.Rectangle(
+      self._rect.x + self._rect.width / 2 - self._card.rect.width / 2,
+      self._rect.y + self._rect.height / 2 - self._card.rect.height / 2,
+      self._card.rect.width,
+      self._card.rect.height,
+    ))


-class BigConfirmationDialogV2(BigDialogBase):
-  def __init__(self, title: str, icon: str, red: bool = False,
-               exit_on_confirm: bool = True,
-               confirm_callback: Callable | None = None):
+class BigConfirmationDialog(BigDialogBase):
+  def __init__(self, title: str, icon: rl.Texture, confirm_callback: Callable[[], None],
+               exit_on_confirm: bool = True, red: bool = False):
    super().__init__()
    self._confirm_callback = confirm_callback
    self._exit_on_confirm = exit_on_confirm

-    icon_txt = gui_app.texture(icon, 64, 53)
    self._slider: BigSlider | RedBigSlider
    if red:
-      self._slider = RedBigSlider(title, icon_txt, confirm_callback=self._on_confirm)
+      self._slider = self._child(RedBigSlider(title, icon, confirm_callback=self._on_confirm))
    else:
-      self._slider = BigSlider(title, icon_txt, confirm_callback=self._on_confirm)
+      self._slider = self._child(BigSlider(title, icon, confirm_callback=self._on_confirm))
    self._slider.set_enabled(lambda: self.enabled and not self.is_dismissing)  # for nav stack + NavWidget

  def _on_confirm(self):
@@ -158,9 +130,9 @@ class BigInputDialog(BigDialogBase):

    bg_block_margin = 5
    text_x = PADDING / 2 + self._enter_img.width + PADDING
-    text_field_rect = rl.Rectangle(text_x, int(self._rect.y + PADDING) - bg_block_margin,
-                                   int(self._rect.width - text_x * 2),
-                                   int(text_size.y))
+    text_field_rect = rl.Rectangle(text_x, self._rect.y + PADDING - bg_block_margin,
+                                   self._rect.width - text_x * 2,
+                                   text_size.y)

    # draw text input
    # push text left with a gradient on left side if too long
@@ -181,8 +153,8 @@ class BigInputDialog(BigDialogBase):

    # draw gradient on left side to indicate more text
    if text_size.x > text_field_rect.width:
-      rl.draw_rectangle_gradient_h(int(text_field_rect.x), int(text_field_rect.y), 80, int(text_field_rect.height),
-                                   rl.BLACK, rl.BLANK)
+      rl.draw_rectangle_gradient_ex(rl.Rectangle(text_field_rect.x, text_field_rect.y, 80, text_field_rect.height),
+                                    rl.BLACK, rl.BLANK, rl.BLANK, rl.BLACK)

    # draw cursor
    blink_alpha = (math.sin(rl.get_time() * 6) + 1) / 2
@@ -190,14 +162,14 @@ class BigInputDialog(BigDialogBase):
      cursor_x = min(text_x + text_size.x + 3, text_field_rect.x + text_field_rect.width)
    else:
      cursor_x = text_field_rect.x - 6
-    rl.draw_rectangle_rounded(rl.Rectangle(int(cursor_x), int(text_field_rect.y), 4, int(text_size.y)),
+    rl.draw_rectangle_rounded(rl.Rectangle(cursor_x, text_field_rect.y, 4, text_size.y),
                              1, 4, rl.Color(255, 255, 255, int(255 * blink_alpha)))

    # draw backspace icon with nice fade
    self._backspace_img_alpha.update(255 * bool(text))
    if self._backspace_img_alpha.x > 1:
      color = rl.Color(255, 255, 255, int(self._backspace_img_alpha.x))
-      rl.draw_texture(self._backspace_img, int(self._rect.width - self._backspace_img.width - 27), int(self._rect.y + 14), color)
+      rl.draw_texture_ex(self._backspace_img, rl.Vector2(self._rect.width - self._backspace_img.width - 27, self._rect.y + 14), 0.0, 1.0, color)

    if not text and self._hint_label.text and not candidate_char:
      # draw description if no text entered yet and not drawing candidate char
@@ -215,9 +187,9 @@ class BigInputDialog(BigDialogBase):
    # draw enter button
    self._enter_img_alpha.update(255 if len(text) >= self._minimum_length else 0)
    color = rl.Color(255, 255, 255, int(self._enter_img_alpha.x))
-    rl.draw_texture(self._enter_img, int(self._rect.x + PADDING / 2), int(self._rect.y), color)
+    rl.draw_texture_ex(self._enter_img, rl.Vector2(self._rect.x + PADDING / 2, self._rect.y), 0.0, 1.0, color)
    color = rl.Color(255, 255, 255, 255 - int(self._enter_img_alpha.x))
-    rl.draw_texture(self._enter_disabled_img, int(self._rect.x + PADDING / 2), int(self._rect.y), color)
+    rl.draw_texture_ex(self._enter_disabled_img, rl.Vector2(self._rect.x + PADDING / 2, self._rect.y), 0.0, 1.0, color)

    # keyboard goes over everything
    self._keyboard.render(self._rect)
@@ -254,3 +226,15 @@ class BigDialogButton(BigButton):

    dlg = BigDialog(self.text, self._description)
    gui_app.push_widget(dlg)
+
+
+class BigConfirmationCircleButton(BigCircleButton):
+  def __init__(self, title: str, icon: rl.Texture, confirm_callback: Callable[[], None], exit_on_confirm: bool = True,
+               red: bool = False, icon_offset: tuple[int, int] = (0, 0)):
+    super().__init__(icon, red, icon_offset)
+
+    def show_confirm_dialog():
+      gui_app.push_widget(BigConfirmationDialog(title, icon, confirm_callback,
+                                                exit_on_confirm=exit_on_confirm, red=red))
+
+    self.set_click_callback(show_confirm_dialog)
@@ -9,7 +9,7 @@ from openpilot.common.params import Params
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.ui.widgets.nav_widget import NavWidget
 from openpilot.system.ui.lib.application import FontWeight, gui_app
-from openpilot.system.ui.widgets.label import MiciLabel
+from openpilot.system.ui.widgets.label import UnifiedLabel


 class PairingDialog(NavWidget):
@@ -24,8 +24,7 @@ class PairingDialog(NavWidget):
    self._last_qr_generation = float("-inf")

    self._txt_pair = gui_app.texture("icons_mici/settings/device/pair.png", 33, 60)
-    self._pair_label = MiciLabel("pair with comma connect", 48, font_weight=FontWeight.BOLD,
-                                 color=rl.Color(255, 255, 255, int(255 * 0.9)), line_height=40, wrap_text=True)
+    self._pair_label = UnifiedLabel("pair with comma connect", font_size=48, font_weight=FontWeight.BOLD, line_height=0.8)

  def _get_pairing_url(self) -> str:
    try:
@@ -77,7 +76,7 @@ class PairingDialog(NavWidget):
    self._render_qr_code()

    label_x = self._rect.x + 8 + self._rect.height + 24
-    self._pair_label.set_width(int(self._rect.width - label_x))
+    self._pair_label.set_max_width(int(self._rect.width - label_x))
    self._pair_label.set_position(label_x, self._rect.y + 16)
    self._pair_label.render()

@@ -93,7 +92,7 @@ class PairingDialog(NavWidget):
      return

    scale = self._rect.height / self._qr_texture.height
-    pos = rl.Vector2(self._rect.x + 8, self._rect.y)
+    pos = rl.Vector2(round(self._rect.x + 8), round(self._rect.y))
    rl.draw_texture_ex(self._qr_texture, pos, 0.0, scale, rl.WHITE)

  def __del__(self):
@@ -50,7 +50,7 @@ class ExpButton(Widget):

    texture = self._txt_exp if self._held_or_actual_mode() else self._txt_wheel
    rl.draw_circle(center_x, center_y, self._rect.width / 2, self._black_bg)
-    rl.draw_texture(texture, center_x - texture.width // 2, center_y - texture.height // 2, self._white_color)
+    rl.draw_texture_ex(texture, rl.Vector2(center_x - texture.width / 2, center_y - texture.height / 2), 0.0, 1.0, self._white_color)

  def _held_or_actual_mode(self):
    now = time.monotonic()
@@ -20,7 +20,7 @@ class SunnylinkConsentPage(Widget):
    self._done_callback = done_callback
    self._step = 0

-    self._title = 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.BOLD, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT))

    self._content = [
      {
@@ -40,9 +40,10 @@ class SunnylinkConsentPage(Widget):
      }
    ]

-    self._primary_btn = Button("", button_style=ButtonStyle.PRIMARY, click_callback=lambda: self._handle_choice("enable"))
-    self._secondary_btn = Button("", button_style=ButtonStyle.NORMAL, click_callback=lambda: self._handle_choice("secondary"))
-    self._danger_btn = Button("", button_style=ButtonStyle.DANGER, click_callback=lambda: self._handle_choice("disable"))
+    self._primary_btn = self._child(Button("", button_style=ButtonStyle.PRIMARY, click_callback=lambda: self._handle_choice("enable")))
+    self._secondary_btn = self._child(Button("", button_style=ButtonStyle.NORMAL, click_callback=lambda: self._handle_choice("secondary")))
+    self._danger_btn = self._child(Button("", button_style=ButtonStyle.DANGER, click_callback=lambda: self._handle_choice("disable")))
+    self._desc = self._child(Label("", font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT))

  def _handle_choice(self, choice):
    if choice == "enable":
@@ -73,8 +74,8 @@ class SunnylinkConsentPage(Widget):
    desc_y = welcome_y + 120
    desc_rect = rl.Rectangle(desc_x, desc_y, self._rect.width - desc_x, self._rect.height - desc_y - 250)

-    desc_label = Label(step_data["text"], font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
-    desc_label.render(desc_rect)
+    self._desc.set_text(step_data["text"])
+    self._desc.render(desc_rect)

    btn_y = self._rect.y + self._rect.height - 160 - 45

@@ -82,8 +82,7 @@ class NavButton(Widget):

    if self.panel_info.icon:
      icon_texture = gui_app.texture(self.panel_info.icon, ICON_SIZE, ICON_SIZE, keep_aspect_ratio=True)
-      rl.draw_texture(icon_texture, int(content_x), int(rect.y + (OP.NAV_BTN_HEIGHT - icon_texture.height) / 2),
-                      rl.WHITE)
+      rl.draw_texture_ex(icon_texture, rl.Vector2(content_x, rect.y + (OP.NAV_BTN_HEIGHT - icon_texture.height) / 2), 0.0, 1.0, rl.WHITE)
      content_x += ICON_SIZE + 20

    # Draw button text (right-aligned)
@@ -41,7 +41,7 @@ class SunnylinkHeader(Widget):
    self._description = UnifiedLabel(
      text=tr("For secure backup, restore, and remote configuration"),
      font_size=40,
-      font_weight=FontWeight.LIGHT,
+      font_weight=FontWeight.NORMAL,
      text_color=rl.Color(0, 255, 0, 255),  # Green
      alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
      alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
@@ -53,7 +53,7 @@ class SunnylinkHeader(Widget):
      text=tr("Sponsorship isn't required for basic backup/restore") + "\n" +
           tr("Click the Sponsor button for more details"),
      font_size=35,
-      font_weight=FontWeight.LIGHT,
+      font_weight=FontWeight.NORMAL,
      text_color=rl.Color(255, 165, 0, 255),  # Orange
      alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
      alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
@@ -107,7 +107,7 @@ class SunnylinkDescriptionItem(Widget):
    self._description = UnifiedLabel(
      text="",
      font_size=40,
-      font_weight=FontWeight.LIGHT,
+      font_weight=FontWeight.NORMAL,
      text_color=rl.WHITE,
      alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
      alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
@@ -93,7 +93,7 @@ class TripsLayout(Widget):

    # Values
    number_font = gui_app.font(FontWeight.BOLD)
-    unit_font = gui_app.font(FontWeight.LIGHT)
+    unit_font = gui_app.font(FontWeight.NORMAL)
    number_base_size = 92
    unit_base_size = 55
    number_size = number_base_size * FONT_SCALE
@@ -112,9 +112,9 @@ class TripsLayout(Widget):
      center_x = col_x + (col_width / 2)

      # Icon
-      icon_x = int(center_x - (icon.width / 2))
-      icon_y = int(content_y + 60)
-      rl.draw_texture(icon, icon_x, icon_y, rl.WHITE)
+      icon_x = center_x - (icon.width / 2)
+      icon_y = content_y + 60
+      rl.draw_texture_ex(icon, rl.Vector2(icon_x, icon_y), 0.0, 1.0, rl.WHITE)

      # Value
      val_size = measure_text_cached(number_font, value, number_base_size)
@@ -20,10 +20,10 @@ class ModelsLayoutMici(NavScroller):
    self.original_back_callback = back_callback
    self.focused_widget = None

-    self.current_model_btn = BigButton(tr("current model"), "", "")
+    self.current_model_btn = BigButton(tr("current model"))
    self.current_model_btn.set_click_callback(self._show_folders)

-    self.cancel_download_btn = BigButton(tr("cancel download"), "", "")
+    self.cancel_download_btn = BigButton(tr("cancel download"))
    self.cancel_download_btn.set_click_callback(lambda: ui_state.params.remove("ModelManager_DownloadIndex"))

    self.main_items = [self.current_model_btn, self.cancel_download_btn]
@@ -52,13 +52,13 @@ class ModelsLayoutMici(NavScroller):
    self.focused_widget = self.current_model_btn
    folders = self._get_grouped_bundles()
    folder_buttons = []
-    default_btn = BigButton(tr("default model"), "", "")
+    default_btn = BigButton(tr("default model"))
    default_btn.set_click_callback(self._select_default)
    folder_buttons.append(default_btn)

    for folder in sorted(folders.keys(), key=lambda f: max((bundle.index for bundle in folders[f]), default=-1), reverse=True):
      if folder.lower() in ["release models", "master models"]:
-        btn = BigButton(folder.lower(), "", "")
+        btn = BigButton(folder.lower())
        btn.set_click_callback(lambda f=folder: self._select_folder(f))
        folder_buttons.append(btn)
    self._show_selection_view(folder_buttons, self._reset_main_view)
@@ -78,7 +78,7 @@ class ModelsLayoutMici(NavScroller):
    btns = []
    for bundle in bundles:
      txt = bundle.displayName.lower()
-      btn = BigButton(txt, "", "")
+      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)
@@ -6,8 +6,7 @@ See the LICENSE.md file in the root directory for more details.
 """
 from collections.abc import Callable

-from openpilot.selfdrive.ui.mici.widgets.button import BigCircleButton
-from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationDialogV2
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationCircleButton
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.mici_setup import GreyBigButton
 from openpilot.system.ui.widgets.scroller import NavScroller
@@ -17,19 +16,11 @@ class SunnylinkConsentPage(NavScroller):
  def __init__(self, on_accept: Callable | None = None, on_decline: Callable | None = None):
    super().__init__()

-    def show_accept_dialog():
-      gui_app.push_widget(BigConfirmationDialogV2("enable\nsunnylink", "icons_mici/setup/driver_monitoring/dm_check.png",
-                                                  confirm_callback=on_accept))
+    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)

-    def show_decline_dialog():
-      gui_app.push_widget(BigConfirmationDialogV2("disable\nsunnylink", "icons_mici/setup/cancel.png",
-                                                  red=True, confirm_callback=on_decline))
-
-    self._accept_button = BigCircleButton("icons_mici/setup/driver_monitoring/dm_check.png")
-    self._accept_button.set_click_callback(show_accept_dialog)
-
-    self._decline_button = BigCircleButton("icons_mici/setup/cancel.png", red=True)
-    self._decline_button.set_click_callback(show_decline_dialog)
+    self._decline_button = BigConfirmationCircleButton("disable\nsunnylink", gui_app.texture("icons_mici/setup/cancel.png", 64, 64),
+                                                       on_decline, red=True, exit_on_confirm=False)

    self._scroller.add_widgets([
      GreyBigButton("sunnylink", "scroll to continue",
@@ -18,11 +18,11 @@ class SettingsLayoutSP(OP.SettingsLayout):
    OP.SettingsLayout.__init__(self)

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

    models_panel = ModelsLayoutMici(back_callback=gui_app.pop_widget)
-    models_btn = BigButton("models", "", "../../sunnypilot/selfdrive/assets/offroad/icon_models.png")
+    models_btn = BigButton("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))

    items = self._scroller._items.copy()
--- a/Show More
+++ b/Show More