Merge branch 'master' into mici-sla-ui

ci: deprecate GitHub runners (#1933 )
sunnylink: add model resolver (#1931 )
2026-08-24 02:13:46 +08:00 · 2026-08-21 00:45:58 -07:00 · 2026-08-21 00:35:38 -04:00 · 2026-08-20 21:56:57 -04:00 · 2026-08-20 21:31:32 -04:00 · 2026-08-20 19:19:59 -04:00
38 changed files with 1190 additions and 667 deletions
@@ -103,20 +103,25 @@ jobs:
      - run: |
          cd ${{ github.workspace }}/openpilot/openpilot
          if [ "${{ inputs.target_hardware }}" != "usbgpu" ]; then
-            git lfs pull -X "selfdrive/modeld/models/big_*.onnx" -X "selfdrive/modeld/models/dmonitoring_*.onnx"
+            git lfs pull -X "**/selfdrive/modeld/models/big_*.onnx,**/selfdrive/modeld/models/dmonitoring_*.onnx"
            rm -f selfdrive/modeld/models/big_*.onnx selfdrive/modeld/models/dmonitoring_*.onnx
          else
-            git lfs pull -I "selfdrive/modeld/models/big_*.onnx"
+            git lfs pull -I "**/selfdrive/modeld/models/big_*.onnx" -X ""
            find selfdrive/modeld/models -name "*.onnx" ! -name "big_*.onnx" -delete
          fi
+          if grep -lIF "version https://git-lfs.github.com/spec/v1" selfdrive/modeld/models/*.onnx; then
+            echo "::error::the ONNX files above are still LFS pointers, not real models"
+            exit 1
+          fi
      - name: 'Upload Artifact'
        uses: actions/upload-artifact@v4
        with:
          name: models-${{ env.REF }}${{ inputs.artifact_suffix  }}
          path: ${{ github.workspace }}/openpilot/openpilot/selfdrive/modeld/models/*.onnx
+          if-no-files-found: error

  build_model:
-    runs-on: [self-hosted, tici]
+    runs-on: [self-hosted, usbgpu]
    needs: get_model
    env:
      MODEL_NAME: ${{ inputs.custom_name || inputs.upstream_branch }} (${{ needs.get_model.outputs.model_date }})
@@ -127,7 +132,6 @@ jobs:
          fetch-depth: 1
          submodules: recursive

-      - run: git lfs pull

      - name: Set environment variables
        id: set-env
@@ -160,7 +164,7 @@ jobs:
          fi
          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
-          rm -rf ${{ env.MODELS_DIR }}/*.onnx
+          rm -rf ${{ env.MODELS_DIR }}/*.onnx*

      - name: Download model artifacts
        uses: actions/download-artifact@v4
@@ -180,6 +184,7 @@ jobs:
          MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
          CAMERA_RES=$(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')")

+          TG_FLAGS_QCOM="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
          if [ "${{ inputs.target_hardware }}" == "usbgpu" ]; then
            echo "USBGPU build"
            export USBGPU=1
@@ -187,27 +192,40 @@ jobs:
            OUTPUT_PKL="${{ env.MODELS_DIR }}/big_driving_tinygrad.pkl"
          else
            echo "QCOM build"
-            TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
+            TG_FLAGS="$TG_FLAGS_QCOM"
            OUTPUT_PKL="${{ env.MODELS_DIR }}/driving_tinygrad.pkl"
          fi

          # Generate metadata for all ONNX files
          find "${{ env.MODELS_DIR }}" -maxdepth 1 -name '*.onnx' | while IFS= read -r onnx_file; do
            echo "Generating metadata: $onnx_file"
-            env ${TG_FLAGS} python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
+            env ${TG_FLAGS_QCOM} python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
          done

          # Detect model type and build compile args
-          VISION_ONNX="${{ env.MODELS_DIR }}/driving_vision.onnx"
-          POLICY_ONNX="${{ env.MODELS_DIR }}/driving_policy.onnx"
-          OFF_POLICY_ONNX="${{ env.MODELS_DIR }}/driving_off_policy.onnx"
-          ON_POLICY_ONNX="${{ env.MODELS_DIR }}/driving_on_policy.onnx"
+          VISION_ONNX=""
+          for f in "${{ env.MODELS_DIR }}/driving_vision.onnx" "${{ env.MODELS_DIR }}/big_driving_vision.onnx"; do
+            [ -f "$f" ] && VISION_ONNX="$f" && break
+          done
+
+          POLICY_ONNX=""
+          for f in "${{ env.MODELS_DIR }}/driving_policy.onnx" "${{ env.MODELS_DIR }}/big_driving_policy.onnx"; do
+            [ -f "$f" ] && POLICY_ONNX="$f" && break
+          done
+
+          OFF_POLICY_ONNX=""
+          for f in "${{ env.MODELS_DIR }}/driving_off_policy.onnx" "${{ env.MODELS_DIR }}/big_driving_off_policy.onnx"; do
+            [ -f "$f" ] && OFF_POLICY_ONNX="$f" && break
+          done
+
+          ON_POLICY_ONNX=""
+          for f in "${{ env.MODELS_DIR }}/driving_on_policy.onnx" "${{ env.MODELS_DIR }}/big_driving_on_policy.onnx"; do
+            [ -f "$f" ] && ON_POLICY_ONNX="$f" && break
+          done
+
          SUPERCOMBO_ONNX=""
-          for f in "${{ env.MODELS_DIR }}/supercombo.onnx" "${{ env.MODELS_DIR }}/driving_supercombo.onnx"; do
-            if [ -f "$f" ]; then
-              SUPERCOMBO_ONNX="$f"
-              break
-            fi
+          for f in "${{ env.MODELS_DIR }}/supercombo.onnx" "${{ env.MODELS_DIR }}/driving_supercombo.onnx" "${{ env.MODELS_DIR }}/big_supercombo.onnx" "${{ env.MODELS_DIR }}/big_driving_supercombo.onnx"; do
+            [ -f "$f" ] && SUPERCOMBO_ONNX="$f" && break
          done

          MODEL_TYPE="" ONNX_ARGS="" OUTPUT_NAME=""
@@ -4,12 +4,8 @@ env:
  BUILD_DIR: "/data/openpilot"
  OUTPUT_DIR: ${{ github.workspace }}/output
  CI_DIR: ${{ github.workspace }}/release/ci
-  SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
  PUBLIC_REPO_URL: "https://github.com/sunnypilot/sunnypilot"

-  # Branch configurations
-  STAGING_SOURCE_BRANCH: 'master'
-
  # Runtime configuration
  SOURCE_BRANCH: "${{ github.head_ref || github.ref_name }}"

@@ -109,11 +105,6 @@ jobs:
      group: build-${{ github.head_ref || github.ref_name }}
      cancel-in-progress: false
    runs-on: [self-hosted, tici]
-    outputs:
-      new_branch: ${{ needs.prepare_strategy.outputs.new_branch }}
-      version: ${{ needs.prepare_strategy.outputs.version }}
-      extra_version_identifier: ${{ needs.prepare_strategy.outputs.extra_version_identifier }}
-      commit_sha: ${{ github.sha }}
    if: ${{
      (always() && !cancelled() && !failure()) &&
      needs.prepare_strategy.result == 'success' &&
@@ -129,26 +120,8 @@ jobs:
          repository: ${{ github.event.pull_request.head.repo.fork && github.event.pull_request.head.repo.full_name || github.repository }}
      - run: git lfs pull

-      - name: Cache SCons
-        uses: actions/cache@v4
-        with:
-          path: ${{env.SCONS_CACHE_DIR}}
-          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}-${{ github.sha }}
-          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.)
-          #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
-          restore-keys: |
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.STAGING_SOURCE_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}
-
      - name: Set environment variables
-        id: set-env
        run: |
-          echo "new_branch=${{ needs.prepare_strategy.outputs.new_branch }}" >> $GITHUB_OUTPUT
-          echo "version=${{ needs.prepare_strategy.outputs.version }}" >> $GITHUB_OUTPUT
-          echo "extra_version_identifier=${{ needs.prepare_strategy.outputs.extra_version_identifier }}" >> $GITHUB_OUTPUT
-          echo "commit_sha=${{ github.sha }}" >> $GITHUB_OUTPUT
-
          # Set up common environment
          source /etc/profile;
          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
@@ -157,9 +130,6 @@ jobs:
          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
          uv sync
          printenv >> $GITHUB_ENV
-          if [[ "${{ runner.debug }}" == "1" ]]; then
-            cat $GITHUB_OUTPUT
-          fi

      - name: Setup build environment
        run: |
@@ -168,7 +138,7 @@ jobs:
          echo "Starting build stage..."
          echo "BUILD_DIR: ${BUILD_DIR}"
          echo "CI_DIR: ${CI_DIR}"
-          echo "VERSION: ${{ steps.set-env.outputs.version }}"
+          echo "VERSION: ${{ needs.prepare_strategy.outputs.version }}"
          echo "UV_PROJECT_ENVIRONMENT: ${UV_PROJECT_ENVIRONMENT}"
          echo "VIRTUAL_ENV: ${VIRTUAL_ENV}"
          echo "-------"
@@ -180,61 +150,44 @@ jobs:

      - name: Build Main Project
        run: |
-          export PYTHONPATH="$BUILD_DIR"
-          ./tools/release/release_files.py | sort | uniq | rsync -rRl${RUNNER_DEBUG:+v} --files-from=- . $BUILD_DIR/
+          export PYTHONPATH="$BUILD_DIR:$BUILD_DIR/msgq_repo:$BUILD_DIR/opendbc_repo:$BUILD_DIR/rednose_repo:$BUILD_DIR/teleoprtc_repo:$BUILD_DIR/tinygrad_repo"
+          ./tools/release/release_files.py | xargs -0 cp -pR --parents -t "$BUILD_DIR" --
+          # outside the checkout, which is wiped each run. /data/scons_cache is the device's, not ours.
+          SCONS_CACHE="$RUNNER_WORKSPACE/scons_cache"
+          mkdir -p "$SCONS_CACHE"
          cd $BUILD_DIR
-          ln -sfn msgq_repo/msgq msgq
-          ln -sfn opendbc_repo/opendbc opendbc
-          ln -sfn rednose_repo/rednose rednose
-          ln -sfn teleoprtc_repo/teleoprtc teleoprtc
-          ln -sfn tinygrad_repo/tinygrad tinygrad
-          sed -i '/from .board.jungle import PandaJungle, PandaJungleDFU/s/^/#/' panda/__init__.py
-          echo "Building sunnypilot's modeld_v2..."
-          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal openpilot/sunnypilot/modeld_v2
-          echo "Building sunnypilot's locationd..."
-          scons -j2 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal openpilot/sunnypilot/selfdrive/locationd
-          echo "Building openpilot's locationd..."
-          scons -j1 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal openpilot/selfdrive/locationd
+          echo "Building locationd..."
+          # -j1: parallel rednose generators OOM the device
+          scons -j1 cache_dir="$SCONS_CACHE" --minimal \
+            openpilot/selfdrive/locationd openpilot/sunnypilot/selfdrive/locationd
          echo "Building rest of sunnypilot"
-          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal
+          /usr/bin/time -v scons -j$(nproc) cache_dir="$SCONS_CACHE" --minimal
          touch ${BUILD_DIR}/prebuilt
          if [[ "${{ runner.debug }}" == "1" ]]; then
            ls -la ${BUILD_DIR}
          fi

-      - name: Prepare Output
+      - name: Strip release tree
        run: |
-          sudo rm -rf ${OUTPUT_DIR}
-          mkdir -p ${OUTPUT_DIR}
-          rsync -am${RUNNER_DEBUG:+v} \
-            --exclude='.sconsign.dblite' \
-            --exclude='*.a' \
-            --exclude='*.o' \
-            --exclude='*.os' \
-            --exclude='*.pyc' \
-            --exclude='moc_*' \
-            --exclude='__pycache__' \
-            --exclude='Jenkinsfile' \
-            --exclude='**/release/' \
-            --exclude='**/.github/' \
-            --exclude='**/openpilot/selfdrive/ui/replay/' \
-            --exclude='**/__pycache__/' \
-            --exclude='${{env.SCONS_CACHE_DIR}}' \
-            --exclude='**/.git/' \
-            --exclude='**/SConstruct' \
-            --exclude='**/SConscript' \
-            --exclude='**/.venv/' \
-            --exclude='openpilot/selfdrive/modeld/models/*.onnx*' \
-            --exclude='openpilot/sunnypilot/modeld*/models/*.onnx*' \
-            --exclude='openpilot/third_party/*x86*' \
-            --exclude='openpilot/third_party/*Darwin*' \
-            --delete-excluded \
-            --chown=comma:comma \
-            ${BUILD_DIR}/ ${OUTPUT_DIR}/
+          cd $BUILD_DIR
+          find . -name '*.a' -delete
+          find . -name '*.o' -delete
+          find . -name '*.os' -delete
+          find . -name '*.pyc' -delete
+          find . -name 'moc_*' -delete
+          find . -name '__pycache__' -type d -exec rm -rf {} +
+          find . -name 'SConstruct' -delete
+          find . -name 'SConscript' -delete
+          rm -rf .sconsign.dblite Jenkinsfile tools/release/ release/
+          rm -f openpilot/selfdrive/modeld/models/*.onnx*
+          rm -f openpilot/sunnypilot/modeld*/models/*.onnx*
+          find openpilot/third_party/ -name '*x86*' -exec rm -r {} +
+          find openpilot/third_party/ -name '*Darwin*' -exec rm -r {} +
+          cd -

      - name: 'Tar.gz files'
        run: |
-          tar czf prebuilt.tar.gz -C ${{ env.OUTPUT_DIR }} .
+          tar czf prebuilt.tar.gz -C ${{ env.BUILD_DIR }} .
          ls -la prebuilt.tar.gz

      - name: 'Upload Artifact'
@@ -242,6 +195,7 @@ jobs:
        with:
          name: prebuilt
          path: prebuilt.tar.gz
+          compression-level: 0

      - name: Re-enable powersave
        if: always()
@@ -283,29 +237,22 @@ jobs:
        env:
          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
        run: |
-          echo '${{ toJSON(needs.build.outputs) }}'
+          echo '${{ toJSON(needs.prepare_strategy.outputs) }}'
          ls -la ${{ env.OUTPUT_DIR }}

          ${{ env.CI_DIR }}/publish.sh \
            "${{ github.workspace }}" \
            "${{ env.OUTPUT_DIR }}" \
-            "${{ needs.build.outputs.new_branch }}" \
-            "${{ needs.build.outputs.version }}" \
+            "${{ needs.prepare_strategy.outputs.new_branch }}" \
+            "${{ needs.prepare_strategy.outputs.version }}" \
            "https://x-access-token:${{github.token}}@github.com/sunnypilot/sunnypilot.git" \
-            "${{ needs.build.outputs.extra_version_identifier }}"
-
-          echo ""
-          echo "----   ℹ️ To update the list of branches that auto deploy prebuilts  -----"
-          echo ""
-          echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/AUTO_DEPLOY_PREBUILT_BRANCHES"
-          echo "2. Current value: ${{ vars.AUTO_DEPLOY_PREBUILT_BRANCHES }}"
-          echo "3. Update as needed (JSON array with no spaces)"
+            "${{ needs.prepare_strategy.outputs.extra_version_identifier }}"

      - name: Tag ${{ needs.prepare_strategy.outputs.environment }}
        if: ${{ needs.prepare_strategy.outputs.is_stable_branch == 'true' && (github.event_name != 'push' || !startsWith(github.ref, 'refs/tags/')) }}
        run: |
            TAG="${{ needs.prepare_strategy.outputs.environment }}/${{ needs.prepare_strategy.outputs.version }}/${{ needs.prepare_strategy.outputs.build }}"
-            git tag -f -a ${TAG} -m "${{ needs.prepare_strategy.outputs.environment }} @ ${{ needs.prepare_strategy.outputs.version }} of build ${{ needs.build.outputs.build }}."
+            git tag -f -a ${TAG} -m "${{ needs.prepare_strategy.outputs.environment }} @ ${{ needs.prepare_strategy.outputs.version }} of build ${{ needs.prepare_strategy.outputs.build }}."
            git push -f origin ${TAG}

  notify:
@@ -324,7 +271,6 @@ jobs:
      - name: Prepare notification message
        id: message
        run: |
-          TEMPLATE='${{ vars.DISCOURSE_GENERAL_UPDATE_NOTICE }}'
          export VERSION="${{ needs.prepare_strategy.outputs.version }}"
          export branch_name="${{ env.SOURCE_BRANCH }}"
          export new_branch="${{ needs.prepare_strategy.outputs.new_branch }}"
@@ -373,7 +319,7 @@ jobs:
              owner: context.repo.owner,
              repo: context.repo.repo,
              issue_number: prNumber,
-              name: process.env.LABELf
+              name: process.env.LABEL
            });

            console.log(`Removed '${process.env.LABEL}' label from PR #${prNumber}`);
@@ -25,7 +25,8 @@ env:

 jobs:
  preview:
-    if: github.repository == 'sunnypilot/sunnypilot'
+    if: false # tmp disable due to GH API rate limiting flakiness
+    #if: github.repository == 'sunnypilot/sunnypilot'
    name: preview
    runs-on: ubuntu-latest
    timeout-minutes: 20
@@ -49,9 +49,8 @@ def get_cruise_accel(e2e, v_cruise, v_ego, a_cruise_prev, angle_steers, CP, dt,
      max_accel = min(max_accel, coast_limit)

  target_accel = np.clip(v_cruise - v_ego, A_CRUISE_MIN, max_accel)
-  if not e2e:
-    j_cruise = np.interp(v_ego, A_CRUISE_MAX_BP, J_CRUISE_VALS)
-    target_accel = float(np.clip(target_accel, a_cruise_prev - j_cruise * dt, a_cruise_prev + j_cruise * dt))
+  j_cruise = np.interp(v_ego, A_CRUISE_MAX_BP, J_CRUISE_VALS)
+  target_accel = float(np.clip(target_accel, a_cruise_prev - j_cruise * dt, a_cruise_prev + j_cruise * dt))

  return target_accel

@@ -65,10 +64,9 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    self.dt = dt
    self.allow_throttle = True

-    self.a_desired = init_a
    self.v_desired_filter = FirstOrderFilter(init_v, 2.0, self.dt)
-    self.a_cruise = 0.0
-    self.output_a_target = 0.0
+    self.a_cruise = init_a
+    self.output_a_target = init_a
    self.output_should_stop = False

    self.v_desired_trajectory = np.zeros(CONTROL_N)
@@ -105,7 +103,8 @@ class LongitudinalPlanner(LongitudinalPlannerSP):

    if reset_state:
      self.v_desired_filter.x = v_ego
-      self.a_desired = np.clip(sm['carState'].aEgo, ACCEL_MIN, ACCEL_MAX)
+      self.output_a_target = np.clip(sm['carState'].aEgo, ACCEL_MIN, ACCEL_MAX)
+      self.a_cruise = self.output_a_target

    # Prevent divergence, smooth in current v_ego
    self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))
@@ -113,11 +112,11 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    # No change cost when user is controlling the speed, or when standstill
    prev_accel_constraint = not (reset_state or sm['carState'].standstill)

-    # Get new v_cruise and a_desired from Smart Cruise Control and Speed Limit Assist
-    v_cruise, self.a_desired = LongitudinalPlannerSP.update_targets(self, sm, self.v_desired_filter.x, self.a_desired, v_cruise)
+    # Get new v_cruise and a_target from Smart Cruise Control and Speed Limit Assist
+    v_cruise, self.output_a_target = LongitudinalPlannerSP.update_targets(self, sm, self.v_desired_filter.x, self.output_a_target, v_cruise)

    self.mpc.set_weights(prev_accel_constraint, personality=sm['selfdriveState'].personality)
-    self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
+    self.mpc.set_cur_state(self.v_desired_filter.x, self.output_a_target)
    self.mpc.update(sm['radarState'], personality=sm['selfdriveState'].personality)

    self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
@@ -130,7 +129,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
      cloudlog.info("FCW triggered")

    # Save starting point for next iteration
-    a_prev = self.a_desired
+    a_prev = self.output_a_target

    action_t =  self.CP.longitudinalActuatorDelay + DT_MDL
    output_a_target_mpc = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX,
@@ -155,7 +154,6 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    self.output_should_stop = any(should_stop for _, _, should_stop in candidates)
    self.output_a_target = np.clip(output_a_target, ACCEL_MIN, ACCEL_MAX)

-    self.a_desired = float(self.output_a_target)
    self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.output_a_target + a_prev) / 2.0

  def publish(self, sm, pm):
@@ -14,6 +14,7 @@ from openpilot.system.ui.lib.application import gui_app
 if gui_app.sunnypilot_ui():
  from openpilot.selfdrive.ui.sunnypilot.mici.layouts.settings import SettingsLayoutSP as SettingsLayout
  from openpilot.selfdrive.ui.sunnypilot.mici.layouts.home import MiciHomeLayoutSP as MiciHomeLayout
+  from openpilot.selfdrive.ui.sunnypilot.mici.layouts.onroad import OnroadViewContainerSP as AugmentedRoadView

 ONROAD_DELAY = 2.5  # seconds

@@ -72,6 +73,9 @@ class MiciMainLayout(Scroller):
    # For scroll_to
    return self._body_onroad_layout if ui_state.is_body else self._car_onroad_layout

+  def _should_auto_scroll_to_onroad(self) -> bool:
+    return True
+
  def _setup_callbacks(self):
    self._home_layout.set_callbacks(
      on_settings=lambda: gui_app.push_widget(self._settings_layout),
@@ -122,13 +126,15 @@ class MiciMainLayout(Scroller):

    # FIXME: these two pops can interrupt user interacting in the settings
    if self._onroad_time_delay is not None and rl.get_time() - self._onroad_time_delay >= ONROAD_DELAY:
-      gui_app.pop_widgets_to(self, lambda: self._scroll_to(self._onroad_layout))
+      if not gui_app.sunnypilot_ui() or self._should_auto_scroll_to_onroad():
+        gui_app.pop_widgets_to(self, lambda: self._scroll_to(self._onroad_layout))
      self._onroad_time_delay = None

    # When car leaves standstill, pop nav stack and scroll to onroad
    CS = ui_state.sm["carState"]
    if not CS.standstill and self._prev_standstill:
-      gui_app.pop_widgets_to(self, lambda: self._scroll_to(self._onroad_layout))
+      if not gui_app.sunnypilot_ui() or self._should_auto_scroll_to_onroad():
+        gui_app.pop_widgets_to(self, lambda: self._scroll_to(self._onroad_layout))
    self._prev_standstill = CS.standstill

  def _on_interactive_timeout(self):
@@ -22,9 +22,9 @@ from openpilot.system.ui.widgets.toggle import ON_COLOR

 from openpilot.sunnypilot.models.runners.constants import CUSTOM_MODEL_PATH
 from openpilot.system.ui.sunnypilot.lib.styles import style
-from openpilot.system.ui.sunnypilot.lib.utils import NoElideButtonAction
+from openpilot.system.ui.sunnypilot.lib.utils import NoElideButtonAction, ScrollingButtonAction
 from openpilot.system.ui.sunnypilot.widgets.list_view import ListItemSP, toggle_item_sp, option_item_sp
-from openpilot.system.ui.sunnypilot.widgets.progress_bar import progress_item
+from openpilot.system.ui.sunnypilot.widgets.download_status import download_status_item
 from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeOptionDialog, TreeNode, TreeFolder

 if gui_app.sunnypilot_ui():
@@ -35,9 +35,8 @@ class ModelsLayout(Widget):
  def __init__(self):
    super().__init__()
    self.model_manager = None
-    self.download_status = None
-    self.prev_download_status = None
    self.model_dialog = None
+    self._downloading = False
    self.last_cache_calc_time = 0

    self._initialize_items()
@@ -52,15 +51,11 @@ class ModelsLayout(Widget):
    self.current_model_item = ListItemSP(
      title=tr("Current Model"),
      description="",
-      action_item=NoElideButtonAction(tr("SELECT")),
+      action_item=ScrollingButtonAction(tr("SELECT")),
      callback=self._handle_current_model_clicked
    )

-    self.supercombo_label = progress_item(tr("Driving Model"))
-    self.vision_label = progress_item(tr("Vision Model"))
-    self.policy_label = progress_item(tr("Policy Model"))
-    self.off_policy_label = progress_item(tr("Off-Policy Model"))
-    self.on_policy_label = progress_item(tr("On-Policy Model"))
+    self.download_item = download_status_item(lambda: tr("Download") if self._downloading else tr("Model Status"))

    self.refresh_item = button_item(tr("Refresh Model List"), tr("REFRESH"), "",
                                    lambda: (ui_state.params.put("ModelManager_LastSyncTime", 0),
@@ -98,8 +93,7 @@ class ModelsLayout(Widget):
                                        1, None, True, "", style.BUTTON_ACTION_WIDTH, None, True,
                                        lambda v: f"{v / 100:.2f} m")

-    self.items = [self.current_model_item, self.cancel_download_item, self.supercombo_label, self.vision_label,
-                  self.policy_label, self.off_policy_label, self.on_policy_label, self.refresh_item, self.clear_cache_item,
+    self.items = [self.current_model_item, self.cancel_download_item, self.download_item, self.refresh_item, self.clear_cache_item,
                  self.lane_turn_desire_toggle, self.lane_turn_value_control, self.lagd_toggle, self.delay_control, self.camera_offset]

  def _update_lagd_description(self, lagd_toggle: bool):
@@ -135,14 +129,9 @@ class ModelsLayout(Widget):
    gui_app.push_widget(dialog)

  def _handle_bundle_download_progress(self):
-    labels = {custom.ModelManagerSP.Model.Type.supercombo: self.supercombo_label,
-              custom.ModelManagerSP.Model.Type.vision: self.vision_label,
-              custom.ModelManagerSP.Model.Type.policy: self.policy_label,
-              custom.ModelManagerSP.Model.Type.offPolicy: self.off_policy_label,
-              custom.ModelManagerSP.Model.Type.onPolicy: self.on_policy_label}
-    for label in labels.values():
-      label.set_visible(False)
+    self.download_item.set_visible(False)
    self.cancel_download_item.set_visible(False)
+    self._downloading = False

    if not self.model_manager or (not self.model_manager.selectedBundle and not self.model_manager.activeBundle):
      return
@@ -153,32 +142,41 @@ class ModelsLayout(Widget):
    if not bundle:
      return

-    self.download_status = bundle.status
-    status_changed = self.prev_download_status != self.download_status
-    self.prev_download_status = self.download_status
-
    self.cancel_download_item.set_visible(bool(self.model_manager.selectedBundle) and ui_state.params.get("ModelManager_DownloadIndex") is not None)

    if (current_time := time.monotonic()) - self.last_cache_calc_time > 0.5:
      self.last_cache_calc_time = current_time
      self.clear_cache_item.action_item.set_value(f"{self.calculate_cache_size():.2f} MB")

-    if self.download_status == custom.ModelManagerSP.DownloadStatus.downloading:
+    if bundle.status == custom.ModelManagerSP.DownloadStatus.downloading:
      device._reset_interactive_timeout()

-    for model in bundle.models:
-      if label := labels.get(getattr(model.type, 'raw', model.type)):
-        label.set_visible(True)
-        p = model.artifact.downloadProgress
-        text, show, color = f"pending - {bundle.displayName}", False, rl.GRAY
-        if p.status == custom.ModelManagerSP.DownloadStatus.downloading:
-          text, show = f"{int(p.progress)}% - {bundle.displayName}", True
-        elif p.status in (custom.ModelManagerSP.DownloadStatus.downloaded, custom.ModelManagerSP.DownloadStatus.cached):
-          status_text = tr("from cache" if p.status == custom.ModelManagerSP.DownloadStatus.cached else "downloaded")
-          text, color = f"{bundle.displayName} - {status_text if status_changed else tr('ready')}", ON_COLOR
-        elif p.status == custom.ModelManagerSP.DownloadStatus.failed:
-          text, color = f"download failed - {bundle.displayName}", rl.RED
-        label.action_item.update(p.progress, text, show, color)
+    # every bundle is a single chunked artifact now
+    progresses = [model.artifact.downloadProgress for model in bundle.models if model.artifact.fileName]
+    if not progresses:
+      return
+
+    self.download_item.set_visible(True)
+    self.download_item.action_item.update(**self._download_row_state(progresses, bundle.internalName))
+    self._downloading = self.download_item.action_item.downloading
+
+  @staticmethod
+  def _download_row_state(progresses, name: str) -> dict:
+    """Maps a bundle's artifact progress to DownloadStatusAction.update kwargs."""
+    # .raw: _DynamicEnum equals its int but does not hash like it
+    statuses = {getattr(p.status, 'raw', p.status) for p in progresses}
+    progress = sum(p.progress for p in progresses) / len(progresses)
+    ds = custom.ModelManagerSP.DownloadStatus
+
+    if ds.failed in statuses:
+      # close.png is authored black and a tint cannot lift it, hence close2
+      return {"name": name, "status_text": tr("download failed"), "text_color": rl.RED, "icon": "icons/close2.png"}
+    if ds.downloading in statuses:
+      return {"name": name, "downloading": True, "progress": progress}
+    if statuses <= {ds.downloaded, ds.cached}:
+      return {"name": name, "text_color": ON_COLOR, "icon": "icons/checkmark.png"}
+    # circled_slash is authored grey; tinting it again only darkens it
+    return {"name": name, "text_color": rl.GRAY, "icon": "icons/circled_slash.png", "icon_color": rl.WHITE}

  @staticmethod
  def _show_reset_params_dialog():
@@ -251,7 +249,7 @@ class ModelsLayout(Widget):
    self._update_lagd_description(live_delay)
    self.model_manager = ui_state.sm["modelManagerSP"]
    self._handle_bundle_download_progress()
-    active_name = self.model_manager.activeBundle.internalName if self.model_manager and self.model_manager.activeBundle.ref else f"{DEFAULT_MODEL} (Default)"
+    active_name = self.model_manager.activeBundle.displayName if self.model_manager and self.model_manager.activeBundle.ref else f"{DEFAULT_MODEL} (Default)"
    self.current_model_item.action_item.set_value(active_name)

    if not ui_state.is_offroad():
@@ -0,0 +1,19 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
+from openpilot.selfdrive.ui.sunnypilot.mici.widgets.scroll_panel_sp import GuiScrollPanel2SP
+
+
+class MiciMainLayoutSP(MiciMainLayout):
+  def __init__(self):
+    super().__init__()
+    scroller = self._scroller
+    scroller.scroll_panel = GuiScrollPanel2SP(scroller._horizontal, handle_out_of_bounds=not scroller._snap_items)
+
+  def _should_auto_scroll_to_onroad(self) -> bool:
+    return not self._onroad_layout.is_on_info_panel()
@@ -0,0 +1,64 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from collections.abc import Callable
+import pyray as rl
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.selfdrive.ui.sunnypilot.mici.widgets.scroller_sp import ScrollerSP
+from openpilot.selfdrive.ui.sunnypilot.mici.onroad.augmented_road_view import AugmentedRoadViewSP
+from openpilot.selfdrive.ui.sunnypilot.mici.layouts.onroad_info_panel import OnroadInfoPanel
+
+CONFIDENCE_BALL_VISIBLE_RATIO = 0.4
+HORIZONTAL_SETTLE_PX = 5
+HORIZONTAL_RESET_RATIO = 0.5
+
+
+class OnroadViewContainerSP(ScrollerSP):
+  def __init__(self, bookmark_callback=None):
+    super().__init__(horizontal=False, snap_items=True, spacing=0, pad=0, scroll_indicator=False, edge_shadows=False)
+    self.road_view = AugmentedRoadViewSP(bookmark_callback=bookmark_callback)
+    self.onroad_info_panel = OnroadInfoPanel(bookmark_callback=bookmark_callback)
+
+    self._scroller.add_widgets([
+      self.road_view,
+      self.onroad_info_panel,
+    ])
+    self._scroller.set_reset_scroll_at_show(False)
+    self._scroller.set_scrolling_enabled(lambda: abs(self.rect.x) < HORIZONTAL_SETTLE_PX)
+
+    for child in (self.road_view, self.onroad_info_panel):
+      inner_touch_valid = child._touch_valid_callback
+      child.set_touch_valid_callback(
+        lambda inner=inner_touch_valid: self._touch_valid() and (inner() if inner else True)
+      )
+
+  def set_rect(self, rect: rl.Rectangle):
+    super().set_rect(rect)
+    self.road_view.set_rect(rect)
+    self.onroad_info_panel.set_rect(rect)
+    return self
+
+  def is_swiping_left(self) -> bool:
+    return self.road_view.is_swiping_left() or self.onroad_info_panel.is_swiping_left()
+
+  def set_click_callback(self, click_callback: Callable[[], None] | None) -> None:
+    self.road_view.set_click_callback(click_callback)
+    self.onroad_info_panel.set_click_callback(click_callback)
+
+  def is_on_info_panel(self) -> bool:
+    """True when scrolled past halfway toward onroad_info_panel (used by main layout
+    to skip auto-pop-back-to-camera while user is reading the info panel)."""
+    return abs(self._scroller.scroll_panel.get_offset()) > self._rect.height / 2
+
+  def _render(self, rect: rl.Rectangle):
+    if abs(self.rect.x) > gui_app.width * HORIZONTAL_RESET_RATIO:
+      self._scroller.scroll_panel.set_offset(0)
+
+    vertical_offset = self._scroller.scroll_panel.get_offset()
+    show_ball = abs(vertical_offset) < rect.height * CONFIDENCE_BALL_VISIBLE_RATIO
+    self.road_view.set_show_confidence_ball(show_ball)
+
+    super()._render(rect)
@@ -0,0 +1,403 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+import pyray as rl
+from dataclasses import dataclass, field
+from openpilot.common.constants import CV
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.widgets import Widget
+from openpilot.selfdrive.ui.mici.onroad.alert_renderer import AlertRenderer
+from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import BookmarkIcon
+
+METER_TO_KM = 0.001
+METER_TO_MILE = 0.000621371
+
+CONTENT_MARGIN = 16
+SPEED_LIMIT_SIGN_WIDTH = 146
+VIENNA_SIGN_SIZE = 146
+MUTCD_SIGN_HEIGHT = 178
+OFFSET_BADGE_SIZE = 50
+OFFSET_BADGE_PANEL_PADDING = 4
+MUTCD_OFFSET_SIGN_Y_SHIFT = 6
+VIENNA_BADGE_X_RATIO = 0.80
+VIENNA_BADGE_UPCOMING_X_RATIO = 0.70
+VIENNA_BADGE_Y_RATIO = -0.82
+UPCOMING_SIGN_SIZE_RATIO = 0.76
+UPCOMING_SIGN_OVERLAP_RATIO = 0.05
+UNIT_FONT_SIZE = 40
+SPEED_FONT_SIZE = 114
+ROAD_FONT_SIZE = 32
+SCC_TAG_WIDTH = 78
+SCC_TAG_HEIGHT = 30
+SCC_TAG_GAP = 5
+COLUMN_GAP = 12
+
+
+@dataclass(frozen=True)
+class OnroadInfoPanelColors:
+  white: rl.Color = rl.WHITE
+  black: rl.Color = rl.BLACK
+  red: rl.Color = field(default_factory=lambda: rl.Color(255, 0, 0, 255))
+  green: rl.Color = field(default_factory=lambda: rl.Color(0, 255, 0, 255))
+  grey: rl.Color = field(default_factory=lambda: rl.Color(190, 195, 190, 255))
+  light_grey: rl.Color = field(default_factory=lambda: rl.Color(200, 200, 200, 255))
+  dark_grey: rl.Color = field(default_factory=lambda: rl.Color(100, 100, 100, 255))
+  bg_dark: rl.Color = field(default_factory=lambda: rl.Color(0, 0, 0, 255))
+  card_bg: rl.Color = field(default_factory=lambda: rl.Color(50, 50, 50, 200))
+  badge_bg: rl.Color = field(default_factory=lambda: rl.Color(60, 60, 60, 255))
+
+
+COLORS = OnroadInfoPanelColors()
+
+
+class OnroadInfoPanel(Widget):
+  def __init__(self, bookmark_callback=None):
+    super().__init__()
+    self.speed_limit: float = 0.0
+    self.speed_limit_valid: bool = False
+    self.speed_limit_offset: float = 0.0
+    self.next_speed_limit: float = 0.0
+    self.next_speed_limit_distance: float = 0.0
+    self.road_name: str = ""
+    self.current_speed: float = 0.0
+    self.set_speed: float = 0.0
+    self.cruise_enabled: bool = False
+
+    self._sign_slide: float = 0.0
+
+    self._font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
+    self._font_semi_bold: rl.Font = gui_app.font(FontWeight.SEMI_BOLD)
+    self._font_medium: rl.Font = gui_app.font(FontWeight.MEDIUM)
+
+    self._marquee_offset: float = 0.0
+    self._marquee_direction: int = 1
+    self._marquee_pause_timer: float = 0.0
+    self._marquee_speed: float = 40.0
+    self._marquee_pause_duration: float = 1.5
+
+    self._alert_renderer = AlertRenderer()
+    self._alert_alpha_filter = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps)
+
+    self._bookmark_icon = BookmarkIcon(bookmark_callback)
+
+  def is_swiping_left(self) -> bool:
+    return self._bookmark_icon.is_swiping_left()
+
+  def _handle_mouse_release(self, mouse_pos: MousePos) -> None:
+    # Mirror stock AugmentedRoadView: suppress click while bookmark gesture active
+    if not self._bookmark_icon.interacting():
+      super()._handle_mouse_release(mouse_pos)
+
+  def _update_state(self) -> None:
+    sm = ui_state.sm
+    speed_conv = CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH
+
+    if sm.valid["longitudinalPlanSP"]:
+      lp_sp = sm["longitudinalPlanSP"]
+      resolver = lp_sp.speedLimit.resolver
+      self.speed_limit = resolver.speedLimit * speed_conv
+      self.speed_limit_valid = resolver.speedLimitValid
+      self.speed_limit_offset = resolver.speedLimitOffset * speed_conv
+
+    if sm.valid["liveMapDataSP"]:
+      lmd = sm["liveMapDataSP"]
+      self.next_speed_limit = lmd.speedLimitAhead * speed_conv
+      self.next_speed_limit_distance = lmd.speedLimitAheadDistance
+      self.road_name = lmd.roadName
+
+    if sm.updated["carState"]:
+      self.current_speed = sm["carState"].vEgo * speed_conv
+
+    if sm.valid["carState"] and sm.valid["controlsState"]:
+      self.cruise_enabled = sm["carState"].cruiseState.enabled
+      v_cruise_cluster = sm["carState"].vCruiseCluster
+      set_speed_kph = sm["controlsState"].vCruiseDEPRECATED if v_cruise_cluster == 0.0 else v_cruise_cluster
+      self.set_speed = set_speed_kph * (METER_TO_MILE / METER_TO_KM) if not ui_state.is_metric else set_speed_kph
+
+  def _render(self, rect: rl.Rectangle) -> None:
+    self._update_state()
+
+    rl.draw_rectangle(int(rect.x), int(rect.y), int(rect.width), int(rect.height), COLORS.bg_dark)
+
+    left_x = rect.x + CONTENT_MARGIN
+
+    if self.cruise_enabled:
+      unit = tr("MAX")
+      display_speed = self.set_speed
+    else:
+      unit = tr("km/h") if ui_state.is_metric else tr("MPH")
+      display_speed = self.current_speed
+
+    display_speed_text = str(round(display_speed))
+    if self.speed_limit_valid and display_speed > self.speed_limit:
+      speed_color = COLORS.red
+    else:
+      speed_color = COLORS.white
+
+    sign_width = min(SPEED_LIMIT_SIGN_WIDTH, rect.width * 0.30)
+    sign_height = VIENNA_SIGN_SIZE if ui_state.is_metric else MUTCD_SIGN_HEIGHT
+
+    has_upcoming_limit = self.next_speed_limit > 0 and self.next_speed_limit != self.speed_limit
+    target_sign_slide = 1.0 if has_upcoming_limit else 0.0
+    slide_speed = 3.0 * rl.get_frame_time()
+    if self._sign_slide < target_sign_slide:
+      self._sign_slide = min(self._sign_slide + slide_speed, target_sign_slide)
+    elif self._sign_slide > target_sign_slide:
+      self._sign_slide = max(self._sign_slide - slide_speed, target_sign_slide)
+
+    upcoming_width = int(sign_width * UPCOMING_SIGN_SIZE_RATIO)
+    upcoming_height = int(sign_height * UPCOMING_SIGN_SIZE_RATIO)
+    upcoming_reserved_width = int(upcoming_width * 0.85) + 5
+    sign_x_without_upcoming = rect.x + rect.width - sign_width - CONTENT_MARGIN
+    sign_x_with_upcoming = rect.x + rect.width - sign_width - CONTENT_MARGIN - upcoming_reserved_width
+    sign_x = sign_x_without_upcoming + (sign_x_with_upcoming - sign_x_without_upcoming) * self._sign_slide
+    sign_y = rect.y + (rect.height - sign_height) / 2
+    if not ui_state.is_metric and self.speed_limit_offset != 0 and self.speed_limit_valid:
+      sign_y += MUTCD_OFFSET_SIGN_Y_SHIFT
+
+    readout_right = sign_x - COLUMN_GAP
+    readout_width = max(1, readout_right - left_x)
+    road_y = rect.y + rect.height - 44
+
+    unit_font_size = self._fit_font_size(self._font_semi_bold, unit, readout_width, 46, UNIT_FONT_SIZE, 28)
+    speed_font_size = self._fit_font_size(self._font_bold, display_speed_text, readout_width, road_y - (rect.y + 54) - 8,
+                                          SPEED_FONT_SIZE, 76)
+    speed_size = measure_text_cached(self._font_bold, display_speed_text, speed_font_size)
+    speed_y = min(rect.y + 54, road_y - speed_size.y - 8)
+    unit_y = max(rect.y + 14, speed_y - unit_font_size - 6)
+
+    rl.draw_text_ex(self._font_semi_bold, unit, rl.Vector2(left_x, unit_y), unit_font_size, 0, COLORS.grey)
+    rl.draw_text_ex(self._font_bold, display_speed_text, rl.Vector2(left_x, speed_y), speed_font_size, 0, speed_color)
+    self._draw_road_name(left_x, road_y, readout_width)
+
+    if has_upcoming_limit and self._sign_slide > 0.01:
+      upcoming_speed_text = str(round(self.next_speed_limit))
+      distance_text = self._format_distance(self.next_speed_limit_distance)
+      upcoming_x = sign_x + sign_width - int(upcoming_width * UPCOMING_SIGN_OVERLAP_RATIO)
+      upcoming_y = sign_y + (sign_height - upcoming_height) / 2
+
+      upcoming_speed_color = COLORS.black
+      if ui_state.is_metric:
+        self._draw_vienna_sign(upcoming_x, upcoming_y, upcoming_width, upcoming_height, upcoming_speed_text, upcoming_speed_color, is_upcoming=True)
+      else:
+        self._draw_mutcd_sign(upcoming_x, upcoming_y, upcoming_width, upcoming_height, upcoming_speed_text, upcoming_speed_color, is_upcoming=True)
+
+      distance_font_size = self._fit_font_size(self._font_medium, distance_text, upcoming_width, 30, 24, 16)
+      distance_size = measure_text_cached(self._font_medium, distance_text, distance_font_size)
+      rl.draw_text_ex(self._font_medium, distance_text, rl.Vector2(upcoming_x + upcoming_width / 2 - distance_size.x / 2, upcoming_y + upcoming_height),
+                      distance_font_size, 0, COLORS.grey)
+
+    self._draw_speed_limit_sign(sign_x, sign_y, sign_width, sign_height)
+
+    if self.speed_limit_offset != 0 and self.speed_limit_valid:
+      offset_text = str(abs(round(self.speed_limit_offset)))
+      badge_size = OFFSET_BADGE_SIZE
+      badge_rect = self._offset_badge_rect(rect, sign_x, sign_y, sign_width, sign_height, badge_size, has_upcoming_limit)
+
+      if ui_state.is_metric:
+        badge_radius = badge_size / 2
+        badge_center_x = badge_rect.x + badge_radius
+        badge_center_y = badge_rect.y + badge_radius
+        rl.draw_circle(int(badge_center_x), int(badge_center_y), badge_radius + 2, COLORS.dark_grey)
+        rl.draw_circle(int(badge_center_x), int(badge_center_y), badge_radius, COLORS.badge_bg)
+        self._draw_text_centered_fit(self._font_bold, offset_text, 32, rl.Vector2(badge_center_x, badge_center_y), COLORS.white,
+                                     badge_size - 10, badge_size - 8, min_size=24)
+      else:
+        rl.draw_rectangle_rounded(badge_rect, 0.25, 10, COLORS.badge_bg)
+        rl.draw_rectangle_rounded_lines_ex(badge_rect, 0.25, 10, 2, COLORS.dark_grey)
+        self._draw_text_centered_fit(self._font_bold, offset_text, 32, rl.Vector2(badge_rect.x + badge_size / 2, badge_rect.y + badge_size / 2),
+                                     COLORS.white, badge_size - 10, badge_size - 8, min_size=24)
+
+    scc_tag_x = min(left_x + speed_size.x + COLUMN_GAP, readout_right - SCC_TAG_WIDTH)
+    scc_tag_y = speed_y + (speed_size.y - (SCC_TAG_HEIGHT * 2 + SCC_TAG_GAP)) / 2
+    if scc_tag_x >= left_x + speed_size.x + 8:
+      self._draw_scc_icons(scc_tag_x, scc_tag_y, readout_right)
+
+    self._bookmark_icon.render(rect)
+
+    if ui_state.started:
+      alert_obj, no_alert = self._alert_renderer.will_render()
+      self._alert_alpha_filter.update(0 if no_alert else 1)
+      alpha = self._alert_alpha_filter.x
+      if alpha > 0.01:
+        rl.draw_rectangle(int(rect.x), int(rect.y), int(rect.width), int(rect.height), rl.Color(0, 0, 0, int(150 * alpha)))
+      self._alert_renderer.render(rect)
+
+  def _draw_scc_icons(self, x: float, y: float, right_limit: float) -> None:
+    sm = ui_state.sm
+    if not sm.valid["longitudinalPlanSP"]:
+      return
+    scc = sm["longitudinalPlanSP"].smartCruiseControl
+
+    drawn = 0
+
+    for label, active in [("SCC-V", scc.vision.active), ("SCC-M", scc.map.active)]:
+      if not active:
+        continue
+      tag_x = x
+      if tag_x + SCC_TAG_WIDTH > right_limit:
+        return
+      tag_y = y + drawn * (SCC_TAG_HEIGHT + SCC_TAG_GAP)
+      rl.draw_rectangle_rounded(rl.Rectangle(tag_x, tag_y, SCC_TAG_WIDTH, SCC_TAG_HEIGHT), 0.3, 10, COLORS.green)
+      self._draw_text_centered_fit(self._font_bold, label, 18, rl.Vector2(tag_x + SCC_TAG_WIDTH / 2, tag_y + SCC_TAG_HEIGHT / 2), COLORS.black,
+                                   SCC_TAG_WIDTH - 10, SCC_TAG_HEIGHT - 4, min_size=14)
+      drawn += 1
+
+  def _draw_speed_limit_sign(self, x: float, y: float, sign_width: float, sign_height: float) -> None:
+    speed_str = str(round(self.speed_limit)) if self.speed_limit_valid and self.speed_limit > 0 else "--"
+    speed_color = COLORS.black if not self.speed_limit_valid or self.current_speed <= self.speed_limit else COLORS.red
+
+    if ui_state.is_metric:
+      self._draw_vienna_sign(x, y, sign_width, sign_height, speed_str, speed_color, is_upcoming=False)
+    else:
+      self._draw_mutcd_sign(x, y, sign_width, sign_height, speed_str, speed_color, is_upcoming=False)
+
+  def _draw_road_name(self, x: float, y: float, width: float) -> None:
+    if width <= 0:
+      return
+
+    road_display = self.road_name if self.road_name else "--"
+    font_size = self._fit_font_size(self._font_semi_bold, road_display, width, 38, ROAD_FONT_SIZE, 28)
+    road_size = measure_text_cached(self._font_semi_bold, road_display, font_size)
+    text_width = road_size.x
+
+    if text_width <= width:
+      self._marquee_offset = 0.0
+      self._marquee_direction = 1
+      self._marquee_pause_timer = 0.0
+      rl.draw_text_ex(self._font_semi_bold, road_display, rl.Vector2(x, y), font_size, 0, COLORS.white)
+    else:
+      overflow = text_width - width
+      dt = rl.get_frame_time()
+
+      if self._marquee_pause_timer > 0:
+        self._marquee_pause_timer -= dt
+      else:
+        self._marquee_offset += self._marquee_direction * self._marquee_speed * dt
+
+        if self._marquee_offset >= overflow:
+          self._marquee_offset = overflow
+          self._marquee_direction = -1
+          self._marquee_pause_timer = self._marquee_pause_duration
+        elif self._marquee_offset <= 0:
+          self._marquee_offset = 0
+          self._marquee_direction = 1
+          self._marquee_pause_timer = self._marquee_pause_duration
+
+      rl.begin_scissor_mode(int(x), int(y), int(width), int(road_size.y + 4))
+      text_pos = rl.Vector2(x - self._marquee_offset, y)
+      rl.draw_text_ex(self._font_semi_bold, road_display, text_pos, font_size, 0, COLORS.white)
+      rl.end_scissor_mode()
+
+  def _draw_vienna_sign(self, x: float, y: float, width: float, height: float, speed_str: str, speed_color: rl.Color, is_upcoming: bool = False) -> None:
+    center = rl.Vector2(x + width / 2, y + height / 2)
+    outer_radius = min(width, height) / 2
+
+    rl.draw_circle_v(center, outer_radius, COLORS.white)
+    ring_width = outer_radius * 0.18
+    rl.draw_ring(center, outer_radius - ring_width, outer_radius, 0, 360, 36, COLORS.red)
+
+    font_size = outer_radius * (0.7 if len(speed_str) >= 3 else 0.9)
+    self._draw_text_centered_fit(self._font_bold, speed_str, int(font_size), center, speed_color, width * 0.72, height * 0.50, min_size=24)
+
+  def _draw_mutcd_sign(self, x: float, y: float, width: float, height: float, speed_str: str, speed_color: rl.Color, is_upcoming: bool = False) -> None:
+    sign_rect = rl.Rectangle(x, y, width, height)
+    rl.draw_rectangle_rounded(sign_rect, 0.35, 10, COLORS.white)
+
+    inset = max(4, width * 0.05)
+    inner_rect = rl.Rectangle(x + inset, y + inset, width - inset * 2, height - inset * 2)
+    outer_radius = 0.35 * width / 2.0
+    inner_radius = outer_radius - inset
+    inner_roundness = inner_radius / (inner_rect.width / 2.0)
+    rl.draw_rectangle_rounded_lines_ex(inner_rect, inner_roundness, 10, 3, COLORS.black)
+
+    mid_x = x + width / 2
+    label_size = max(18, int(width * 0.26))
+    if is_upcoming:
+      self._draw_text_centered_fit(self._font_bold, tr("AHEAD"), int(width * 0.34), rl.Vector2(mid_x, y + height * 0.28), COLORS.black,
+                                   width * 0.94, height * 0.32, min_size=20)
+    else:
+      self._draw_text_centered_fit(self._font_bold, tr("SPEED"), label_size, rl.Vector2(mid_x, y + height * 0.20), COLORS.black,
+                                   width * 0.84, height * 0.24, min_size=16)
+      self._draw_text_centered_fit(self._font_bold, tr("LIMIT"), label_size, rl.Vector2(mid_x, y + height * 0.40), COLORS.black,
+                                   width * 0.84, height * 0.24, min_size=16)
+
+    speed_font_size = int(width * 0.60) if len(speed_str) >= 3 else int(width * 0.72)
+    self._draw_text_centered_fit(self._font_bold, speed_str, speed_font_size, rl.Vector2(mid_x, y + height * 0.72), speed_color,
+                                 width * 0.90, height * 0.52, min_size=32)
+
+  def _draw_text_centered(self, font, text, size, pos_center, color):
+    sz = measure_text_cached(font, text, size)
+    rl.draw_text_ex(font, text, rl.Vector2(pos_center.x - sz.x / 2, pos_center.y - sz.y / 2), size, 0, color)
+
+  def _draw_text_centered_fit(self, font, text, size, pos_center, color, max_width: float, max_height: float, min_size: int = 10):
+    size = self._fit_font_size(font, text, max_width, max_height, size, min_size)
+    self._draw_text_centered(font, text, size, pos_center, color)
+
+  def _fit_font_size(self, font, text: str, max_width: float, max_height: float, max_size: int | float, min_size: int) -> int:
+    size = int(max_size)
+    while size > min_size:
+      text_size = measure_text_cached(font, text, size)
+      if text_size.x <= max_width and text_size.y <= max_height:
+        return size
+      size -= 2
+    return min_size
+
+  def _offset_badge_rect(self, panel_rect: rl.Rectangle, sign_x: float, sign_y: float, sign_width: float, sign_height: float,
+                         badge_size: float, has_upcoming_limit: bool) -> rl.Rectangle:
+    if ui_state.is_metric:
+      radius = min(sign_width, sign_height) / 2
+      center_x = sign_x + sign_width / 2
+      center_y = sign_y + sign_height / 2
+      badge_x_ratio = VIENNA_BADGE_UPCOMING_X_RATIO if has_upcoming_limit else VIENNA_BADGE_X_RATIO
+      badge_center_x = center_x + radius * badge_x_ratio
+      badge_center_y = center_y + radius * VIENNA_BADGE_Y_RATIO
+      badge_x = badge_center_x - badge_size / 2
+      badge_y = badge_center_y - badge_size / 2
+    else:
+      badge_x = sign_x + sign_width - badge_size * 0.45
+      badge_y = sign_y - badge_size * 0.75
+
+    return rl.Rectangle(
+      self._clamp(
+        badge_x,
+        panel_rect.x + OFFSET_BADGE_PANEL_PADDING,
+        panel_rect.x + panel_rect.width - badge_size - OFFSET_BADGE_PANEL_PADDING,
+      ),
+      self._clamp(
+        badge_y,
+        panel_rect.y + OFFSET_BADGE_PANEL_PADDING,
+        panel_rect.y + panel_rect.height - badge_size - OFFSET_BADGE_PANEL_PADDING,
+      ),
+      badge_size,
+      badge_size,
+    )
+
+  @staticmethod
+  def _clamp(value: float, min_value: float, max_value: float) -> float:
+    return max(min_value, min(max_value, value))
+
+  def _format_distance(self, distance: float) -> str:
+    if ui_state.is_metric:
+      if distance < 50:
+        return tr("Near")
+      if distance >= 1000:
+        return f"{distance * METER_TO_KM:.1f}" + tr("km")
+      if distance < 200:
+        rounded = max(10, int(distance / 10) * 10)
+      else:
+        rounded = int(distance / 100) * 100
+      return str(rounded) + tr("m")
+    else:
+      distance_mi = distance * METER_TO_MILE
+      if distance_mi < 0.1:
+        return tr("Near")
+      return f"{distance_mi:.1f}" + tr("mi")
@@ -0,0 +1,29 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import AugmentedRoadView
+
+
+class _SuppressedConfidenceBall:
+  def render(self, *_):
+    pass
+
+
+class AugmentedRoadViewSP(AugmentedRoadView):
+  def __init__(self, **kwargs):
+    super().__init__(**kwargs)
+    self._show_confidence_ball: bool = True
+    self._real_confidence_ball = self._confidence_ball
+    self._confidence_ball = _SuppressedConfidenceBall()
+
+  def set_show_confidence_ball(self, show: bool) -> None:
+    self._show_confidence_ball = show
+
+  def _render(self, _) -> None:
+    super()._render(_)
+    if self._show_confidence_ball:
+      self._real_confidence_ball.render(self.rect)
@@ -0,0 +1,83 @@
+import pyray as rl
+
+from openpilot.system.ui.lib.application import MouseEvent, MousePos, gui_app
+from openpilot.system.ui.lib.scroll_panel2 import ScrollState
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets import scroller as scroller_mod
+from openpilot.selfdrive.ui.sunnypilot.mici.widgets.scroll_panel_sp import GuiScrollPanel2SP
+
+
+class DummyScrollIndicator:
+  def update(self, *_) -> None:
+    pass
+
+  def render(self) -> None:
+    pass
+
+
+class DummyWidget(Widget):
+  def __init__(self, rect: rl.Rectangle):
+    super().__init__()
+    self.set_rect(rect)
+
+  def _render(self, _) -> None:
+    pass
+
+
+def _mouse_event(x: float, y: float, *, pressed: bool = False, released: bool = False,
+                 down: bool = True, t: float = 0.0) -> MouseEvent:
+  return MouseEvent(MousePos(x, y), 0, pressed, released, down, t)
+
+
+def test_vertical_snap_items_are_supported(monkeypatch):
+  monkeypatch.setattr(scroller_mod, "ScrollIndicator", DummyScrollIndicator)
+
+  scroller = scroller_mod._Scroller([], horizontal=False, snap_items=True, scroll_indicator=False)
+  scroller.set_rect(rl.Rectangle(0, 0, 100, 100))
+  scroller.scroll_panel.set_offset(-60)
+
+  captured_snap_target = None
+
+  def update(_, __, snap_target=None):
+    nonlocal captured_snap_target
+    captured_snap_target = snap_target
+    return scroller.scroll_panel.get_offset()
+
+  monkeypatch.setattr(scroller.scroll_panel, "update", update)
+
+  visible_items: list[Widget] = [
+    DummyWidget(rl.Rectangle(0, -60, 100, 100)),
+    DummyWidget(rl.Rectangle(0, 40, 100, 100)),
+  ]
+  scroller._get_scroll(visible_items, 200)
+
+  assert captured_snap_target == -100
+
+
+def test_scroll_panel_sp_rejects_orthogonal_drags(monkeypatch):
+  panel = GuiScrollPanel2SP(horizontal=True)
+  bounds = rl.Rectangle(0, 0, 100, 100)
+
+  monkeypatch.setattr(gui_app, "_mouse_events", [_mouse_event(10, 10, pressed=True, t=1.0)])
+  panel.update(bounds, 200)
+  assert panel.state == ScrollState.PRESSED
+
+  monkeypatch.setattr(gui_app, "_mouse_events", [_mouse_event(23, 60, t=1.1)])
+  panel.update(bounds, 200)
+
+  assert panel.state == ScrollState.STEADY
+  assert panel.get_offset() == 0
+
+
+def test_scroll_panel_sp_can_disable_out_of_bounds_handling(monkeypatch):
+  panel = GuiScrollPanel2SP(horizontal=False, handle_out_of_bounds=False)
+  bounds = rl.Rectangle(0, 0, 100, 100)
+  monkeypatch.setattr(gui_app, "_mouse_events", [])
+
+  panel.set_offset(20)
+  panel.update(bounds, 200)
+  assert panel.get_offset() == 0
+
+  panel.set_offset(-150)
+  panel.update(bounds, 200)
+  assert panel.get_offset() == -100
@@ -0,0 +1,33 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+import pyray as rl
+from openpilot.system.ui.lib.application import MouseEvent
+from openpilot.system.ui.lib.scroll_panel2 import GuiScrollPanel2, ScrollState
+
+
+class GuiScrollPanel2SP(GuiScrollPanel2):
+  """Scroll panel behavior for nested Mici pagers."""
+
+  def __init__(self, horizontal: bool = True, handle_out_of_bounds: bool = True) -> None:
+    super().__init__(horizontal, handle_out_of_bounds=handle_out_of_bounds)
+
+  def _handle_mouse_event(self, mouse_event: MouseEvent, bounds: rl.Rectangle, bounds_size: float,
+                          content_size: float) -> None:
+    state_before_update = self._state
+    super()._handle_mouse_event(mouse_event, bounds, bounds_size, content_size)
+
+    if self._state == ScrollState.MANUAL_SCROLL and state_before_update == ScrollState.PRESSED and \
+       self._initial_click_event is not None:
+      drag_x = abs(mouse_event.pos.x - self._initial_click_event.pos.x)
+      drag_y = abs(mouse_event.pos.y - self._initial_click_event.pos.y)
+      primary_drag = drag_x if self._horizontal else drag_y
+      cross_drag = drag_y if self._horizontal else drag_x
+      if cross_drag > primary_drag:
+        self._state = ScrollState.STEADY
+        self._velocity = 0.0
+        self._velocity_buffer.clear()
@@ -0,0 +1,16 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+from openpilot.system.ui.widgets.scroller import Scroller
+from openpilot.selfdrive.ui.sunnypilot.mici.widgets.scroll_panel_sp import GuiScrollPanel2SP
+
+
+class ScrollerSP(Scroller):
+  def __init__(self, **kwargs):
+    super().__init__(**kwargs)
+    inner = self._scroller
+    inner.scroll_panel = GuiScrollPanel2SP(inner._horizontal, handle_out_of_bounds=not inner._snap_items)
@@ -10,6 +10,9 @@ from openpilot.selfdrive.ui.layouts.main import MainLayout
 from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
 from openpilot.selfdrive.ui.ui_state import ui_state

+if gui_app.sunnypilot_ui():
+  from openpilot.selfdrive.ui.sunnypilot.mici.layouts.main import MiciMainLayoutSP as MiciMainLayout
+
 BIG_UI = gui_app.big_ui()


@@ -8,7 +8,10 @@ from openpilot.common.params import Params


 def get_lat_delay(params: Params, stock_lat_delay: float) -> float:
-  if params.get_bool("LagdToggle"):
-    return float(params.get("LagdValueCache", return_default=True))
+# live learning on: use what lagd publishes.
+# off: use the fixed steerActuatorDelay + software delay sum that LagdToggle caches.

-  return stock_lat_delay
+  if params.get_bool("LagdToggle"):
+    return stock_lat_delay
+
+  return float(params.get("LagdValueCache", return_default=True))
@@ -117,7 +117,8 @@ def generate_queues_and_npy(input_shapes: dict, frame_skip: int, device: str = D
  }

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

  queues.update({key: Tensor(value, device='NPY').realize() for key, value in npy_arrays.items() if key in ('tfm', 'big_tfm')})
@@ -271,18 +272,17 @@ def _parse_size(size_str: str) -> tuple[int, int]:
  return int(width), int(height)


-def read_file_chunked_to_shm(path):
+def read_file_chunked_to_disk(path):
  if not path:
    return None
  import atexit
  import shutil
  from openpilot.common.file_chunker import open_file_chunked
-  from openpilot.common.hardware.hw import Paths
-  shm_path = os.path.join(Paths.shm_path(), os.path.basename(path))
-  atexit.register(lambda: os.path.exists(shm_path) and os.remove(shm_path))
-  with open(shm_path, 'wb') as dst, open_file_chunked(path) as src:
-    shutil.copyfileobj(src, dst)
-  return shm_path
+  tmp_path = f'{path}.unchunked'
+  with open(tmp_path, 'wb') as f, open_file_chunked(path) as src:
+    shutil.copyfileobj(src, f)
+  atexit.register(lambda: os.path.exists(tmp_path) and os.remove(tmp_path))
+  return tmp_path


 def _load_policy_runners(args: argparse.Namespace) -> tuple[list, list]:
@@ -326,11 +326,11 @@ if __name__ == "__main__":
  model_w, model_h = args.model_size
  output_data = {}

-  args.vision_onnx = read_file_chunked_to_shm(args.vision_onnx)
-  args.policy_onnx = read_file_chunked_to_shm(args.policy_onnx)
-  args.off_policy_onnx = read_file_chunked_to_shm(args.off_policy_onnx)
-  args.on_policy_onnx = read_file_chunked_to_shm(args.on_policy_onnx)
-  args.supercombo_onnx = read_file_chunked_to_shm(args.supercombo_onnx)
+  args.vision_onnx = read_file_chunked_to_disk(args.vision_onnx)
+  args.policy_onnx = read_file_chunked_to_disk(args.policy_onnx)
+  args.off_policy_onnx = read_file_chunked_to_disk(args.off_policy_onnx)
+  args.on_policy_onnx = read_file_chunked_to_disk(args.on_policy_onnx)
+  args.supercombo_onnx = read_file_chunked_to_disk(args.supercombo_onnx)

  vision_runner = OnnxRunner(args.vision_onnx) if args.vision_onnx else None

@@ -5,10 +5,15 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """

+import os
+import tempfile
+from pathlib import Path
+
 import numpy as np
 from openpilot.common.parameterized import parameterized

-from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, _detect_desire_key
+from openpilot.common.file_chunker import chunk_file, get_chunk_targets
+from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, _detect_desire_key, read_file_chunked_to_disk
 from openpilot.common.test import OpenpilotTestCase


@@ -160,3 +165,33 @@ class TestOutputSlicePreservation(OpenpilotTestCase):
    policy_slices = {'plan': slice(0, 495), 'meta': slice(495, 550)}
    assert set(vision_slices.keys()) & set(policy_slices.keys()) == set(), \
      "vision and policy slices should not overlap in keys"
+
+
+class TestReadFileChunkedToDisk(OpenpilotTestCase):
+  def test_none_passthrough(self):
+    assert read_file_chunked_to_disk(None) is None
+
+  def test_unchunked_source_staged_on_disk(self):
+    with tempfile.TemporaryDirectory() as d:
+      src = Path(d) / "driving_supercombo.onnx"
+      payload = os.urandom(1024)
+      src.write_bytes(payload)
+
+      out = Path(read_file_chunked_to_disk(str(src)))
+
+      assert out.parent == Path(d)
+      assert out.name == "driving_supercombo.onnx.unchunked"
+      assert out.read_bytes() == payload
+
+  def test_chunked_source_reassembled_on_disk(self):
+    with tempfile.TemporaryDirectory() as d:
+      src = Path(d) / "driving_supercombo.onnx"
+      payload = os.urandom(4096)
+      src.write_bytes(payload)
+      chunk_file(str(src), get_chunk_targets(str(src), len(payload)))
+      assert not src.exists()
+
+      out = Path(read_file_chunked_to_disk(str(src)))
+
+      assert out.parent == Path(d)
+      assert out.read_bytes() == payload
@@ -4,7 +4,13 @@ import hashlib

 from openpilot.common.basedir import BASEDIR
 from openpilot.sunnypilot import get_file_hash
-from openpilot.sunnypilot.models.model_name import DEFAULT_MODEL
+from openpilot.selfdrive.modeld.helpers import usbgpu_present
+from openpilot.sunnypilot.models.model_name import DEFAULT_MODEL, DEFAULT_BIG_MODEL
+
+
+def get_default_model() -> str:
+  return DEFAULT_BIG_MODEL if usbgpu_present() else DEFAULT_MODEL
+

 DEFAULT_MODEL_NAME_PATH = os.path.join(BASEDIR, "openpilot", "sunnypilot", "models", "model_name.py")
 MODEL_HASH_PATH = os.path.join(BASEDIR, "openpilot", "sunnypilot", "models", "tests", "model_hash")
@@ -13,7 +19,6 @@ SUPERCOMBO_ONNX_PATH = os.path.join(BASEDIR, "openpilot", "selfdrive", "modeld",

 def update_model_hash():
  supercombo_hash = get_file_hash(SUPERCOMBO_ONNX_PATH)
-
  combined_hash = hashlib.sha256(supercombo_hash.encode()).hexdigest()

  with open(MODEL_HASH_PATH, "w") as f:
@@ -22,40 +27,28 @@ def update_model_hash():
  print(f"Generated and updated new combined model hash to {MODEL_HASH_PATH}")


-def get_current_default_model_name():
-  print("[GET DEFAULT MODEL NAME]")
-  name = DEFAULT_MODEL
-  print(f'Current default model name: "{name}"')
-
-  return name
-
-
-def update_default_model_name(name: str):
-  print("[CHANGE DEFAULT MODEL NAME]")
+def update_default_model_names(default_model_name: str, default_big_model_name: str):
+  print("[CHANGE DEFAULT MODEL NAMES]")
  with open(DEFAULT_MODEL_NAME_PATH, "w") as f:
-    f.write(f'DEFAULT_MODEL = "{name}"\n')
-  print(f'New default model name: "{name}"')
+    f.write(f'DEFAULT_MODEL = "{default_model_name}"\n')
+    f.write(f'DEFAULT_BIG_MODEL = "{default_big_model_name}"\n')
+
+  print(f'New default small model name: "{default_model_name}"')
+  print(f'New default big model name: "{default_big_model_name}"')
  print("[DONE]")


 if __name__ == "__main__":
-  parser = argparse.ArgumentParser(description="Update default model name and hash")
-  parser.add_argument("--new_name", type=str, help="New default model name")
+  parser = argparse.ArgumentParser(description="Update default model names and hash")
+  parser.add_argument("--new_small_model_name", type=str, help="New default small model name")
+  parser.add_argument("--new_big_model_name", type=str, help="New default big model name")
  args = parser.parse_args()

-  if not args.new_name:
-    print("Warning: No new default model name provided. Use --new_name to specify")
-    print("Default model name and hash will not be updated! (aborted)")
-    exit(0)
+  if args.new_small_model_name is None and args.new_big_model_name is None:
+    new_name = input(f'Enter new default small model name (current: "{DEFAULT_MODEL}", leave empty to keep): ').strip()
+    new_big_model_name = input(f'Enter new default big model name (current: "{DEFAULT_BIG_MODEL}", leave empty to keep): ').strip()
+  else:
+    new_name, new_big_model_name = args.new_small_model_name, args.new_big_model_name

-  current_name = get_current_default_model_name()
-  new_name = args.new_name
-  if current_name == new_name:
-    print(f'Proposed default model name: "{new_name}"')
-    confirm = input("Proposed default model name is the same as the current default model name. Confirm? (y/n): ").upper().strip()
-    if confirm != "Y":
-      print("Default model name and hash will not be updated! (aborted)")
-      exit(0)
-
-  update_default_model_name(new_name)
+  update_default_model_names(new_name or DEFAULT_MODEL, new_big_model_name or DEFAULT_BIG_MODEL)
  update_model_hash()
@@ -140,8 +140,8 @@ class ModelCache:

 class ModelFetcher:
  """Handles fetching and caching of model data from remote source"""
-  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v19.json"
-  MODEL_URL_USBGPU = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_usbgpu_v19.json"
+  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v20.json"
+  MODEL_URL_USBGPU = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_usbgpu_v21.json"

  def __init__(self, params: Params):
    self.params = params
@@ -1 +1,2 @@
 DEFAULT_MODEL = "CD210"
+DEFAULT_BIG_MODEL = "Lebowski"
@@ -20,4 +20,4 @@ class TestDefaultModel(OpenpilotTestCase):
    with open(MODEL_HASH_PATH) as f:
      current_hash = f.read().strip()

-    assert combined_hash == current_hash, "Run sunnypilot/models/default_model.py to update the default model name and hash"
+    assert combined_hash == current_hash, "Run openpilot/sunnypilot/models/default_model.py to update the default model name and hash"
@@ -28,7 +28,7 @@ from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutExce
                       create_connection, WebSocketConnectionClosedException)

 import openpilot.cereal.messaging as messaging
-from openpilot.sunnypilot.models.default_model import DEFAULT_MODEL
+from openpilot.sunnypilot.models.default_model import get_default_model
 from openpilot.sunnypilot.selfdrive.car.sync_sunnylink_params import update_car_list_param
 from openpilot.sunnypilot.sunnylink.api import SunnylinkApi
 from openpilot.sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, get_param_as_byte, save_param_from_base64_encoded_string
@@ -181,7 +181,7 @@ def getParamsMetadata() -> str:
    schema = generate_schema()
    schema["capabilities"] = generate_capabilities()
    schema["capability_labels"] = CAPABILITY_LABELS
-    schema["default_model"] = DEFAULT_MODEL
+    schema["default_model"] = get_default_model()
    raw = json.dumps(schema, separators=(",", ":")).encode("utf-8")
    return base64.b64encode(gzip.compress(raw)).decode("utf-8")
  except Exception:
@@ -16,6 +16,7 @@ from openpilot.common.utils import strip_deprecated_keys
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_HW
+from openpilot.selfdrive.modeld.helpers import MODELS_DIR, usbgpu_compiled
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
 from openpilot.common.hardware import HARDWARE, COMMA_HARDWARE
 from openpilot.common.basedir import BASEDIR
@@ -238,8 +239,7 @@ def hardware_thread(end_event, hw_queue) -> None:

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

  while not end_event.is_set():
    sm.update(PANDA_STATES_TIMEOUT)
@@ -1,40 +0,0 @@
-#!/usr/bin/env bash
-
-# Define the service name
-SERVICE_NAME="actions.runner.sunnypilot.$(uname -n)"
-
-# Function to control the service
-control_service() {
-    local action=$1  # Store the function argument in a local variable
-    sudo systemctl $action ${SERVICE_NAME}
-}
-
-service_exists_and_is_loaded() {
-    sudo systemctl status ${SERVICE_NAME} &>/dev/null
-    if [[ $? -ne 4 ]]; then
-        return 0  # Service is known to systemd (i.e., loaded)
-    else
-        return 1  # Service is unknown to systemd (i.e., not loaded)
-    fi
-}
-
-# Check for required argument
-if [[ -z $1 ]] || { [[ $1 != "start" ]] && [[ $1 != "stop" ]]; }; then
-    echo "Usage: $0 {start|stop}"
-    exit 1
-fi
-
-# Store the script argument in a descriptive variable
-ACTION=$1
-
-# Trap EXIT signal (Ctrl+C) and stop the service
-trap 'control_service stop ; exit' SIGINT SIGKILL EXIT
-
-# Enter the main loop
-while true; do
-    # Check if the service is actually present on the system
-    if service_exists_and_is_loaded; then
-        control_service $ACTION  # Call the function with the specified action
-    fi
-    sleep 1  # Pause before the next iteration
-done
@@ -68,10 +68,6 @@ def only_offroad(started: bool, params: Params, CP: car.CarParams) -> bool:
 def livestream(started: bool, params: Params, CP: car.CarParams) -> bool:
  return params.get_bool("IsLiveStreaming")

-def use_github_runner(started, params, CP: car.CarParams) -> bool:
-  return not PC and params.get_bool("EnableGithubRunner") and (
-    not params.get_bool("NetworkMetered") and not params.get_bool("GithubRunnerSufficientVoltage"))
-
 def use_copyparty(started, params, CP: car.CarParams) -> bool:
  return bool(params.get_bool("EnableCopyparty"))

@@ -189,10 +185,6 @@ procs += [
  NativeProcess("locationd_llk", "openpilot/sunnypilot/selfdrive/locationd", ["./locationd"], only_onroad),
 ]

-if os.path.exists("./github_runner.sh"):
-  procs += [NativeProcess("github_runner_start", "openpilot/system/manager",
-                          ["./github_runner.sh", "start"], and_(only_offroad, use_github_runner), sigkill=False)]
-
 if os.path.exists("../../sunnypilot/sunnylink/uploader.py"):
  procs += [PythonProcess("sunnylink_uploader", "openpilot.sunnypilot.sunnylink.uploader", use_sunnylink_uploader_shim)]

@@ -45,8 +45,9 @@ class ScrollState(Enum):


 class GuiScrollPanel2:
-  def __init__(self, horizontal: bool = True) -> None:
+  def __init__(self, horizontal: bool = True, handle_out_of_bounds: bool = True) -> None:
    self._horizontal = horizontal
+    self._handle_out_of_bounds = handle_out_of_bounds
    self._state = ScrollState.STEADY
    self._offset: rl.Vector2 = rl.Vector2(0, 0)
    self._initial_click_event: MouseEvent | None = None
@@ -85,6 +86,20 @@ class GuiScrollPanel2:
    """Returns (max_offset, min_offset) for the given bounds and content size."""
    return 0.0, min(0.0, bounds_size - content_size)

+  def _clamp_offset(self, bounds_size: float, content_size: float) -> None:
+    if self._handle_out_of_bounds:
+      return
+
+    max_offset, min_offset = self._get_offset_bounds(bounds_size, content_size)
+    offset = self.get_offset()
+    clamped_offset = max(min_offset, min(max_offset, offset))
+    if clamped_offset == offset:
+      return
+
+    self.set_offset(clamped_offset)
+    if (clamped_offset == max_offset and self._velocity > 0) or (clamped_offset == min_offset and self._velocity < 0):
+      self._velocity = 0.0
+
  def _update_state(self, bounds_size: float, content_size: float, snap_target: float | None) -> None:
    """Runs per render frame, independent of mouse events. Updates auto-scrolling state and velocity."""
    max_offset, min_offset = self._get_offset_bounds(bounds_size, content_size)
@@ -138,6 +153,8 @@ class GuiScrollPanel2:
        factor = 1.0 - math.exp(-SNAP_RATE * dt)
        self.set_offset(self.get_offset() + dist * factor)

+    self._clamp_offset(bounds_size, content_size)
+
  def _handle_mouse_event(self, mouse_event: MouseEvent, bounds: rl.Rectangle, bounds_size: float,
                          content_size: float) -> None:
    max_offset, min_offset = self._get_offset_bounds(bounds_size, content_size)
@@ -4,7 +4,15 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
+from collections.abc import Callable
+
+import pyray as rl
+
+from openpilot.system.ui.lib.application import FontWeight
+from openpilot.system.ui.sunnypilot.lib.styles import style
 from openpilot.system.ui.sunnypilot.widgets.list_view import ButtonActionSP
+from openpilot.system.ui.widgets.label import UnifiedLabel
+from openpilot.system.ui.widgets.list_view import BUTTON_WIDTH, BUTTON_HEIGHT, TEXT_PADDING, _resolve_value


 class NoElideButtonAction(ButtonActionSP):
@@ -12,6 +20,38 @@ class NoElideButtonAction(ButtonActionSP):
    return super().get_width_hint() + 1


+class ScrollingButtonAction(ButtonActionSP):
+  """ButtonActionSP whose value scrolls instead of eliding when it doesn't fit."""
+
+  def __init__(self, text: str | Callable[[], str], width: int = style.BUTTON_ACTION_WIDTH,
+               enabled: bool | Callable[[], bool] = True):
+    super().__init__(text=text, width=width, enabled=enabled)
+    self._value_label = UnifiedLabel("", font_size=style.ITEM_TEXT_FONT_SIZE, font_weight=FontWeight.NORMAL,
+                                     text_color=self._value_color, scroll=True,
+                                     alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+
+  def set_value(self, value: str | Callable[[], str], color: rl.Color = style.ITEM_TEXT_VALUE_COLOR):
+    if self.value != _resolve_value(value, ""):
+      self._value_label.reset_scroll()
+    super().set_value(value, color)
+    self._value_label.set_text(value)
+    self._value_label.set_text_color(color)
+
+  def _render(self, rect: rl.Rectangle) -> bool:
+    """Duplicate of ButtonActionSP._render, with the value drawn by a scrolling label"""
+    self._button.set_text(self.text)
+    self._button.set_enabled(_resolve_value(self.enabled))
+    button_rect = rl.Rectangle(rect.x + rect.width - BUTTON_WIDTH, rect.y + (rect.height - BUTTON_HEIGHT) / 2, BUTTON_WIDTH, BUTTON_HEIGHT)
+    self._button.render(button_rect)
+
+    if self.value:
+      self._value_label.render(rl.Rectangle(rect.x, rect.y, rect.width - BUTTON_WIDTH - TEXT_PADDING, rect.height))
+
+    pressed = self._pressed
+    self._pressed = False
+    return pressed
+
+
 class AlertFadeAnimator:
  def __init__(self, target_fps: int, duration_on: float = 0.75, rc: float = 0.05):
    from openpilot.common.filter_simple import FirstOrderFilter
@@ -0,0 +1,166 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import math
+
+import numpy as np
+import pyray as rl
+
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.shader_polygon import draw_polygon, Gradient
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.sunnypilot.lib.styles import style
+from openpilot.system.ui.sunnypilot.widgets.list_view import ListItemSP
+from openpilot.system.ui.widgets.label import UnifiedLabel
+from openpilot.system.ui.widgets.list_view import ItemAction
+
+FONT_SIZE = style.ITEM_TEXT_FONT_SIZE
+ICON_SIZE = 56
+ICON_PADDING = 12
+
+BAR_WIDTH = 1100
+BAR_HEIGHT = 20
+BAR_GAP = 16
+BAR_RADIUS = BAR_HEIGHT / 2
+CAPSULE_POINTS = 24
+
+RAIL_COLOR = rl.Color(60, 60, 60, 255)
+FILL_COLOR = rl.Color(30, 121, 232, 255)
+# rl.WHITE is a tuple; the shimmer path reads .a off the color
+TEXT_COLOR = rl.Color(255, 255, 255, 255)
+
+SWEEP_SPEED = 550.0  # px/s
+SWEEP_BAND = 240.0   # highlight half-width, px
+SWEEP_DIM = 0.65
+
+
+class DownloadStatusAction(ItemAction):
+  """Model download row: a name + percent over a progress rail while downloading, a name + icon otherwise."""
+
+  def __init__(self):
+    super().__init__(width=BAR_WIDTH)
+    self.name = ""
+    self.status_text = ""
+    self.downloading = False
+    self.text_color = rl.GRAY
+    self.icon: str | None = None
+    self.icon_color: rl.Color | None = None
+    self._font = gui_app.font(FontWeight.NORMAL)
+    # raw progress arrives in steps, one per 128KB chunk the manager publishes
+    self._progress = FirstOrderFilter(0.0, 0.5, 1 / gui_app.target_fps)
+    # integrated per frame; (t * speed) % span jumps whenever the fill width changes
+    self._sweep = 0.0
+
+    self._name_label = UnifiedLabel("", font_size=FONT_SIZE, font_weight=FontWeight.NORMAL, text_color=TEXT_COLOR,
+                                    alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+                                    alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+    self._percent_label = UnifiedLabel("", font_size=FONT_SIZE, font_weight=FontWeight.NORMAL, text_color=TEXT_COLOR,
+                                       alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT,
+                                       alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+
+  def update(self, name, downloading=False, progress=0.0, status_text="", text_color=rl.GRAY, icon=None, icon_color=None):
+    if downloading and not self.downloading:
+      self._name_label.reset_shimmer()
+      self._progress.x = progress
+      self._sweep = 0.0
+    self.name = name
+    self.downloading = downloading
+    self.status_text = status_text
+    self.text_color = text_color
+    self.icon = icon
+    self.icon_color = icon_color
+    self._name_label._shimmer = downloading
+    if downloading:
+      self._progress.update(progress)
+      self._sweep += SWEEP_SPEED / gui_app.target_fps
+
+  @property
+  def _idle_text(self) -> str:
+    return f"{self.name} - {self.status_text}" if self.status_text else self.name
+
+  def get_width_hint(self) -> float:
+    if self.downloading:
+      return BAR_WIDTH
+    width = measure_text_cached(self._font, self._idle_text, FONT_SIZE).x
+    if self.icon:
+      width += ICON_SIZE + ICON_PADDING
+    return width
+
+  def _render(self, rect: rl.Rectangle):
+    if self.downloading:
+      self._render_downloading(rect)
+    else:
+      self._render_idle(rect)
+
+  def _sweep_gradient(self, width: float) -> Gradient:
+    # clearance at both ends keeps the wrap offscreen
+    center = (self._sweep % (width + 2 * SWEEP_BAND)) - SWEEP_BAND
+
+    def band(x: float) -> float:
+      return max(0.0, 1.0 - abs(x - center) / SWEEP_BAND)
+
+    # sampling the corners is exact for a piecewise linear band
+    xs = sorted({0.0, width} | {min(max(center + o, 0.0), width) for o in (-SWEEP_BAND, 0.0, SWEEP_BAND)}, reverse=True)
+    # the gradient axis runs right-to-left in screen space
+    stops = [1.0 - x / width for x in xs]
+    # alpha here is the lift over the SWEEP_DIM base, not the final opacity
+    colors = [rl.Color(FILL_COLOR.r, FILL_COLOR.g, FILL_COLOR.b, int(255 * band(x))) for x in xs]
+    return Gradient(start=(0.0, 0.0), end=(1.0, 0.0), colors=colors, stops=stops)
+
+  @staticmethod
+  def _capsule(rect: rl.Rectangle) -> np.ndarray:
+    """Rounded-end ribbon so the gradient covers the caps."""
+    r = rect.height / 2
+    cy = rect.y + r
+    top, bottom = [], []
+    for i in range(CAPSULE_POINTS):
+      x = rect.x + rect.width * i / (CAPSULE_POINTS - 1)
+      d = min(x - rect.x, rect.x + rect.width - x, r)
+      h = math.sqrt(max(r * r - (r - d) ** 2, 0.0))
+      top.append((x, cy - h))
+      bottom.append((x, cy + h))
+    return np.array(top + bottom[::-1], dtype=np.float32)
+
+  def _draw_fill(self, rail: rl.Rectangle, fill_width: float):
+    if fill_width <= 0:
+      return
+    fill = rl.Rectangle(rail.x, rail.y, fill_width, rail.height)
+    rl.draw_rectangle_rounded(fill, 1.0, 10, rl.Color(FILL_COLOR.r, FILL_COLOR.g, FILL_COLOR.b, int(255 * SWEEP_DIM)))
+    draw_polygon(fill, self._capsule(fill), gradient=self._sweep_gradient(fill_width))
+
+  def _render_downloading(self, rect: rl.Rectangle):
+    percent = f"{int(self._progress.x)}%"
+    text_height = measure_text_cached(self._font, percent, FONT_SIZE).y
+    top = rect.y + (rect.height - (text_height + BAR_GAP + BAR_HEIGHT)) / 2
+
+    text_rect = rl.Rectangle(rect.x, top, rect.width, text_height)
+    self._name_label.set_text(self.name)
+    self._name_label.render(text_rect)
+    self._percent_label.set_text(percent)
+    self._percent_label.render(text_rect)
+
+    rail = rl.Rectangle(rect.x, top + text_height + BAR_GAP, rect.width, BAR_HEIGHT)
+    rl.draw_rectangle_rounded(rail, 1.0, 10, RAIL_COLOR)
+    self._draw_fill(rail, max(0.0, min(rect.width, rect.width * (self._progress.x / 100.0))))
+
+  def _render_idle(self, rect: rl.Rectangle):
+    text = self._idle_text
+    text_size = measure_text_cached(self._font, text, FONT_SIZE)
+    right = rect.x + rect.width
+
+    if self.icon:
+      texture = gui_app.texture(self.icon, ICON_SIZE, ICON_SIZE, keep_aspect_ratio=True)
+      rl.draw_texture_v(texture, rl.Vector2(right - texture.width, rect.y + (rect.height - texture.height) / 2),
+                        self.icon_color or self.text_color)
+      right -= texture.width + ICON_PADDING
+
+    rl.draw_text_ex(self._font, text, rl.Vector2(right - text_size.x, rect.y + (rect.height - text_size.y) / 2),
+                    FONT_SIZE, 0, self.text_color)
+
+
+def download_status_item(title):
+  return ListItemSP(title=title, action_item=DownloadStatusAction(), title_color=style.ITEM_TEXT_COLOR)
@@ -75,7 +75,6 @@ class _Scroller(Widget):
    self._items: list[Widget] = []
    self._horizontal = horizontal
    self._snap_items = snap_items
-    assert not self._snap_items or self._horizontal, "Snapping is only supported for horizontal scrolling"
    self._spacing = spacing
    self._pad = pad

@@ -191,12 +190,20 @@ class _Scroller(Widget):
    snap_target: float | None = None
    if self._snap_items and visible_items and self._scrolling_to[0] is None:
      # TODO: this doesn't handle two small buttons at the edges well
-      center_pos = self._rect.x + self._rect.width / 2
-      closest_delta_pos = min((((item.rect.x + item.rect.width / 2) - center_pos) for item in visible_items), key=abs)
+      center_pos = (self._rect.x + self._rect.width / 2) if self._horizontal else (self._rect.y + self._rect.height / 2)
+      closest_delta_pos = min(
+        (self._item_center_pos(item) - center_pos for item in visible_items),
+        key=abs,
+      )
      snap_target = self.scroll_panel.get_offset() - closest_delta_pos

    return self.scroll_panel.update(self._rect, content_size, snap_target=snap_target)

+  def _item_center_pos(self, item: Widget) -> float:
+    if self._horizontal:
+      return item.rect.x + item.rect.width / 2
+    return item.rect.y + item.rect.height / 2
+
  @property
  def moving_items(self) -> bool:
    return len(self._move_animations) > 0 or len(self._move_lift) > 0
@@ -7,7 +7,7 @@ from openpilot.common.test import OpenpilotTestCase
 from openpilot.cereal import messaging, log
 from teleoprtc.tracks import VIDEO_CLOCK_RATE

-from openpilot.system.webrtc.webrtcd import CerealOutgoingMessageProxy, CerealIncomingMessageProxy
+from openpilot.system.webrtc.webrtcd import CerealOutgoingMessageProxy, CerealIncomingMessageProxy, ServerState, handle_get_stream
 from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack


@@ -80,3 +80,8 @@ class TestStreamSession(OpenpilotTestCase):
        start_pts = packet.pts
      assert abs(i + packet.pts - (start_pts + (((time.monotonic_ns() - start_ns) * VIDEO_CLOCK_RATE) // 1_000_000_000))) < 450 #5ms
      assert bytes(packet) == b""
+
+  def test_stream_rejects_non_json_content_type(self):
+    response = self.loop.run_until_complete(handle_get_stream(ServerState(), b"{}", "text/plain"))
+
+    assert response == (415, b'{"error": "unsupported media type"}', "application/json; charset=utf-8")
@@ -395,7 +395,10 @@ def _text_response(text: str, status: int = 200) -> tuple[int, bytes, str]:
  return (status, text.encode(), "text/plain; charset=utf-8")


-async def handle_get_stream(state: ServerState, raw_body: bytes) -> tuple[int, bytes, str]:
+async def handle_get_stream(state: ServerState, raw_body: bytes, content_type: str) -> tuple[int, bytes, str]:
+  if content_type != "application/json":
+    return _json_response({"error": "unsupported media type"}, status=415)
+
  stream_dict = state.streams
  body = StreamRequestBody(**json.loads(raw_body))

@@ -508,7 +511,7 @@ class WebrtcdHandler(BaseHTTPRequestHandler):
        services = parse_qs(parsed.query).get("services", [""])[0]
        result = self._run(handle_get_schema(self.server.state, services))
      elif parsed.path == "/stream":
-        result = self._run(handle_get_stream(self.server.state, self._read_body()))
+        result = self._run(handle_get_stream(self.server.state, self._read_body(), self.headers.get_content_type()))
      else:  # /notify
        try:
          payload = json.loads(self._read_body())
@@ -611,7 +614,7 @@ def webrtcd_thread(host: str, port: int):

 def main():
  parser = argparse.ArgumentParser(description="WebRTC daemon")
-  parser.add_argument("--host", type=str, default="0.0.0.0", help="Host to listen on")
+  parser.add_argument("--host", type=str, default="127.0.0.1", help="Host to listen on")
  parser.add_argument("--port", type=int, default=5001, help="Port to listen on")
  args = parser.parse_args()

@@ -21,7 +21,7 @@ dependencies = [
  "tqdm",         # cars (fw_versions.py) on start + many one-off uses

  # core
-  "scons",
+  "scons==4.10.1",  # 4.11 removed the qt3 tool still used to build Cabana
  "pycapnp==2.1.0",  # 2.2 introduces a memory leak due to cyclic references
  "numpy >=2.0",

@@ -1,260 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-# Default values
-DEFAULT_REPO_URL="https://github.com/sunnypilot"
-START_AT_BOOT=false
-RESTORE_MODE=false
-RUNNER_VERSION="2.325.0"
-
-# Parse command line arguments
-while [[ $# -gt 0 ]]; do
-    case $1 in
-        --start-at-boot)
-            START_AT_BOOT=true
-            shift
-            ;;
-        --token)
-            GITHUB_TOKEN="$2"
-            shift 2
-            ;;
-        --repo)
-            REPO_URL="$2"
-            shift 2
-            ;;
-        --restore)
-            RESTORE_MODE=true
-            shift
-            ;;
-        *)
-            if [ -z "$GITHUB_TOKEN" ]; then
-                GITHUB_TOKEN="$1"
-            elif [ -z "$REPO_URL" ]; then
-                REPO_URL="$1"
-            fi
-            shift
-            ;;
-    esac
-done
-
-# Determine BASE_DIR based on mount point
-if mountpoint -q /data/media; then
-    BASE_DIR="/data/media/0/github"
-else
-    BASE_DIR="/data/github"
-fi
-
-# Constants
-RUNNER_USER="github-runner"
-USER_GROUPS="comma,gpu,gpio,sudo"
-RUNNER_DIR="${BASE_DIR}/runner"
-BUILDS_DIR="${BASE_DIR}/builds"
-LOGS_DIR="${BASE_DIR}/logs"
-CACHE_DIR="${BASE_DIR}/cache"
-OPENPILOT_DIR="${BASE_DIR}/openpilot"
-
-# Basic utility functions (no dependencies)
-remount_rw() {
-    sudo mount -o remount,rw /
-}
-
-remount_ro() {
-    sync || true  # Try to sync but continue even if it fails
-    sudo mount -o remount,ro /  # Always try to remount as read-only
-}
-
-# Always ensure we try to remount as read-only on exit
-trap remount_ro EXIT
-
-setup_runner_user() {
-    sudo useradd --comment 'GitHub Runner' --create-home --home-dir ${BASE_DIR} ${RUNNER_USER} --shell /bin/bash -G ${USER_GROUPS} || sudo usermod -aG ${USER_GROUPS} ${RUNNER_USER}
-}
-
-create_sudoers_entry() {
-    sudo grep -qxF "${RUNNER_USER} ALL=(ALL) NOPASSWD: ALL" /etc/sudoers || echo "${RUNNER_USER} ALL=(ALL) NOPASSWD: ALL" | sudo tee -a /etc/sudoers
-}
-
-set_directory_permissions() {
-    sudo chown -R ${RUNNER_USER}:comma "$BASE_DIR"
-    sudo chmod -R g+rwx "$BASE_DIR"
-    sudo find "$BASE_DIR" -type d -exec chmod g+s {} +
-}
-
-setup_directories() {
-    echo "Creating necessary directories..."
-    sudo mkdir -p "$RUNNER_DIR" "$BUILDS_DIR" "$LOGS_DIR" "$CACHE_DIR" "$OPENPILOT_DIR"
-    mkdir -p "/data/openpilot"
-    sudo chown -R comma:comma "/data/openpilot"
-    sync
-}
-
-wipe_bash_logout() {
-  export BASE_DIR
-  sudo -u ${RUNNER_USER} bash -c "touch ${BASE_DIR}/.bash_logout"
-  sudo -u ${RUNNER_USER} bash -c "truncate -s 0 '${BASE_DIR}/.bash_logout'"
-}
-
-# System configuration functions (depends on basic utility functions)
-setup_system_configs() {
-    echo "Setting up system configurations..."
-    remount_rw
-    setup_runner_user
-    create_sudoers_entry
-    remount_ro
-    set_directory_permissions
-    wipe_bash_logout
-}
-
-# Runner setup functions
-install_runner() {
-    echo "Downloading and setting up runner..."
-    cd "$RUNNER_DIR"
-    curl -o actions-runner-linux-arm64-${RUNNER_VERSION}.tar.gz -L https://github.com/actions/runner/releases/download/v${RUNNER_VERSION}/actions-runner-linux-arm64-${RUNNER_VERSION}.tar.gz
-    sudo -u ${RUNNER_USER} tar -xzf ./actions-runner-linux-arm64-${RUNNER_VERSION}.tar.gz
-    sudo rm ./actions-runner-linux-arm64-${RUNNER_VERSION}.tar.gz
-    sudo chmod +x ./config.sh
-}
-
-configure_runner() {
-    remount_rw
-    echo "Configuring runner..."
-    cd "$RUNNER_DIR"
-    sudo -u ${RUNNER_USER} ./config.sh --url "$REPO_URL" --token "$GITHUB_TOKEN" --name $(hostname) --runnergroup "tici-tizi" --labels "tici" --work "$BUILDS_DIR" --unattended
-    remount_ro
-}
-
-create_service_template() {
-    echo "Creating service template..."
-    cat <<EOL > "$RUNNER_DIR/bin/actions.runner.service.template"
-[Unit]
-Description={{Description}}
-After=network-online.target nss-lookup.target time-sync.target
-Wants=network-online.target nss-lookup.target time-sync.target
-StartLimitInterval=5
-StartLimitBurst=10
-
-[Service]
-Type=simple
-User=root
-ExecStart=/usr/bin/unshare -m -- /bin/bash -c 'mount --bind ${OPENPILOT_DIR} /data/openpilot && setpriv --reuid={{User}} --regid={{User}} --init-groups env HOME=${BASE_DIR} USER={{User}} LOGNAME={{User}} MAIL=/var/mail/{{User}} {{RunnerRoot}}/runsvc.sh'
-WorkingDirectory={{RunnerRoot}}
-KillMode=process
-KillSignal=SIGTERM
-TimeoutStopSec=5min
-Restart=always
-RestartSec=120
-
-[Install]
-WantedBy=multi-user.target
-EOL
-}
-
-install_service() {
-    local service_name
-    if [ -f "${RUNNER_DIR}/.service" ]; then
-        service_name=$(cat "${RUNNER_DIR}/.service")
-    else
-        service_name="actions.runner.sunnypilot.$(uname -n)"
-    fi
-  
-    create_service_template
-    remount_rw
-    local service_path="/etc/systemd/system/${service_name}"
-    echo "Installing systemd service..."
-    if [ -f "${service_path}" ]; then
-        echo "Service ${service_path} found in systemd, we will delete it"
-        sudo rm -f "${service_path}"
-    fi
-    
-    cd "$RUNNER_DIR"
-    sudo ./svc.sh install $RUNNER_USER
-
-    if [ "$START_AT_BOOT" = false ]; then
-        sudo systemctl disable "${service_name}"
-    fi
-    remount_ro
-}
-
-check_restore_prerequisites() {
-    local can_restore=false
-    local service_name=""
-
-    # Check if base runner directory exists
-    if [ ! -d "${RUNNER_DIR}" ]; then
-        echo "ERROR: Runner directory ${RUNNER_DIR} does not exist"
-        echo "This directory is required for restore operations"
-        exit 1
-    fi
-
-    # First check if we have the required files for restoration
-    if [ -f "${RUNNER_DIR}/.credentials" ] && [ -f "${RUNNER_DIR}/.service" ]; then
-        can_restore=true
-        service_name=$(cat "${RUNNER_DIR}/.service")
-        echo "Found required runner configuration files"
-    else
-        echo "Missing required runner configuration files"
-        echo "Required: .credentials and .service files in ${RUNNER_DIR}"
-        exit 1
-    fi
-
-    if ! id "${RUNNER_USER}" &>/dev/null; then
-        echo "User ${RUNNER_USER} does not exist"
-    fi
-
-    # Only proceed if we can restore AND need to restore
-    if [ "$can_restore" = true ]; then
-        echo "Restoration is possible"
-        return 0
-    else
-        echo "No restoration possible"
-        exit 0
-    fi
-}
-
-perform_restore() {
-    echo "Starting runner restoration..."
-    setup_directories
-    setup_system_configs
-    install_service
-    echo "Runner restoration completed successfully"
-}
-
-perform_install() {
-    echo "Starting fresh installation..."
-    setup_directories
-    setup_system_configs
-    install_runner
-    set_directory_permissions
-    configure_runner
-    install_service
-    echo "Installation completed successfully"
-}
-
-main() {
-    if [ "$RESTORE_MODE" = true ]; then
-        echo "Running in restore mode - will only restore system configurations..."
-        check_restore_prerequisites
-        perform_restore
-    else
-        # Check required arguments for normal installation
-        if [ -z "$GITHUB_TOKEN" ]; then
-            echo "Usage: $0 [--start-at-boot] [--token <github_token>] [--repo <repository_url>] [--restore]"
-            echo "Required argument (except for --restore): github_token"
-            echo "Optional arguments:"
-            echo "  --start-at-boot    Enable auto-start at boot (default: false)"
-            echo "  --repo            Repository URL (default: ${DEFAULT_REPO_URL})"
-            echo "  --restore         Restore existing runner configuration"
-            exit 1
-        fi
-
-        # Set repository URL if not provided
-        REPO_URL="${REPO_URL:-$DEFAULT_REPO_URL}"
-        perform_install
-    fi
-
-    echo "Starting runner service..."
-    cd "$RUNNER_DIR"
-    sudo ./svc.sh start
-}
-
-main
@@ -53,24 +53,28 @@ def create_pkl_name(full_name: str) -> str:
  return pkl


-def _read_pkl_bytes(pkl_path: Path) -> bytes:
+def _hash_pkl(pkl_path: Path) -> str:
  manifest = Path(f"{pkl_path}.chunkmanifest")
  if manifest.exists():
    num_chunks = int(manifest.read_text().strip())
-    parts = []
-    for i in range(num_chunks):
-      chunk = Path(f"{pkl_path}.chunk{i + 1:02d}of{num_chunks:02d}")
-      parts.append(chunk.read_bytes())
-    return b''.join(parts)
-  return pkl_path.read_bytes()
+    paths = [Path(f"{pkl_path}.chunk{i + 1:02d}of{num_chunks:02d}") for i in range(num_chunks)]
+  else:
+    paths = [pkl_path]
+
+  digest = hashlib.sha256()
+  for path in paths:
+    with path.open('rb') as f:
+      while block := f.read(1024 * 1024):
+        digest.update(block)
+  return digest.hexdigest()


 def _find_driving_pkl(output_path: Path) -> Path | None:
-  for pattern in ('driving_tinygrad.pkl', 'driving_*_tinygrad.pkl'):
+  for pattern in ('*driving_tinygrad.pkl', '*driving_*_tinygrad.pkl'):
    matches = sorted(output_path.glob(pattern))
    if matches:
      return matches[0]
-  for pattern in ('driving_tinygrad.pkl.chunkmanifest', 'driving_*_tinygrad.pkl.chunkmanifest'):
+  for pattern in ('*driving_tinygrad.pkl.chunkmanifest', '*driving_*_tinygrad.pkl.chunkmanifest'):
    matches = sorted(output_path.glob(pattern))
    if matches:
      return Path(str(matches[0]).removesuffix('.chunkmanifest'))
@@ -87,7 +91,7 @@ def _rename_pkl_with_chunks(old_pkl: Path, new_pkl: Path) -> Path:


 def generate_chunked_model(driving_pkl: Path) -> dict:
-  tinygrad_hash = hashlib.sha256(_read_pkl_bytes(driving_pkl)).hexdigest()
+  tinygrad_hash = _hash_pkl(driving_pkl)

  chunks_config = []
  manifest_file = Path(f"{driving_pkl}.chunkmanifest")
@@ -52,6 +52,12 @@ git fetch origin $DEV_BRANCH || (git checkout -b $DEV_BRANCH && git commit --all
 echo "[-] committing version $VERSION T=$SECONDS"
 git add -f .

+# gitlinks break the release tree on device
+if git ls-files -s | awk '$1 == "160000" { found = 1; print } END { exit !found }'; then
+    echo "Error: submodules found in release tree."
+    exit 1
+fi
+
 # include source commit hash and build date in commit
 GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
 DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
@@ -1,66 +0,0 @@
-#!/usr/bin/env bash
-# Determine BASE_DIR based on mount point
-if mountpoint -q /data/media; then
-    GITHUB_BASE_DIR="/data/media/0/github"
-else
-    GITHUB_BASE_DIR="/data/github"
-fi
-
-# Define directories and user
-BIN_DIR="$GITHUB_BASE_DIR/bin"
-BUILDS_DIR="$GITHUB_BASE_DIR/builds"
-OPENPILOT_DIR="$GITHUB_BASE_DIR/openpilot"
-LOGS_DIR="$GITHUB_BASE_DIR/logs"
-CACHE_DIR="$GITHUB_BASE_DIR/cache"
-RUNNER_USERNAME="github-runner"
-# Define the systemd service name
-SERVICE_NAME="github-runner"
-USER_GROUPS="comma,gpu,gpio,sudo"
-
-# Function to stop and disable the systemd service
-stop_and_uninstall_service() {
-    cd $GITHUB_BASE_DIR/runner
-    sudo ./svc.sh stop
-    sudo ./svc.sh uninstall
-}
-
-# Function to remove the systemd service file
-remove_runner() {
-    cd $GITHUB_BASE_DIR/runner
-    sudo rm .runner
-    sudo su -c './config.sh remove' github-runner
-}
-
-# Function to delete the Github Runner directories
-delete_directories() {
-    sudo rm -rf "$BIN_DIR/github-runner"
-    sudo rm -rf "$GITHUB_BASE_DIR" "$BIN_DIR" "$BUILDS_DIR" "$LOGS_DIR" "$CACHE_DIR" "$OPENPILOT_DIR"
-}
-
-# Function to remove the Github Runner user
-delete_user() {
-    for group in ${USER_GROUPS//,/ }
-    do
-       sudo gpasswd -d ${RUNNER_USERNAME} ${group}
-    done
-    sudo userdel -r ${RUNNER_USERNAME}
-}
-
-# Function to remove sudoers entry
-remove_sudoers_entry() {
-    sudo sed -i.bak "/${RUNNER_USERNAME} ALL=(ALL) NOPASSWD: ALL/d" /etc/sudoers
-}
-
-# Make filesystem writable
-sudo mount -o remount rw /
-
-# Ensure filesystem is remounted as read-only on script exit
-trap "sudo mount -o remount ro /" EXIT
-
-# Call functions
-stop_and_uninstall_service
-remove_runner
-delete_directories
-delete_user
-remove_sudoers_entry
-# End of uninstall script
@@ -381,20 +381,20 @@ wheels = [

 [[package]]
 name = "deepmerge"
-version = "2.1.0"
+version = "3.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/2a/78/6e9e20106224083cfb817d2d3c26e80e72258d617b616721a169b87081e0/deepmerge-2.1.0.tar.gz", hash = "sha256:07ca7a7b8935df596c512fa8161877c0487ac61f691c07766e7d71d2b23bdd2f", size = 21449, upload-time = "2026-06-22T05:46:07.669Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/b7/6c/9f4577a36d5f463a3a3f8322bd65d33e1a1a6b6ba1d692a5ebc3cba19015/deepmerge-3.0.tar.gz", hash = "sha256:14ed69f063de64b7743985c732ccff5d6c34ff4560946e7fbfd99086b853b9ce", size = 22279, upload-time = "2026-08-17T05:50:53.161Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/51/25/2a75b47cb057b1e164c604fb81ab690a6cdb5e2260ce651194eae90f64a3/deepmerge-2.1.0-py3-none-any.whl", hash = "sha256:8f148339a91d680a75ecb74ade235d9e759a93df373a0b04e9d31c8666cfeb75", size = 14345, upload-time = "2026-06-22T05:46:06.742Z" },
+    { url = "https://files.pythonhosted.org/packages/a8/d7/7f19bedd30b90b72865aeec3a29127bed6dee6c9ef0324bb5b4d424bb0e3/deepmerge-3.0-py3-none-any.whl", hash = "sha256:c8541c3e186dc88d19a5513ad3a0b2d0b22beaa780969fc0c13b995a64265365", size = 14855, upload-time = "2026-08-17T05:50:52.218Z" },
 ]

 [[package]]
 name = "filelock"
-version = "3.32.2"
+version = "3.32.3"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/f6/57/3ba6e6cb097f85b855b00163d169f35365f44277df044dcf96d55b8f62a3/filelock-3.32.2.tar.gz", hash = "sha256:c33351e1f49cae33414acbc6d56784e6ecee82514ec90795da1161fc4836b5b8", size = 217172, upload-time = "2026-07-29T22:46:04.895Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/7d/64/a02e6765de08964ed371eca577870593245afc9dfac16d037de7c10d18e6/filelock-3.32.3.tar.gz", hash = "sha256:0ffa185a3540854c95caa7fa76b76cb219d907415e2c5dc9af25fd970563487f", size = 218135, upload-time = "2026-08-13T16:00:05.577Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/c1/e8/72f8cef9fdfeffe06213fe8508039396ee48daa0e3259457ed766173bfd6/filelock-3.32.2-py3-none-any.whl", hash = "sha256:87dd94cf281e586d135fa51132b8e3d9a598b316e90377a288663c9321036c82", size = 98830, upload-time = "2026-07-29T22:46:03.52Z" },
+    { url = "https://files.pythonhosted.org/packages/a7/8e/50f46a9c0ce8d2861a394c1347caae037ea0431d2f67d7feb151cbc4649a/filelock-3.32.3-py3-none-any.whl", hash = "sha256:7f0ca4bcc0e181c60dbbd8aa9ab5b120ebb99e4e064e83636340056f833a1f09", size = 98901, upload-time = "2026-08-13T16:00:03.974Z" },
 ]

 [[package]]
@@ -478,7 +478,7 @@ wheels = [

 [[package]]
 name = "huggingface-hub"
-version = "1.27.0"
+version = "1.28.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
    { name = "click" },
@@ -491,18 +491,18 @@ dependencies = [
    { name = "tqdm" },
    { name = "typing-extensions" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/3e/9b/ddf3d02a8681f1b9ce52fda03d755dad6b74c4f8172304c4c8d2975450f9/huggingface_hub-1.27.0.tar.gz", hash = "sha256:c1fed40ea82a6b41b477f5243546549b792ae0a93abcea608cff66089bf8f8df", size = 942668, upload-time = "2026-08-07T12:48:05.161Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/c6/ae/222a91937ebee7f62c0ca8f5ee0afd97577caf24c0abb927d1f5c7e9f6d2/huggingface_hub-1.28.0.tar.gz", hash = "sha256:46a2e950c09234de54093d587d1675382f0d08dbd600d9fb599b5932f5b2c6cb", size = 959609, upload-time = "2026-08-18T12:27:15.101Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/de/d8/95b735e183957c1f26d94c52977f09d466d55119cbbc1558ea4975e4c216/huggingface_hub-1.27.0-py3-none-any.whl", hash = "sha256:7df6827c2f956c60fbaa64646e979e566db76f619dd0a9729dfb8c5a3eb4f68d", size = 784926, upload-time = "2026-08-07T12:48:02.905Z" },
+    { url = "https://files.pythonhosted.org/packages/51/0e/eafef18f1a75e125e68395db21131db0cf868a128ecd2fce69b4df6c584b/huggingface_hub-1.28.0-py3-none-any.whl", hash = "sha256:58a8bacb03072edfc38067065e9dc24bbb34805410fcd36a1632de0b329660bb", size = 793202, upload-time = "2026-08-18T12:27:12.719Z" },
 ]

 [[package]]
 name = "idna"
-version = "3.18"
+version = "3.19"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/cd/63/9496c57188a2ee585e0f1db071d75089a11e98aa86eb99d9d7618fc1edce/idna-3.18.tar.gz", hash = "sha256:ffb385a7e039654cef1ab9ef32c6fafe283c0c0467bba1d9029738ce4a14a848", size = 196711, upload-time = "2026-06-02T14:34:07.794Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/5f/f7/abb373e5757eaec4b922b92f97ec8d6d7e057cf06778247604fbc4e7c3f3/idna-3.19.tar.gz", hash = "sha256:5e0811a4383b21dc5838069f801c4fb62113b7447663d2530d2bd6e77b49bf15", size = 215237, upload-time = "2026-08-18T05:14:24.27Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/1e/5e/d4e9f1a599fb8e573b7b87160658329fbf28d19eac2718f51fc3def3aa5a/idna-3.18-py3-none-any.whl", hash = "sha256:7f952cbe720b688055e3f87de14f5c3e5fdaa8bc3928985c4077ca689de849a2", size = 65455, upload-time = "2026-06-02T14:34:06.319Z" },
+    { url = "https://files.pythonhosted.org/packages/57/b0/0e52c878c53f245edd3a11020f20979b3f490f245af532c7cae3027754b5/idna-3.19-py3-none-any.whl", hash = "sha256:815e7be7a7806d54abb586dc943addc79e8b2ee16915059658cbeff4b1b43bf4", size = 68550, upload-time = "2026-08-18T05:14:22.343Z" },
 ]

 [[package]]
@@ -847,7 +847,7 @@ requires-dist = [
    { name = "rednose", marker = "extra == 'submodules'", editable = "rednose_repo" },
    { name = "requests" },
    { name = "ruff", marker = "extra == 'testing'" },
-    { name = "scons" },
+    { name = "scons", specifier = "==4.10.1" },
    { name = "sentry-sdk" },
    { name = "setproctitle" },
    { name = "sounddevice" },
@@ -971,11 +971,11 @@ wheels = [

 [[package]]
 name = "pygments"
-version = "2.20.0"
+version = "2.21.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/c3/b2/bc9c9196916376152d655522fdcebac55e66de6603a76a02bca1b6414f6c/pygments-2.20.0.tar.gz", hash = "sha256:6757cd03768053ff99f3039c1a36d6c0aa0b263438fcab17520b30a303a82b5f", size = 4955991, upload-time = "2026-03-29T13:29:33.898Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/49/2e/ced460408999b33da6b31b0021b0f37d329e202d4169aeb164493778f25b/pygments-2.21.0.tar.gz", hash = "sha256:610ca751c9bc2492b38eb9a38a7fbc93edbbb2d7182edaf34e66ae493dee5c8c", size = 5005329, upload-time = "2026-08-17T08:02:48.824Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/f4/7e/a72dd26f3b0f4f2bf1dd8923c85f7ceb43172af56d63c7383eb62b332364/pygments-2.20.0-py3-none-any.whl", hash = "sha256:81a9e26dd42fd28a23a2d169d86d7ac03b46e2f8b59ed4698fb4785f946d0176", size = 1231151, upload-time = "2026-03-29T13:29:30.038Z" },
+    { url = "https://files.pythonhosted.org/packages/71/46/17f022dd3e953bf20a04a028a21ec746d942f8d2af30fa0f124fa0e6a684/pygments-2.21.0-py3-none-any.whl", hash = "sha256:2363c69b61c4a97c838da3b130dcd6468f4848992b21a82f2a63ec34377137d9", size = 1250147, upload-time = "2026-08-17T08:02:44.912Z" },
 ]

 [[package]]
@@ -1136,11 +1136,11 @@ wheels = [

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

 [[package]]
@@ -1194,18 +1194,18 @@ wheels = [

 [[package]]
 name = "sounddevice"
-version = "0.5.5"
+version = "0.5.6"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
    { name = "cffi" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/2a/f9/2592608737553638fca98e21e54bfec40bf577bb98a61b2770c912aab25e/sounddevice-0.5.5.tar.gz", hash = "sha256:22487b65198cb5bf2208755105b524f78ad173e5ab6b445bdab1c989f6698df3", size = 143191, upload-time = "2026-01-23T18:36:43.529Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/ec/db/0c890e2d9aab9ba284021efc02e1d3aebfecab1b611762d7434602209bcf/sounddevice-0.5.6.tar.gz", hash = "sha256:8ec9fbfde2e32f020b167e348f3ab3bac6625a5f15af524d790108ac7147a410", size = 1120094, upload-time = "2026-08-17T07:55:05.048Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/1e/0a/478e441fd049002cf308520c0d62dd8333e7c6cc8d997f0dda07b9fbcc46/sounddevice-0.5.5-py3-none-any.whl", hash = "sha256:30ff99f6c107f49d25ad16a45cacd8d91c25a1bcdd3e81a206b921a3a6405b1f", size = 32807, upload-time = "2026-01-23T18:36:35.649Z" },
-    { url = "https://files.pythonhosted.org/packages/56/f9/c037c35f6d0b6bc3bc7bfb314f1d6f1f9a341328ef47cd63fc4f850a7b27/sounddevice-0.5.5-py3-none-macosx_10_6_x86_64.macosx_10_6_universal2.whl", hash = "sha256:05eb9fd6c54c38d67741441c19164c0dae8ce80453af2d8c4ad2e7823d15b722", size = 108557, upload-time = "2026-01-23T18:36:37.41Z" },
-    { url = "https://files.pythonhosted.org/packages/88/a1/d19dd9889cd4bce2e233c4fac007cd8daaf5b9fe6e6a5d432cf17be0b807/sounddevice-0.5.5-py3-none-win32.whl", hash = "sha256:1234cc9b4c9df97b6cbe748146ae0ec64dd7d6e44739e8e42eaa5b595313a103", size = 317765, upload-time = "2026-01-23T18:36:39.047Z" },
-    { url = "https://files.pythonhosted.org/packages/c3/0e/002ed7c4c1c2ab69031f78989d3b789fee3a7fba9e586eb2b81688bf4961/sounddevice-0.5.5-py3-none-win_amd64.whl", hash = "sha256:cfc6b2c49fb7f555591c78cb8ecf48d6a637fd5b6e1db5fec6ed9365d64b3519", size = 365324, upload-time = "2026-01-23T18:36:40.496Z" },
-    { url = "https://files.pythonhosted.org/packages/4e/39/a61d4b83a7746b70d23d9173be688c0c6bfc7173772344b7442c2c155497/sounddevice-0.5.5-py3-none-win_arm64.whl", hash = "sha256:3861901ddd8230d2e0e8ae62ac320cdd4c688d81df89da036dcb812f757bb3e6", size = 317115, upload-time = "2026-01-23T18:36:42.235Z" },
+    { url = "https://files.pythonhosted.org/packages/72/1f/62eef605172bddc1017508469a12f75bc7c4194ece35c734f822795f53b1/sounddevice-0.5.6-py3-none-any.whl", hash = "sha256:de099612311ad81e55d31ccbd83f43ea6bf4d87b48f9b6ea55a1fbcde0eee4e0", size = 32793, upload-time = "2026-08-17T07:54:57.507Z" },
+    { url = "https://files.pythonhosted.org/packages/b6/84/85e719d49cf98b2f406d9ac9c338892286c4448eb42ef0b2625ccf159616/sounddevice-0.5.6-py3-none-macosx_10_6_x86_64.macosx_10_6_universal2.whl", hash = "sha256:e3aef00ad8b1d1740eb66d9a7671eab88a4d2b8fa4ab33498d742e63b65c309c", size = 1009647, upload-time = "2026-08-17T07:54:58.814Z" },
+    { url = "https://files.pythonhosted.org/packages/c5/6f/6292145099f72a153a710245f46ae43e5fb6c77bec1b6086cb76c12dc280/sounddevice-0.5.6-py3-none-win32.whl", hash = "sha256:b36b807eb02abd257198bf84b2af05e4fea199a9d2f0019014169c7136d45e9c", size = 1009627, upload-time = "2026-08-17T07:55:00.401Z" },
+    { url = "https://files.pythonhosted.org/packages/8d/3e/cbc593c31a5f0d817b3fe97e64aa8461bd0f55cb07b67ce1b776296ae336/sounddevice-0.5.6-py3-none-win_amd64.whl", hash = "sha256:7f4162f514f007b0bf25a3ccfed3f1705bc2ec311888a90232729eec4f57a4f4", size = 1009630, upload-time = "2026-08-17T07:55:02.088Z" },
+    { url = "https://files.pythonhosted.org/packages/60/a4/b0c21c9f215a6fd9606b8f8748c21212dc098e5d5a2d93068c50edcf19b4/sounddevice-0.5.6-py3-none-win_arm64.whl", hash = "sha256:c8ae19173e5f27f8c12d4b5eee2dbfe542cee125d591e663e0fb4dfb75246d45", size = 1009630, upload-time = "2026-08-17T07:55:03.689Z" },
 ]

 [[package]]
@@ -1285,7 +1285,6 @@ requires-dist = [
    { name = "pylint", marker = "extra == 'linting'" },
    { name = "pytest", marker = "extra == 'testing-minimal'" },
    { name = "pytest-split", marker = "extra == 'testing-minimal'" },
-    { name = "pytest-timeout", marker = "extra == 'testing-minimal'" },
    { name = "pytest-xdist", marker = "extra == 'testing-minimal'" },
    { name = "ruff", marker = "extra == 'linting'", specifier = "==0.14.10" },
    { name = "safetensors", marker = "extra == 'testing-unit'" },
@@ -1294,6 +1293,7 @@ requires-dist = [
    { name = "tiktoken", marker = "extra == 'testing'" },
    { name = "tinygrad", extras = ["testing-minimal"], marker = "extra == 'testing-unit'" },
    { name = "tinygrad", extras = ["testing-unit"], marker = "extra == 'testing'" },
+    { name = "tinymesa", marker = "extra == 'mesa'", specifier = "==25.2.7.2" },
    { name = "torch", marker = "extra == 'testing-minimal'", specifier = "==2.9.1" },
    { name = "tqdm", marker = "extra == 'testing-unit'" },
    { name = "transformers", marker = "extra == 'testing'" },
@@ -1301,7 +1301,7 @@ requires-dist = [
    { name = "typing-extensions", marker = "extra == 'linting'" },
    { name = "z3-solver", marker = "extra == 'testing-minimal'", specifier = "<4.15.4" },
 ]
-provides-extras = ["linting", "testing-minimal", "testing-unit", "testing", "docs"]
+provides-extras = ["linting", "testing-minimal", "testing-unit", "testing", "docs", "mesa"]

 [[package]]
 name = "tomli"
@@ -1335,27 +1335,27 @@ wheels = [

 [[package]]
 name = "ty"
-version = "0.0.72"
+version = "0.0.73"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/d5/df/656e684bafb13c1d146e7d5b5f3e7978ca177232acc84998ff36427e9462/ty-0.0.72.tar.gz", hash = "sha256:ec2b8066b618df18cab4cb8e992f8da45d360332acb23fa34df7fa29cd1b9d3a", size = 6654939, upload-time = "2026-08-14T21:35:42.612Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/e5/90/c4e1bb4cead3b644c3e258a27f9b05c7dc5eb0ec96a4f5282194edae9e0d/ty-0.0.73.tar.gz", hash = "sha256:823d4ce0d237bfc7eb6bcee70842f2c0706113813a16951077840743712f4b74", size = 6712739, upload-time = "2026-08-19T03:12:43.381Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/e2/3b/f51461239a4e66565d4b362f97a3b55fe7fdba2e944068341f87c62f6743/ty-0.0.72-py3-none-linux_armv6l.whl", hash = "sha256:fda86db153ffd85ee52000cf175d6a3f1c0223772cf7c5b6f726200bf92c7b44", size = 12621989, upload-time = "2026-08-14T21:35:01.676Z" },
-    { url = "https://files.pythonhosted.org/packages/ca/fb/79ddf683affc679ca856f3510b5640ec3a88a842ba5f654f5d4bc78f1786/ty-0.0.72-py3-none-macosx_10_12_x86_64.whl", hash = "sha256:ceb944c612529b9023acfdc9cf4c0dcbb722549f9d17d46baecd1141baf01d7f", size = 12233910, upload-time = "2026-08-14T21:35:04.334Z" },
-    { url = "https://files.pythonhosted.org/packages/5d/45/10562a0d84802158db8fa4ec46de54aa9fdcecdeeaabbfe3639ae7042b66/ty-0.0.72-py3-none-macosx_11_0_arm64.whl", hash = "sha256:108d76218333d6c092e5f1cebf8e9b06f25738613a0236a28e2dd47c936ee52c", size = 12084108, upload-time = "2026-08-14T21:35:06.686Z" },
-    { url = "https://files.pythonhosted.org/packages/a1/dc/1fe1aef8d697e3509face271a5331700c7aa1d1e44a4b622707bdfa41d4b/ty-0.0.72-py3-none-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:7f3943f186f741a2499a31053872169250c9264a9a49684920e48d8fcf4ef4f5", size = 12132640, upload-time = "2026-08-14T21:35:09.305Z" },
-    { url = "https://files.pythonhosted.org/packages/14/46/41ceb265e96969487311a2014bd0e53abb4fbc1395efb2ebe411fcb4db62/ty-0.0.72-py3-none-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:cf283c07dc3cc52ca48a3ad8ab100fb5aec3aebbd03ef6a12d5f910b8e596fc5", size = 12402489, upload-time = "2026-08-14T21:35:11.555Z" },
-    { url = "https://files.pythonhosted.org/packages/2b/45/30bf43cb4fd505c5c2dd30fda27dde5f05208686cd21217adec77c954204/ty-0.0.72-py3-none-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:95f3b6462c38f9f115d10cee21f47fedf715fcf2040daf36eef210359300bc7c", size = 13130835, upload-time = "2026-08-14T21:35:13.746Z" },
-    { url = "https://files.pythonhosted.org/packages/31/2f/03bba754d2613f640df168335c41f83f41db150bb515839c60d80e3a7880/ty-0.0.72-py3-none-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:30caf658feb8ffb250d9e9e47107657a78f5f3425c227df1664d8df2ebe38880", size = 13590392, upload-time = "2026-08-14T21:35:16.839Z" },
-    { url = "https://files.pythonhosted.org/packages/04/c7/03c67f00e63005ec41585653dc3096064570b1e6273742baae2798cd242f/ty-0.0.72-py3-none-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:27bdc012ddfbeec8948e4a6036c0dc39ac7cf2c8ec7c7d48dc7d2fd56d57b399", size = 13309629, upload-time = "2026-08-14T21:35:19.169Z" },
-    { url = "https://files.pythonhosted.org/packages/c1/df/102d3b264eb7f2a58dd11952f229bb5150bb5668d176a6154976a6675981/ty-0.0.72-py3-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:802c5970a77d7739e6f499921fbb6984fb7ad8a31d95e1ff42fd46f3642e4f3b", size = 12734028, upload-time = "2026-08-14T21:35:22.099Z" },
-    { url = "https://files.pythonhosted.org/packages/61/85/d0737c8c54d0ba67366ddfb9f31d88edf0b02299e65923e6945ae60ebcb5/ty-0.0.72-py3-none-manylinux_2_31_riscv64.whl", hash = "sha256:47dce65114fdc615c68ca0edb393b433df0956447e4267df0e264137a789598d", size = 13174832, upload-time = "2026-08-14T21:35:24.71Z" },
-    { url = "https://files.pythonhosted.org/packages/1e/31/497f5a96c36d9b586ab6afe0574986835c6fd5b835a89773d2bec4711b49/ty-0.0.72-py3-none-musllinux_1_2_aarch64.whl", hash = "sha256:325144fa07e2675d0faa337fcc864213c272a499eb0cfe5bde2fdc62282d27bc", size = 12215005, upload-time = "2026-08-14T21:35:26.892Z" },
-    { url = "https://files.pythonhosted.org/packages/df/7d/46e65b17b4966c7cd0140f134380d33d8e84fe6efccd761533ce793dc502/ty-0.0.72-py3-none-musllinux_1_2_armv7l.whl", hash = "sha256:a5c9f15d0f58e43707d8848274be1821a0ef408eccb8aa7dda28a4a9eddf7640", size = 12421298, upload-time = "2026-08-14T21:35:29.301Z" },
-    { url = "https://files.pythonhosted.org/packages/08/2a/12ada4ec17700b3cb1d4fd3bc3e5b1852df9e6885288429318cade87b3c1/ty-0.0.72-py3-none-musllinux_1_2_i686.whl", hash = "sha256:8ee508d64b381871529cc22c412b41071bf5e908b7aa5d66a38f3f6b2573a806", size = 12669242, upload-time = "2026-08-14T21:35:31.444Z" },
-    { url = "https://files.pythonhosted.org/packages/1c/1a/4692536880790fb550ed6d44a6096778dc71bb112f2c6d615cebb01a57e5/ty-0.0.72-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:3699e2ec7921d44da79d6b089f7bf239b2cc53c4e45a5a38430adc34ee9e9a55", size = 12988199, upload-time = "2026-08-14T21:35:33.749Z" },
-    { url = "https://files.pythonhosted.org/packages/9a/0d/f5e5a50322e9c45865e7b7a428ba6cd6527387cf0f2472492ac3cf746243/ty-0.0.72-py3-none-win32.whl", hash = "sha256:f25f72a67bd36cd247707c4784e52fad0b6b4f42a1b7dd14804110fa95c486ed", size = 11939708, upload-time = "2026-08-14T21:35:36.006Z" },
-    { url = "https://files.pythonhosted.org/packages/3f/4e/8af3534b2e4214e6184a5a59c34101e94a68d578f081f97b995866bab1bf/ty-0.0.72-py3-none-win_amd64.whl", hash = "sha256:cdeee869341717e1736cea2e2d7856738c6957c320f584ed2f68c8f90100d2f5", size = 12643876, upload-time = "2026-08-14T21:35:38.141Z" },
-    { url = "https://files.pythonhosted.org/packages/ff/ea/a2606e654c7276bd08586391a2525b0af3f3bf60228a8c57b2d248f273f9/ty-0.0.72-py3-none-win_arm64.whl", hash = "sha256:1bd3ac3ed4424a6d6990a85dc388556aea012bd752de21349a84b685951de0d8", size = 12394857, upload-time = "2026-08-14T21:35:40.277Z" },
+    { url = "https://files.pythonhosted.org/packages/e4/0f/f5e1801e55cc631f2db193276675b30561b963a2403da832bffb5d100267/ty-0.0.73-py3-none-linux_armv6l.whl", hash = "sha256:90a946082bf9bc446b5e72973d9f4ff1222a240b2ca4c9e6eed61eb913e30810", size = 12715452, upload-time = "2026-08-19T03:12:06.673Z" },
+    { url = "https://files.pythonhosted.org/packages/54/32/515dd05074c213b433524ab97eb003b0132ae7e358e0d75633ba7a314ed8/ty-0.0.73-py3-none-macosx_10_12_x86_64.whl", hash = "sha256:b7d6b5c6a6db7ea95fbbc16af514ef44a27a29a2fe1dc798900790364d170209", size = 12301870, upload-time = "2026-08-19T03:12:08.924Z" },
+    { url = "https://files.pythonhosted.org/packages/50/4d/085b4889f0d4bbe4af8b96242d4a1cb209fff95967cfa239ea141983719b/ty-0.0.73-py3-none-macosx_11_0_arm64.whl", hash = "sha256:dd6f657f463e01372d8688f235be164750c8db722c97da27fa4903aa8d40b203", size = 12111741, upload-time = "2026-08-19T03:12:11.067Z" },
+    { url = "https://files.pythonhosted.org/packages/95/f6/d6ec277cadfecf03ad4c18551b67c4c6eb7807a0560d801db14be99d7a89/ty-0.0.73-py3-none-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:fc2de468e33fd44c9ff1c43473a7316f4289480f5cba8995a67b6d22aee39ca9", size = 12196124, upload-time = "2026-08-19T03:12:13.14Z" },
+    { url = "https://files.pythonhosted.org/packages/75/b7/ce78d8707563af9cae9bbd25328bfbc4931035085bd20089adf0c418f70e/ty-0.0.73-py3-none-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:2942fa0ef795a66034cdc8d75a72f453442f3b58ff2f69b4da05b7b954765b55", size = 12488557, upload-time = "2026-08-19T03:12:15.252Z" },
+    { url = "https://files.pythonhosted.org/packages/d8/e8/329b9851b23502758c5c98e8cc875ea2a1b4c9674b4ca3a86da56a5063d3/ty-0.0.73-py3-none-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:1e0f1ef14f642e18ac4e7a616a2796dcf7a5d82e28cd17f9796494acc7c4aabb", size = 13215606, upload-time = "2026-08-19T03:12:17.225Z" },
+    { url = "https://files.pythonhosted.org/packages/36/38/67fedfd2cb77516ef0066b1642f487dba0eb3006493cf3475b15f5b8b228/ty-0.0.73-py3-none-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:16981e15fdceedb37d0aff76c5ac25914595dfee2675af95335550064251ad22", size = 13665497, upload-time = "2026-08-19T03:12:19.286Z" },
+    { url = "https://files.pythonhosted.org/packages/8e/b3/154f4dd48ec5eebc186ab4b822c6e62f982fc5ddfd262d6e3903c2acba44/ty-0.0.73-py3-none-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:644b2bec8a2e2e4957a942ae81d6cff5571c489bb5a8675e4d3886de537a694d", size = 13351231, upload-time = "2026-08-19T03:12:21.353Z" },
+    { url = "https://files.pythonhosted.org/packages/35/5f/d462496903fbe453fb76363f8478be929c8e6ff21e6928c57dcd7e5fa21f/ty-0.0.73-py3-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:338d565be3186f50ff8e9d10483685549c2d23f0754485d5ede3b54f4319188a", size = 12782586, upload-time = "2026-08-19T03:12:23.667Z" },
+    { url = "https://files.pythonhosted.org/packages/87/52/ec6d24b74abe3ec324204c1c71e6d0c6c76a17ffc15fd51d603b0a302abe/ty-0.0.73-py3-none-manylinux_2_31_riscv64.whl", hash = "sha256:11c7b6d839309d2c102cb3a4c03d817176bbfab5b2fccc95a75ec5c9597421c9", size = 13247134, upload-time = "2026-08-19T03:12:25.956Z" },
+    { url = "https://files.pythonhosted.org/packages/26/20/cc74650fec56a54786c6d7c89e09576fcad3092be34cf21715d39a406a9b/ty-0.0.73-py3-none-musllinux_1_2_aarch64.whl", hash = "sha256:488572db7ff97fb50ea36a76250f2d617c9727d143da6c7bf0623276eb0fc507", size = 12309344, upload-time = "2026-08-19T03:12:28.122Z" },
+    { url = "https://files.pythonhosted.org/packages/89/bd/4b0a9087f4315d7fbadf77a3ce44c816cc9ffabed1ced06cc5be81fbc414/ty-0.0.73-py3-none-musllinux_1_2_armv7l.whl", hash = "sha256:1b958ebceefbbf594e59eb8d3d55bbd033ce634026fcba3e4bc3179e78e45bb7", size = 12502319, upload-time = "2026-08-19T03:12:30.128Z" },
+    { url = "https://files.pythonhosted.org/packages/11/80/0a925074911fe111912ea29d9eed309bcc183f43d2fb3eef07db056a0beb/ty-0.0.73-py3-none-musllinux_1_2_i686.whl", hash = "sha256:91a32993b3c34e42c3f323ad6c0399cb596bd1c27e9b7f20db7cd64c1067b68e", size = 12753688, upload-time = "2026-08-19T03:12:32.433Z" },
+    { url = "https://files.pythonhosted.org/packages/24/6b/aeccaf89efbc2e112bd415340a22e2669ec998aa397242503e747b712ca4/ty-0.0.73-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:bab8a19fbf51f479bddb2a12c5fabfe52f918a5590362321ed5d89b44eb62c15", size = 13069050, upload-time = "2026-08-19T03:12:35.398Z" },
+    { url = "https://files.pythonhosted.org/packages/d7/3e/eae485fd86c1585943fd4e1746b0757b2da01e2c43136ebe8c686fe1c7f1/ty-0.0.73-py3-none-win32.whl", hash = "sha256:03347a612f0fa020b19bfd8dbd521db6ecc75d377a3e4d4f6e6c2e62871da4cc", size = 12053187, upload-time = "2026-08-19T03:12:37.565Z" },
+    { url = "https://files.pythonhosted.org/packages/a7/01/9b8b983786e3ce34924e372e8b76b92b508273ab65c589fc7e88cc03ee17/ty-0.0.73-py3-none-win_amd64.whl", hash = "sha256:cedd05122ded0b5dcc55431a370e974b747f99c41c290a3d2ab8c1867f197519", size = 12693838, upload-time = "2026-08-19T03:12:39.483Z" },
+    { url = "https://files.pythonhosted.org/packages/ea/88/25333bbfea6a5dc064371d2002d3d4807db90b84d5448f9106b2712b0fbc/ty-0.0.73-py3-none-win_arm64.whl", hash = "sha256:e47068f8369dea5d641a26a2ad0a947a320b02ff87099b07e95de0323245a4dc", size = 12443573, upload-time = "2026-08-19T03:12:41.449Z" },
 ]

 [[package]]
@@ -1387,7 +1387,7 @@ wheels = [

 [[package]]
 name = "zensical"
-version = "0.0.54"
+version = "0.0.56"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
    { name = "click" },
@@ -1399,20 +1399,20 @@ dependencies = [
    { name = "pyyaml" },
    { name = "tomli" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/75/7e/343a78c0c9da1954d2f0a4d47ca778baac48bb18c6b9c0c6260e7974976e/zensical-0.0.54.tar.gz", hash = "sha256:4de205dbb323d0a443e2ebf3fef77e93e3c1493c34a58d205e7f3631dd7745af", size = 3992024, upload-time = "2026-08-13T16:04:49.297Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/f8/7d/18bb725a659352e9af0940a3d879c5edcff5d86fec3ac15ce500d484d9d3/zensical-0.0.56.tar.gz", hash = "sha256:c359163800d1c3a8c39af48f4e2869fcfc2b4fc00d28652bd2a5b0330c36530c", size = 3997416, upload-time = "2026-08-18T15:46:47.283Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/8b/cf/13e887c303fd5c786c09f83362382a42d10292fca633a95067de6a6591a3/zensical-0.0.54-cp310-abi3-macosx_10_12_x86_64.whl", hash = "sha256:f7177a3b6647e4ee47864ab02e5141f9e923dd57b9fa96e5dc5da4228daff505", size = 12893082, upload-time = "2026-08-13T16:04:17.337Z" },
-    { url = "https://files.pythonhosted.org/packages/82/ee/7fe1418fa31bc120cf9eb0fbce9e021c40752206ce993a7bc652c011f890/zensical-0.0.54-cp310-abi3-macosx_11_0_arm64.whl", hash = "sha256:7b23c3b0c720885891b220c3e562074d93eb940314823d91875c6246976bd9b2", size = 12778626, upload-time = "2026-08-13T16:04:19.906Z" },
-    { url = "https://files.pythonhosted.org/packages/61/b8/0420115270c1a22a2d4a1598f89dadc4e933eb7aa85539b72f3532acc5b6/zensical-0.0.54-cp310-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:1c012eb0ec20fda5794e90b4906b7401c77b712e2acc7f9f65026935368539da", size = 13225462, upload-time = "2026-08-13T16:04:22.663Z" },
-    { url = "https://files.pythonhosted.org/packages/8d/48/0dfdd3e00fb3b807de702383ef5f4e9cf0d2791fee0e8a56f39bd590f16b/zensical-0.0.54-cp310-abi3-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:f0e851d26ba4f7397db3b3532e534c0572a9826bbd451ee0a00e649c030dcb38", size = 13158184, upload-time = "2026-08-13T16:04:24.958Z" },
-    { url = "https://files.pythonhosted.org/packages/b1/2c/f1fb1f5387108b206f985cdb394bbdc730557cc339e63067ded9b3565263/zensical-0.0.54-cp310-abi3-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:a48583da6f485e2373845d4332882c9e9d504302dbd2731c589543584df5b087", size = 13536772, upload-time = "2026-08-13T16:04:27.373Z" },
-    { url = "https://files.pythonhosted.org/packages/a3/97/3224b3dd5d76cebddf9725ae871a5a6a8f2de177be59d802232d00073d8b/zensical-0.0.54-cp310-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:da7781a906623fb7bc278cc874ec6f80691c8753b90fbdf90a451abb046ae204", size = 13191901, upload-time = "2026-08-13T16:04:30.295Z" },
-    { url = "https://files.pythonhosted.org/packages/b2/00/b1f55530c8df4331e1f209ec605816a578142f124b5f8078a9d984514d63/zensical-0.0.54-cp310-abi3-musllinux_1_2_aarch64.whl", hash = "sha256:75aff1c01f6104dd0e79d08c87bd595da13db3e1f6da55fc9933ebff3e94fdd5", size = 13402956, upload-time = "2026-08-13T16:04:32.899Z" },
-    { url = "https://files.pythonhosted.org/packages/c7/6e/58df496c2742600df3a2f273ba52b8ced1ce357340b825af9f1bb0f2042e/zensical-0.0.54-cp310-abi3-musllinux_1_2_armv7l.whl", hash = "sha256:1469c5d551a0ea2d0fcf922046a263d2afcff5f03ce3bb443e286970d04ff9f2", size = 13431462, upload-time = "2026-08-13T16:04:35.518Z" },
-    { url = "https://files.pythonhosted.org/packages/5b/85/70ae775db7865be2434bc39e9b4ff1c7988978d796a7ff9d49294e7410c7/zensical-0.0.54-cp310-abi3-musllinux_1_2_i686.whl", hash = "sha256:31c354f98b3374b9bcab65278a278dbec66125c997f7f1a5ee9501f413b87b9c", size = 13587289, upload-time = "2026-08-13T16:04:37.954Z" },
-    { url = "https://files.pythonhosted.org/packages/0f/ca/05e6b3e04323810bbf4da9240b8b710740fac82ec01659b14c86e44aa88e/zensical-0.0.54-cp310-abi3-musllinux_1_2_x86_64.whl", hash = "sha256:85ef75654e7845aa65f1392af771771566f33faac452a2aed004ba367454f812", size = 13534594, upload-time = "2026-08-13T16:04:41.006Z" },
-    { url = "https://files.pythonhosted.org/packages/14/70/be34910c13632f85911f505bd9a4d1bb53d46c8498d20ebb18570bbe4b7b/zensical-0.0.54-cp310-abi3-win32.whl", hash = "sha256:b56c80a8cd234666afb917fb1ed8467104f6857b1acabd66f60ef1b8a0daa66f", size = 12448180, upload-time = "2026-08-13T16:04:43.486Z" },
-    { url = "https://files.pythonhosted.org/packages/a1/c6/a965265946555023dc0e159a41038502190882669d177dfa59b1dd3d580b/zensical-0.0.54-cp310-abi3-win_amd64.whl", hash = "sha256:f5a602986c4123a349cfd075c8d494096a2a2db74422169d65f8092872e48dfa", size = 12712264, upload-time = "2026-08-13T16:04:46.155Z" },
+    { url = "https://files.pythonhosted.org/packages/8b/4b/6810aec6e670451f39639039b570a43d90bc1d4a3b93cf13316ccf6bad11/zensical-0.0.56-cp310-abi3-macosx_10_12_x86_64.whl", hash = "sha256:5135ea3aa5d1358503fc1903e866c191873b138028bc1ab170abac3a4b537ffe", size = 12874712, upload-time = "2026-08-18T15:46:18.378Z" },
+    { url = "https://files.pythonhosted.org/packages/97/98/23445d8ed708088dd6d9d51674f8836b77c53aab280360d7aa7a206bea8e/zensical-0.0.56-cp310-abi3-macosx_11_0_arm64.whl", hash = "sha256:a22ae2329ba755c6e58e1fe5967ca429d580d346a73cf467ad5185377e2cf809", size = 12764552, upload-time = "2026-08-18T15:46:20.746Z" },
+    { url = "https://files.pythonhosted.org/packages/14/bd/ab89450728b0a55e6a52a86060b38a362a52a1b9f02eda7fef68b729eb2e/zensical-0.0.56-cp310-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:03c70ef328e31cce0e31739acdd6679e9272bc7a3016ca5eafaa16dcfda460c9", size = 13212920, upload-time = "2026-08-18T15:46:22.977Z" },
+    { url = "https://files.pythonhosted.org/packages/bf/5a/969fd9a461204392a9266a544c185fbb223714b306534661dcbb7d290be7/zensical-0.0.56-cp310-abi3-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:1ffc50153a50292078357a5052e7a6b3e20a818523792ffcbeace70418b761eb", size = 13146652, upload-time = "2026-08-18T15:46:25.773Z" },
+    { url = "https://files.pythonhosted.org/packages/22/b3/28a7c8dea8fe2edbba75a664efbde797b5922651ea92ffc480947ab22197/zensical-0.0.56-cp310-abi3-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:88bba0e339d36647ce638a42b4ba96f2521b59ea54be74c314340be7e401f94b", size = 13530946, upload-time = "2026-08-18T15:46:28.19Z" },
+    { url = "https://files.pythonhosted.org/packages/d6/a6/d55a18c6e041b788af1d19e4d8c61ee9b8a7de5b9cc79ffa7bc9565e3a28/zensical-0.0.56-cp310-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:8b7a37f6ac38ac218e3e0dd311b58c468603963e38ee23f2e25672dcd6e9c17b", size = 13178741, upload-time = "2026-08-18T15:46:30.378Z" },
+    { url = "https://files.pythonhosted.org/packages/6c/4f/a07da2f761cfd6a27faf9e8d5a9475c396a9a0ca37424a0b67cab7ae4d2c/zensical-0.0.56-cp310-abi3-musllinux_1_2_aarch64.whl", hash = "sha256:5f6d850bce3184422b37b9d98ef4d123047a47446844793251cabc04bd55f8f0", size = 13389836, upload-time = "2026-08-18T15:46:32.847Z" },
+    { url = "https://files.pythonhosted.org/packages/34/aa/697ef9846b0e2071de4d03b0472e2658380ea9271bd01235f4ffaeef1978/zensical-0.0.56-cp310-abi3-musllinux_1_2_armv7l.whl", hash = "sha256:d18944a4a111050b8f571e73d4e2475d7ce62ce78b64f09bcf33bb11cc346e1c", size = 13419551, upload-time = "2026-08-18T15:46:35.112Z" },
+    { url = "https://files.pythonhosted.org/packages/97/6b/20e1b2443951d5182b3fc2ee54c200ea00c09bd8901a479be4147c94361b/zensical-0.0.56-cp310-abi3-musllinux_1_2_i686.whl", hash = "sha256:3937029ec5091d577c2a05ebccd38fde97fab28662d165ead66d566689b2a6df", size = 13579878, upload-time = "2026-08-18T15:46:37.381Z" },
+    { url = "https://files.pythonhosted.org/packages/53/c7/9c3b400b8a7d78cc169b7a78d4f74a90f9114209034a604f04051f48037c/zensical-0.0.56-cp310-abi3-musllinux_1_2_x86_64.whl", hash = "sha256:346a1cdbad157633d185f79039a97c8b4f8c2b40be7d7efd56d72622f40247b0", size = 13526142, upload-time = "2026-08-18T15:46:39.949Z" },
+    { url = "https://files.pythonhosted.org/packages/0e/f6/7a6f2a513054071e44a504d7157684f00ac5e5e5f741eadc78ab6c80642c/zensical-0.0.56-cp310-abi3-win32.whl", hash = "sha256:a06681046f74b5bdc506d22af8fcef505b2450e45538c7f01a5e028f4e50c6f7", size = 12433218, upload-time = "2026-08-18T15:46:42.329Z" },
+    { url = "https://files.pythonhosted.org/packages/6b/ed/5b497c75fb1fd5845f3ec2f0b11b5e01f18f14c297041cd2f20d30d8b6a4/zensical-0.0.56-cp310-abi3-win_amd64.whl", hash = "sha256:c557985f12d042c15dcb7d577543d81ceee9281f96d591d265310b673437a325", size = 12702823, upload-time = "2026-08-18T15:46:44.836Z" },
 ]

 [[package]]
Author	SHA1	Message	Date
Kumar	6f0b4f2338	Merge branch 'master' into mici-sla-ui	2026-08-21 00:45:58 -07:00
Jason Wen	5ad2bfdb75	ci: deprecate GitHub runners (#1933 )	2026-08-21 00:35:38 -04:00
Jason Wen	b742557d62	sunnylink: add model resolver (#1931 ) * models: add get_default_model resolver for sunnylink * models: move get_default_model to default_model.py	2026-08-20 21:56:57 -04:00
Nayan	5ecd05aedf	models: add big model to default model resolution (#1929 ) * device * sunnylink * lint * lfs? * Revert "lfs?" This reverts commit `bcdaec6b4c`. * update path * Scope the default big model down to the sunnylink schema * Drop the mock-only default model test * Move the default model resolver out to separate PR --------- Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2026-08-20 21:31:32 -04:00
Jason Wen	5ae100aa1d	models fetcher: bump big model to v21	2026-08-20 19:19:59 -04:00
Jason Wen	be76a88b80	ci override LFS fetch exclude for real ONNX file retrieval (#1928 ) ci: override lfs.fetchexclude so the model fetch pulls real ONNX files instead of pointers	2026-08-20 19:12:59 -04:00
James Vecellio-Grant	049d225d5a	ci: Dedicated Model Runner (#1922 ) * ci: Dedicated Model Runner * recurse * not needed * fix wrapper * whoops * bypass * modeld_v2: restore chestnut link check before big model build * modeld_v2: stage onnx to disk instead of shared memory * ci: clear unchunked onnx temps before model build * ci: stream the pkl hash instead of loading it into memory --------- Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2026-08-20 16:18:17 -04:00
github-actions[bot]	c783f2225a	[bot] Update Python packages (#1925 ) Update Python packages Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>	2026-08-20 14:44:15 -04:00
Robin Dittrich	53e13a7bc0	LagdToggle: fix inverted get_lat_delay branches (#1906 ) * helpers.py get_lat_delay fix * fix trailing whitespace * lint --------- Co-authored-by: Nayan <nayan8teen@gmail.com>	2026-08-19 21:36:37 -04:00
Jason Wen	93138ade9d	Merge branch 'master' into mici-sla-ui	2026-08-19 07:58:57 -04:00
Kumar	ba29a38507	Sync: `commaai/openpilot:master` → `sunnypilot/sunnypilot:master` (#1921 )	2026-08-18 21:16:47 -07:00
Jason Wen	ed35a82129	Merge commit '8edce0da4492307df211c710af6c4ece1c4a218e' into sync-20260818	2026-08-18 22:10:51 -04:00
Shane Smiskol	8edce0da44	Clean up big model detection w/ helpers (#38671 ) use helpers	2026-08-18 18:40:54 -07:00
stef	3c90b66b65	webrtcd: bind to localhost (#38664 ) check content type and bind to localhost	2026-08-18 18:40:11 -07:00
Adeeb Shihadeh	08c83149b0	Pin SCons to 4.10.1 (#38669 )	2026-08-18 18:37:47 -07:00
Shane Smiskol	03711a13b0	Revert "chestnut: don't compile if big model is LFS pointer" (#38670 ) Revert "chestnut: don't compile if big model is LFS pointer (#38655)" This reverts commit `b8e14d85fb`.	2026-08-18 18:31:07 -07:00
Shane Smiskol	9f1709a7e1	Revert "lfs: exclude big driving model in master clones (#38626 )" This reverts commit `b7657f6553`.	2026-08-18 18:29:33 -07:00
Jason Wen	2b576c5fce	ci: tmp disable ui_report	2026-08-18 19:46:56 -04:00
Jason Wen	20ba774eaa	[TIZI/TICI] ui: fix missing model download status and rework status row (#1920 ) * [TIZI/TICI] ui: fix missing model download status and rework the status row * fix lint	2026-08-18 19:45:40 -04:00
James Vecellio-Grant	59833c500a	models: bump json version (#1919 )	2026-08-18 15:23:47 -07:00
Harald Schäfer	3d09a47a47	cruise planner: fix decel jerk from cruise (#38653 ) * cruise planner: fix decel jerk from cruise * dead variable	2026-08-18 14:15:20 -07:00
Jimmy	2f4744d39b	modeld_v2: fix features_buffer alignment for supercombo models (#1918 ) Co-authored-by: Quantizr (Jimmy) <jimmyfang@ucla.edu>	2026-08-18 13:47:52 -07:00
Jason Wen	6dd3457f4f	ci: refactor prebuilt workflow (#1916 ) * ci: fix prebuilt file copy for null-separated release_files.py output * ci: drop prebuilt symlinks the launch script recreates and gate the release on no submodules * ci: use the device-local scons cache and prune dead prebuilt config * ci: keep the scons cache in the runner workspace instead of the device's	2026-08-18 02:36:48 -04:00
Shane Smiskol	b7657f6553	lfs: exclude big driving model in master clones (#38626 ) * exclude big * lfs * Revert "lfs" This reverts commit b646d5fb50d2a5be1e6e73275f2ee302687e670f.	2026-08-17 21:54:29 -07:00
Shane Smiskol	b8e14d85fb	chestnut: don't compile if big model is LFS pointer (#38655 ) * use compiled helper for hardwared alert, source doesn't matter. scons skips compile if it's empty/lfs pointer * log it * rmnl * compile failed * out of scope * rmnl	2026-08-17 21:47:14 -07:00
Kumar	d26dc2dd38	Merge branch 'master' into mici-sla-ui	2026-08-17 11:19:56 -07:00
Jason Wen	1cb30b8142	Merge remote-tracking branch 'sunnypilot/sunnypilot/master' into mici-sla-ui	2026-08-14 18:00:04 -04:00
rav4kumar	8cf62e9733	lint lint lint	2026-08-12 11:30:18 -07:00
rav4kumar	d936c7aede	fix ruff	2026-08-12 11:20:38 -07:00
rav4kumar	e7c3736fc7	Merge remote-tracking branch 'origin/master' into mici-sla-ui # Conflicts: # openpilot/selfdrive/ui/mici/layouts/main.py # openpilot/selfdrive/ui/sunnypilot/mici/layouts/main.py # openpilot/selfdrive/ui/sunnypilot/mici/layouts/onroad.py # openpilot/selfdrive/ui/sunnypilot/mici/layouts/onroad_info_panel.py # openpilot/selfdrive/ui/sunnypilot/mici/onroad/augmented_road_view.py # openpilot/selfdrive/ui/sunnypilot/mici/widgets/scroll_panel_sp.py # openpilot/selfdrive/ui/sunnypilot/mici/widgets/scroller_sp.py	2026-08-12 10:55:42 -07:00
rav4kumar	0268dfe79a	Fix Mici UI replay auto-scroll hook	2026-06-20 13:23:36 -07:00
rav4kumar	bfe5c079a6	Fix Mici scroll and speed limit UI layout	2026-06-20 13:09:28 -07:00
Kumar	f7543e47a0	Merge branch 'master' into mici-sla-ui	2026-06-20 12:24:10 -07:00
Kumar	b94f8eaecb	Merge branch 'master' into mici-sla-ui	2026-05-10 11:27:45 -07:00
Jason Wen	c41d953be5	less	2026-05-01 00:29:52 -04:00
Jason Wen	c603d07012	fix(mici/onroad): suppress click on outer drag and bookmark gesture OnroadViewContainerSP nests a vertical scroller between the outer horizontal scroller and road_view/info_panel. Stock click suppression relies on a child's _touch_valid_callback being gated by its parent scroll panel — with the container in the middle, children were only gated by the inner panel, so an outer L→R drag never invalidated their touch and the click fired on release (immediately popping to home). - Chain children's touch_valid through the container's own touch_valid so outer-scroll state propagates to nested children. - Add OnroadInfoPanel._handle_mouse_release mirroring AugmentedRoadView's bookmark guard, so an R→L bookmark drag on the info panel doesn't fire the click on release.	2026-05-01 00:26:02 -04:00
Jason Wen	d2ab08eaf2	some changes	2026-05-01 00:15:14 -04:00
Jason Wen	1086abcf6b	Merge remote-tracking branch 'sunnypilot/sunnypilot/master' into mici-sla-ui	2026-04-28 15:43:17 -04:00
Jason Wen	617a98d769	Merge branch 'master' into mici-sla-ui	2026-04-19 13:59:12 -04:00
rav4kumar	7e9de97596	mapd pannel now onroad info	2026-04-18 10:28:17 -07:00
Kumar	21ab8c9daf	Merge branch 'master' into mici-sla-ui	2026-04-18 10:27:19 -07:00
Jason Wen	d671c7e03a	Merge branch 'master' into mici-sla-ui	2026-04-14 16:40:46 -04:00
Jason Wen	7cd9a76a25	Merge branch 'master' into mici-sla-ui	2026-03-18 01:05:05 -04:00
rav4kumar	7292d409a7	allow bookmarking for mapd view and align text	2026-03-17 21:44:00 -07:00
rav4kumar	78009bdf39	max speed	2026-03-17 21:28:58 -07:00
rav4kumar	5e097b2682	not needed	2026-03-15 17:52:10 -07:00
rav4kumar	31a61a24f8	no	2026-03-15 17:46:40 -07:00
rav4kumar	000c6ce261	final design	2026-03-15 17:45:08 -07:00
rav4kumar	f6998b3d98	show current speed when disable and set speed when enabled	2026-03-15 17:25:22 -07:00
rav4kumar	c197a1a45a	Add alert rendering to MapdPanel	2026-03-15 17:14:53 -07:00
rav4kumar	33e3809330	Clean up: - now wipe on the onroad view to change. - move to sp dir.	2026-03-15 13:55:45 -07:00
rav4kumar	df5c0a2690	codespell	2026-03-15 12:03:31 -07:00
rav4kumar	cce352cccb	sla ui	2026-03-15 11:56:30 -07:00