sunnypilot modeld: Sync Tinygrad (PR-1081)

ui: refresh model list (PR-1074)
Long Control: Vibe Controller (PR-1068)
2026-06-20 09:12:05 +08:00 · 2025-07-30 16:23:02 +00:00 · 2025-07-30 16:23:01 +00:00 · 2025-07-30 16:23:00 +00:00 · 2025-07-30 16:22:57 +00:00 · 2025-07-29 23:09:58 -04:00
229 changed files with 13547 additions and 5606 deletions
@@ -2,3 +2,4 @@ Wen
 REGIST
 PullRequest
 cancelled
+FOF
@@ -0,0 +1,285 @@
+name: Build and push all tinygrad models 
+
+on:
+  workflow_dispatch:
+    inputs:
+      set_min_version:
+        description: 'Minimum selector version required for the models (see helpers.py or readme.md)'
+        required: true
+        type: string
+
+jobs:
+  setup:
+    runs-on: ubuntu-latest
+    outputs:
+      json_version: ${{ steps.get-json.outputs.json_version }}
+      recompiled_dir: ${{ steps.create-recompiled-dir.outputs.recompiled_dir }}
+      json_file: ${{ steps.get-json.outputs.json_file }}
+      model_matrix: ${{ steps.set-matrix.outputs.model_matrix }}
+    steps:
+      - name: Checkout docs repo (sunnypilot-docs, gh-pages)
+        uses: actions/checkout@v4
+        with:
+          repository: sunnypilot/sunnypilot-docs
+          ref: gh-pages
+          path: docs
+          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
+
+      - name: Get next JSON version to use (from GitHub docs repo)
+        id: get-json
+        run: |
+          cd docs/docs
+          latest=$(ls driving_models_v*.json | sed -E 's/.*_v([0-9]+)\.json/\1/' | sort -n | tail -1)
+          next=$((latest+1))
+          json_file="driving_models_v${next}.json"
+          cp "driving_models_v${latest}.json" "$json_file"
+          echo "json_file=docs/docs/$json_file" >> $GITHUB_OUTPUT
+          echo "json_version=$((next+0))" >> $GITHUB_OUTPUT
+          echo "SRC_JSON_FILE=docs/docs/driving_models_v${latest}.json" >> $GITHUB_ENV
+
+      - name: Extract tinygrad models
+        id: set-matrix
+        working-directory: docs/docs
+        run: |
+          jq -c '[.bundles[] | select(.runner=="tinygrad") | {ref, display_name: (.display_name | gsub(" \\([^)]*\\)"; "")), is_20hz}]' "$(basename "${SRC_JSON_FILE}")" > matrix.json
+          echo "model_matrix=$(cat matrix.json)" >> $GITHUB_OUTPUT
+
+      - name: Set up SSH
+        uses: webfactory/ssh-agent@v0.9.0
+        with:
+          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
+      - run: |
+          mkdir -p ~/.ssh
+          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
+
+      - name: Clone GitLab docs repo and create new recompiled dir
+        id: create-recompiled-dir
+        env:
+          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
+        run: |
+          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai3.git gitlab_docs
+          cd gitlab_docs
+          git checkout main
+          git sparse-checkout set --no-cone models/
+          cd models
+          latest_dir=$(ls -d recompiled* 2>/dev/null | sed -E 's/recompiled([0-9]+)/\1/' | sort -n | tail -1)
+          if [[ -z "$latest_dir" ]]; then
+            next_dir=1
+          else
+            next_dir=$((latest_dir+1))
+          fi
+          recompiled_dir="${next_dir}"
+          mkdir -p "recompiled${recompiled_dir}"
+          touch "recompiled${recompiled_dir}/.gitkeep"
+          cd ../..
+          echo "recompiled_dir=$recompiled_dir" >> $GITHUB_OUTPUT
+
+      - name: Push empty recompiled dir to GitLab
+        run: |
+          cd gitlab_docs
+          git add models/recompiled${{ steps.create-recompiled-dir.outputs.recompiled_dir }}
+          git config --global user.name "GitHub Action"
+          git config --global user.email "action@github.com"
+          git commit -m "Add recompiled${{ steps.create-recompiled-dir.outputs.recompiled_dir }} for build-all" || echo "No changes to commit"
+          git push origin main
+
+      - name: Push new JSON to GitHub docs repo
+        run: |
+          cd docs
+          git pull origin gh-pages
+          git add docs/"$(basename ${{ steps.get-json.outputs.json_file }})"
+          git config --global user.name "GitHub Action"
+          git config --global user.email "action@github.com"
+          git commit -m "Add new ${{ steps.get-json.outputs.json_file }} for build-all" || echo "No changes to commit"
+          git push origin gh-pages
+
+  get_and_build:
+    needs: [setup]
+    strategy:
+      matrix:
+        model: ${{ fromJson(needs.setup.outputs.model_matrix) }}
+      fail-fast: false
+    uses: ./.github/workflows/build-single-tinygrad-model.yaml
+    with:
+      upstream_branch: ${{ matrix.model.ref }}
+      custom_name: ${{ matrix.model.display_name }}
+      recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
+      json_version: ${{ needs.setup.outputs.json_version }}
+    secrets: inherit
+
+  retry_failed_models:
+    needs: [setup, get_and_build]
+    runs-on: ubuntu-latest
+    if: ${{ needs.setup.result != 'failure' && (failure() && !cancelled()) }}
+    outputs:
+      retry_matrix: ${{ steps.set-retry-matrix.outputs.retry_matrix }}
+    steps:
+      - uses: actions/download-artifact@v4
+        with:
+          pattern: model-*
+          path: output
+
+      - id: set-retry-matrix
+        run: |
+          echo '${{ needs.setup.outputs.model_matrix }}' > matrix.json
+          built=(); while IFS= read -r line; do built+=("$line"); done < <(
+            ls output | sed -E 's/^model-//' | sed -E 's/-[0-9]+$//' | sed -E 's/ \([^)]*\)//' | awk '{gsub(/^ +| +$/, ""); print}'
+          )
+          jq -c --argjson built "$(printf '%s\n' "${built[@]}" | jq -R . | jq -s .)" \
+            'map(select(.display_name as $n | ($built | index($n | gsub("^ +| +$"; "")) | not)))' matrix.json > retry_matrix.json
+          echo "retry_matrix=$(cat retry_matrix.json)" >> $GITHUB_OUTPUT
+
+  retry_get_and_build:
+    needs: [setup, get_and_build, retry_failed_models]
+    if: ${{ needs.get_and_build.result == 'failure' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '') }}
+    strategy:
+      matrix:
+        model: ${{ fromJson(needs.retry_failed_models.outputs.retry_matrix) }}
+      fail-fast: false
+    uses: ./.github/workflows/build-single-tinygrad-model.yaml
+    with:
+      upstream_branch: ${{ matrix.model.ref }}
+      custom_name: ${{ matrix.model.display_name }}
+      recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
+      json_version: ${{ needs.setup.outputs.json_version }}
+      artifact_suffix: -retry
+    secrets: inherit
+
+  publish_models:
+    name: Publish models sequentially
+    needs: [setup, get_and_build, retry_failed_models, retry_get_and_build]
+    if: ${{ !cancelled() && (needs.get_and_build.result != 'failure' || needs.retry_get_and_build.result == 'success' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '')) }}
+    runs-on: ubuntu-latest
+    strategy:
+      max-parallel: 1
+      matrix:
+        model: ${{ fromJson(needs.setup.outputs.model_matrix) }}
+    env:
+      RECOMPILED_DIR: recompiled${{ needs.setup.outputs.recompiled_dir }}
+      JSON_FILE: ${{ needs.setup.outputs.json_file }}
+      ARTIFACT_NAME_INPUT: ${{ matrix.model.display_name }}
+    steps:
+      - name: Set up SSH
+        uses: webfactory/ssh-agent@v0.9.0
+        with:
+          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
+
+      - name: Add GitLab.com SSH key to known_hosts
+        run: |
+          mkdir -p ~/.ssh
+          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
+
+      - name: Clone GitLab docs repo
+        env:
+          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
+        run: |
+          echo "Cloning GitLab"
+          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai3.git gitlab_docs
+          cd gitlab_docs
+          echo "checkout models/${RECOMPILED_DIR}"
+          git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
+          git checkout main
+          cd ..
+
+      - name: Checkout docs repo
+        uses: actions/checkout@v4
+        with:
+          repository: sunnypilot/sunnypilot-docs
+          ref: gh-pages
+          path: docs
+          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
+
+      - name: Validate recompiled dir and JSON version
+        run: |
+          if [ ! -d "gitlab_docs/models/$RECOMPILED_DIR" ]; then
+            echo "Recompiled dir $RECOMPILED_DIR does not exist in GitLab repo"
+            exit 1
+          fi
+          if [ ! -f "$JSON_FILE" ]; then
+            echo "JSON file $JSON_FILE does not exist!"
+            exit 1
+          fi
+
+      - name: Download artifact name file
+        uses: actions/download-artifact@v4
+        with:
+          name: artifact-name-${{ env.ARTIFACT_NAME_INPUT }}
+          path: artifact_name
+
+      - name: Read artifact name
+        id: read-artifact-name
+        run: |
+          ARTIFACT_NAME=$(cat artifact_name/artifact_name.txt)
+          echo "artifact_name=$ARTIFACT_NAME" >> $GITHUB_OUTPUT
+
+      - name: Download model artifact
+        uses: actions/download-artifact@v4
+        with:
+          name: ${{ steps.read-artifact-name.outputs.artifact_name }}
+          path: output
+
+      - name: Remove onnx files bc not needed for recompiled dir since they already exist from single build
+        run: |
+          find output -type f -name '*.onnx' -delete
+          find output -type f -name 'big_*.pkl' -delete
+          find output -type f -name 'dmonitoring_model_tinygrad.pkl' -delete
+
+      - name: Copy model artifacts to gitlab
+        env:
+          ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
+        run: |
+          ARTIFACT_DIR="gitlab_docs/models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
+          mkdir -p "$ARTIFACT_DIR"
+          for path in output/*; do
+            if [ "$(basename "$path")" = "artifact_name.txt" ]; then
+              continue
+            fi
+            name="$(basename "$path")"
+            if [ -d "$path" ]; then
+              mkdir -p "$ARTIFACT_DIR/$name"
+              cp -r "$path"/* "$ARTIFACT_DIR/$name/"
+              echo "Copied dir $name -> $ARTIFACT_DIR/$name"
+            else
+              cp "$path" "$ARTIFACT_DIR/"
+              echo "Copied file $name -> $ARTIFACT_DIR/"
+            fi
+          done
+
+      - name: Push recompiled dir to GitLab
+        env:
+          GITLAB_SSH_PRIVATE_KEY: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
+        run: |
+          cd gitlab_docs
+          git checkout main
+          git pull origin main
+          for d in models/"$RECOMPILED_DIR"/*/; do
+            git sparse-checkout add "$d"
+          done
+          git add models/"$RECOMPILED_DIR"
+          git config --global user.name "GitHub Action"
+          git config --global user.email "action@github.com"
+          git commit -m "Update $RECOMPILED_DIR with model from build-all-tinygrad-models" || echo "No changes to commit"
+          git push origin main
+      - run: |
+          cd docs
+          git pull origin gh-pages
+
+      - name: update json
+        run: |
+          ARGS=""
+          [ -n "${{ inputs.set_min_version }}" ] && ARGS="$ARGS --set-min-version \"${{ inputs.set_min_version }}\""
+          ARGS="$ARGS --sort-by-date"
+          eval python3 docs/json_parser.py \
+            --json-path "$JSON_FILE" \
+            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
+            $ARGS
+
+      - name: Push updated json to GitHub
+        run: |
+          cd docs
+          git config --global user.name "GitHub Action"
+          git config --global user.email "action@github.com"
+          git checkout gh-pages
+          git add docs/"$(basename $JSON_FILE)"
+          git commit -m "Update $(basename $JSON_FILE) after recompiling model" || echo "No changes to commit"
+          git push origin gh-pages
@@ -0,0 +1,228 @@
+name: Build Single Tinygrad Model and Push
+
+on:
+  workflow_call:
+    inputs:
+      upstream_branch:
+        description: 'Upstream commit to build from'
+        required: true
+        type: string
+      custom_name:
+        description: 'Custom name for the model (no date, only name)'
+        required: false
+        type: string
+      recompiled_dir:
+        description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
+        required: true
+        type: string
+      json_version:
+        description: 'driving_models version number to update (e.g. 5 for driving_models_v5.json)'
+        required: true
+        type: string
+      artifact_suffix:
+        description: 'Suffix for artifact name'
+        required: false
+        type: string
+        default: ''
+      bypass_push:
+        description: 'Bypass pushing to GitLab for build-all'
+        required: false
+        default: true
+        type: boolean
+  workflow_dispatch:
+    inputs:
+      upstream_branch:
+        description: 'Upstream commit to build from'
+        required: true
+        type: string
+      custom_name:
+        description: 'Custom name for the model (no date, only name)'
+        required: false
+        type: string
+      recompiled_dir:
+        description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
+        required: true
+        type: number
+      json_version:
+        description: 'driving_models version number to update (e.g. 5 for driving_models_v5.json)'
+        required: true
+        type: number
+      model_folder:
+        description: 'Model folder'
+        type: choice
+        default: 'None'
+        options:
+          - None
+          - Simple Plan Models
+          - Space Lab Models
+          - TR Models
+          - DTR Models
+          - Custom Merge Models
+          - FOF series models
+          - Other
+      custom_model_folder:
+        description: 'Custom model folder name (if "Other" selected)'
+        required: false
+        type: string
+      generation:
+        description: 'Model generation'
+        required: false
+        type: number
+      version:
+        description: 'Minimum selector version'
+        required: false
+        type: number
+env:
+  RECOMPILED_DIR: recompiled${{ inputs.recompiled_dir }}
+  JSON_FILE: docs/docs/driving_models_v${{ inputs.json_version }}.json
+
+jobs:
+  build_model:
+    uses: ./.github/workflows/sunnypilot-build-model.yaml
+    with:
+      upstream_branch: ${{ inputs.upstream_branch }}
+      custom_name: ${{ inputs.custom_name || inputs.upstream_branch }}
+      is_20hz: true
+      artifact_suffix: ${{ inputs.artifact_suffix }}
+    secrets: inherit
+
+  publish_model:
+    if: ${{ !inputs.bypass_push && !cancelled() }}
+    concurrency:
+      group: gitlab-push-${{ inputs.recompiled_dir }}
+      cancel-in-progress: false
+    needs: build_model
+    runs-on: ubuntu-latest
+    steps:
+      - name: Set up SSH
+        uses: webfactory/ssh-agent@v0.9.0
+        with:
+          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
+
+      - name: Add GitLab.com SSH key to known_hosts
+        run: |
+          mkdir -p ~/.ssh
+          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
+
+      - name: Clone GitLab docs repo
+        env:
+          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
+        run: |
+          echo "Cloning GitLab"
+          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai3.git gitlab_docs
+          cd gitlab_docs
+          echo "checkout models/${RECOMPILED_DIR}"
+          git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
+          git checkout main
+          cd ..
+
+      - name: Checkout docs repo
+        uses: actions/checkout@v4
+        with:
+          repository: sunnypilot/sunnypilot-docs
+          ref: gh-pages
+          path: docs
+          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
+
+      - name: Validate recompiled dir and JSON version
+        run: |
+          if [ ! -d "gitlab_docs/models/$RECOMPILED_DIR" ]; then
+            echo "Recompiled dir $RECOMPILED_DIR does not exist in GitLab repo"
+            exit 1
+          fi
+          if [ ! -f "$JSON_FILE" ]; then
+            echo "JSON file $JSON_FILE does not exist!"
+            exit 1
+          fi
+
+      - name: Download artifact name file
+        uses: actions/download-artifact@v4
+        with:
+          name: artifact-name-${{ inputs.custom_name || inputs.upstream_branch }}
+          path: artifact_name
+
+      - name: Read artifact name
+        id: read-artifact-name
+        run: |
+          ARTIFACT_NAME=$(cat artifact_name/artifact_name.txt)
+          echo "artifact_name=$ARTIFACT_NAME" >> $GITHUB_OUTPUT
+
+      - name: Download and extract model artifact
+        uses: actions/download-artifact@v4
+        with:
+          name: ${{ steps.read-artifact-name.outputs.artifact_name }}
+          path: output
+
+      - name: Remove unwanted files
+        run: |
+          find output -type f -name 'dmonitoring_model_tinygrad.pkl' -delete
+          find output -type f -name 'dmonitoring_model.onnx' -delete
+
+      - name: Copy model artifact(s) to GitLab recompiled dir
+        env:
+          ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
+        run: |
+          ARTIFACT_DIR="gitlab_docs/models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
+          mkdir -p "$ARTIFACT_DIR"
+          for path in output/*; do
+            if [ "$(basename "$path")" = "artifact_name.txt" ]; then
+              continue
+            fi
+            name="$(basename "$path")"
+            if [ -d "$path" ]; then
+              mkdir -p "$ARTIFACT_DIR/$name"
+              cp -r "$path"/* "$ARTIFACT_DIR/$name/"
+              echo "Copied dir $name -> $ARTIFACT_DIR/$name"
+            else
+              cp "$path" "$ARTIFACT_DIR/"
+              echo "Copied file $name -> $ARTIFACT_DIR/"
+            fi
+          done
+
+      - name: Push recompiled dir to GitLab
+        env:
+          GITLAB_SSH_PRIVATE_KEY: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
+        run: |
+          cd gitlab_docs
+          git checkout main
+          git pull origin main
+          for d in models/"$RECOMPILED_DIR"/*/; do
+            git sparse-checkout add "$d"
+          done
+          git add models/"$RECOMPILED_DIR"
+          git config --global user.name "GitHub Action"
+          git config --global user.email "action@github.com"
+          git commit -m "Create/Update $RECOMPILED_DIR with new/updated model from build-single-tinygrad-model" || echo "No changes to commit"
+          git push origin main
+
+      - run: |
+          cd docs
+          git pull origin gh-pages
+
+      - name: Run json_parser.py to update JSON
+        run: |
+          FOLDER="${{ inputs.model_folder }}"
+          if [ "$FOLDER" = "Other" ]; then
+            FOLDER="${{ inputs.custom_model_folder }}"
+          fi
+          ARGS=""
+          if [ "$FOLDER" != "None" ] && [ -n "$FOLDER" ]; then
+            ARGS="$ARGS --model-folder \"$FOLDER\""
+          fi
+          [ -n "${{ inputs.generation }}" ] && ARGS="$ARGS --generation \"${{ inputs.generation }}\""
+          [ -n "${{ inputs.version }}" ] && ARGS="$ARGS --version \"${{ inputs.version }}\""
+          eval python3 docs/json_parser.py \
+            --json-path "$JSON_FILE" \
+            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
+            --sort-by-date \
+            $ARGS
+
+      - name: Push updated JSON to GitHub docs repo
+        run: |
+          cd docs
+          git config --global user.name "GitHub Action"
+          git config --global user.email "action@github.com"
+          git checkout gh-pages
+          git add docs/"$(basename $JSON_FILE)"
+          git commit -m "Update $(basename $JSON_FILE) after recompiling model" || echo "No changes to commit"
+          git push origin gh-pages
@@ -13,7 +13,7 @@ env:
 jobs:
  update_translations:
    runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
    steps:
      - uses: actions/checkout@v4
      - uses: ./.github/workflows/setup-with-retry
@@ -23,12 +23,12 @@ jobs:
      - name: Create Pull Request
        uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
        with:
-          author: Vehicle Researcher <user@comma.ai>
+          author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
          commit-message: "Update translations"
          title: "[bot] Update translations"
          body: "Automatic PR from repo-maintenance -> update_translations"
          branch: "update-translations"
-          base: "master"
+          base: "master-new"
          delete-branch: true
          labels: bot

@@ -54,18 +54,19 @@ jobs:
        git add .
    - name: update car docs
      run: |
+        export PYTHONPATH="$PWD"
        scons -j$(nproc) --minimal opendbc_repo
-        PYTHONPATH=. python selfdrive/car/docs.py
+        python selfdrive/car/docs.py
        git add docs/CARS.md
    - name: Create Pull Request
      uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
      with:
-        author: Vehicle Researcher <user@comma.ai>
-        token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
+        author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
+        token: ${{ github.repository == 'commaai/openpilot' && secrets.ACTIONS_CREATE_PR_PAT || secrets.GITHUB_TOKEN }}
        commit-message: Update Python packages
        title: '[bot] Update Python packages'
        branch: auto-package-updates
-        base: master
+        base: master-new
        delete-branch: true
        body: 'Automatic PR from repo-maintenance -> package_updates'
        labels: bot
@@ -29,7 +29,7 @@ env:

  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c

-  PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0 -n logical
+  PYTEST: pytest --continue-on-collection-errors --durations=0 --durations-min=5 -n logical

 jobs:
  build_release:
@@ -163,12 +163,6 @@ jobs:
                        ./selfdrive/ui/tests/create_test_translations.sh && \
                        QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
                        chmod -R 777 /tmp/comma_download_cache"
-    - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v4
-      with:
-        name: ${{ github.job }}
-      env:
-        CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}

  process_replay:
    name: process replay
@@ -192,10 +186,8 @@ jobs:
    - name: Run replay
      timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.dependency-cache.outputs.cache-hit == 'true') && 1 || 20 }}
      run: |
-        ${{ env.RUN }} "coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
-                        chmod -R 777 /tmp/comma_download_cache && \
-                        coverage combine && \
-                        coverage xml"
+        ${{ env.RUN }} "selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
+                        chmod -R 777 /tmp/comma_download_cache"
    - name: Print diff
      id: print-diff
      if: always()
@@ -207,7 +199,7 @@ jobs:
        name: process_replay_diff.txt
        path: selfdrive/test/process_replay/diff.txt
    - name: Upload reference logs
-      if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
+      if: false # TODO: move this to github instead of azure
      run: |
        ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python3 selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
    - name: Run regen
@@ -216,12 +208,6 @@ jobs:
      run: |
        ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
                        chmod -R 777 /tmp/comma_download_cache"
-    - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v4
-      with:
-        name: ${{ github.job }}
-      env:
-        CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}

  test_cars:
    name: cars
@@ -252,12 +238,6 @@ jobs:
      env:
        NUM_JOBS: 4
        JOB_ID: ${{ matrix.job }}
-    - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v4
-      with:
-        name: ${{ github.job }}-${{ matrix.job }}
-      env:
-        CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}

  car_docs_diff:
    name: PR comments
@@ -7,6 +7,7 @@ on:
 env:
  DAYS_BEFORE_PR_CLOSE: 2
  DAYS_BEFORE_PR_STALE: 9
+  DAYS_BEFORE_PR_STALE_DRAFT: 30

 jobs:
  stale:
@@ -24,6 +25,28 @@ jobs:
          exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
          days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }}
          days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
+          exempt-draft-pr: false
+
+          # issue config
+          days-before-issue-stale: -1 # ignore issues for now
+
+  # same as above, but give draft PRs more time
+  stale_drafts:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/stale@v9
+        with:
+          exempt-all-milestones: true
+
+          # pull request config
+          stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE_DRAFT }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
+          close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
+          stale-pr-label: stale
+          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
+          exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
+          days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE_DRAFT }}
+          days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
+          exempt-draft-pr: true

          # issue config
          days-before-issue-stale: -1 # ignore issues for now
@@ -9,6 +9,27 @@ env:
  MODELS_DIR: ${{ github.workspace }}/selfdrive/modeld/models

 on:
+  workflow_call:
+    inputs:
+      upstream_branch:
+        description: 'Upstream branch to build from'
+        required: true
+        default: 'master'
+        type: string
+      custom_name:
+        description: 'Custom name for the model (no date, only name)'
+        required: false
+        type: string
+      is_20hz:
+        description: 'Is this a 20Hz model'
+        required: false
+        type: boolean
+        default: true
+      artifact_suffix:
+        description: 'Suffix for artifact name'
+        required: false
+        type: string
+        default: ''
  workflow_dispatch:
    inputs:
      upstream_branch:
@@ -32,34 +53,53 @@ run-name: Build model [${{ inputs.custom_name || inputs.upstream_branch }}] from
 jobs:
  get_model:
    runs-on: ubuntu-latest
+    env:
+      REF: ${{ inputs.upstream_branch }}
    outputs:
      model_date: ${{ steps.commit-date.outputs.model_date }}
    steps:
-      - uses: actions/checkout@v4
+      # Note: To allow dynamic models from both openpilot and sunnypilot (merges/mashups), we try commaai as default,
+      # and fallback to sunnypilot if the ref checkout fails.
+      - name: Checkout commaai/openpilot
+        id: checkout_upstream
+        continue-on-error: true
+        uses: actions/checkout@v4
        with:
-          repository: ${{ env.UPSTREAM_REPO }}
-          ref: ${{ github.event.inputs.upstream_branch }}
+          repository: commaai/openpilot
+          ref: ${{ inputs.upstream_branch }}
          submodules: recursive
+          path: openpilot
+
+      - name: Fallback to sunnypilot/sunnypilot
+        if: steps.checkout_upstream.outcome == 'failure'
+        uses: actions/checkout@v4
+        with:
+          repository: sunnypilot/sunnypilot
+          ref: ${{ inputs.upstream_branch }}
+          submodules: recursive
+          path: openpilot
      - name: Get commit date
        id: commit-date
        run: |
-          # Get the commit date in YYYY-MM-DD format
+          cd ${{ github.workspace }}/openpilot
          commit_date=$(git log -1 --format=%cd --date=format:'%B %d, %Y')
          echo "model_date=${commit_date}" >> $GITHUB_OUTPUT
          cat $GITHUB_OUTPUT
-      - run: git lfs pull
+      - run: |
+          cd ${{ github.workspace }}/openpilot
+          git lfs pull
      - name: 'Upload Artifact'
        uses: actions/upload-artifact@v4
        with:
-          name: models
-          path: ${{ github.workspace }}/selfdrive/modeld/models/*.onnx
+          name: models-${{ env.REF }}${{ inputs.artifact_suffix  }}
+          path: ${{ github.workspace }}/openpilot/selfdrive/modeld/models/*.onnx

  build_model:
-    runs-on: self-hosted
+    runs-on: [self-hosted, tici]
    needs: get_model
    env:
      MODEL_NAME: ${{ inputs.custom_name || inputs.upstream_branch }} (${{ needs.get_model.outputs.model_date }})
-
+      REF: ${{ inputs.upstream_branch }}
    steps:
      - uses: actions/checkout@v4
        with:
@@ -71,7 +111,7 @@ jobs:
        with:
          path: ${{env.SCONS_CACHE_DIR}}
          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model-${{ github.sha }}
-          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.) 
+          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.)
          #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
          restore-keys: |
            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model
@@ -114,7 +154,7 @@ jobs:
      - name: Download model artifacts
        uses: actions/download-artifact@v4
        with:
-          name: models
+          name: models-${{ env.REF }}${{ inputs.artifact_suffix }}
          path: ${{ github.workspace }}/selfdrive/modeld/models

      - name: Build Model
@@ -157,12 +197,22 @@ jobs:
            --upstream-branch "${{ inputs.upstream_branch }}" \
            ${{ inputs.is_20hz && '--is-20hz' || '' }}

+      - name: Write artifact name to file
+        run: echo "model-${{ env.MODEL_NAME }}${{ inputs.artifact_suffix }}-${{ github.run_number }}" > ${{ env.OUTPUT_DIR }}/artifact_name.txt
+
      - name: Upload Build Artifacts
+        id: upload-artifact
        uses: actions/upload-artifact@v4
        with:
-          name: model-${{ env.MODEL_NAME }}-${{ github.run_number }}
+          name: model-${{ env.MODEL_NAME }}${{ inputs.artifact_suffix }}-${{ github.run_number }}
          path: ${{ env.OUTPUT_DIR }}

+      - name: Upload artifact name file
+        uses: actions/upload-artifact@v4
+        with:
+          name: artifact-name-${{ inputs.custom_name || inputs.upstream_branch }}
+          path: ${{ env.OUTPUT_DIR }}/artifact_name.txt
+
      - name: Re-enable powersave
        if: always()
        run: |
@@ -50,7 +50,7 @@ jobs:
    concurrency:
      group: build-${{ github.head_ref || github.ref_name }}
      cancel-in-progress: false
-    runs-on: self-hosted
+    runs-on: [self-hosted, tici]
    outputs:
      new_branch: ${{ steps.set-env.outputs.new_branch }}
      version: ${{ steps.set-env.outputs.version }}
@@ -70,8 +70,6 @@ flycheck_*
 cppcheck_report.txt
 comma*.sh

-selfdrive/modeld/thneed/compile
-selfdrive/modeld/models/*.thneed
 selfdrive/modeld/models/*.pkl
 sunnypilot/modeld*/thneed/compile
 sunnypilot/modeld*/models/*.thneed
@@ -2,7 +2,7 @@
  <tool name="uv Scons Build Debug" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
    <exec>
      <option name="COMMAND" value="bash" />
-      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) --compile_db --ccflags=\&quot;-fno-inline\&quot;&quot;" />
+      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) --ccflags=\&quot;-fno-inline\&quot;&quot;" />
      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
    </exec>
  </tool>
@@ -16,7 +16,7 @@
  <tool name="uv Scons Build Release" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
    <exec>
      <option name="COMMAND" value="bash" />
-      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) --compile_db&quot; " />
+      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc)&quot; " />
      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
    </exec>
  </tool>
@@ -3,7 +3,6 @@ FROM ghcr.io/commaai/openpilot-base:latest
 ENV PYTHONUNBUFFERED=1

 ENV OPENPILOT_PATH=/home/batman/openpilot
-ENV PYTHONPATH=${OPENPILOT_PATH}:${PYTHONPATH}

 RUN mkdir -p ${OPENPILOT_PATH}
 WORKDIR ${OPENPILOT_PATH}
@@ -73,7 +73,7 @@ By default, sunnypilot uploads the driving data to comma servers. You can also a
 sunnypilot is open source software. The user is free to disable data collection if they wish to do so.

 sunnypilot logs the road-facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
-The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
+The driver-facing camera and microphone are only logged if you explicitly opt-in in settings.

 By using this software, you understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.

@@ -1,5 +1,11 @@
-Version 0.9.10 (2025-06-30)
+Version 0.10.0 (2025-07-07)
 ========================
+* New driving model
+  * Lead car ground-truth fixes
+  * Ported over VAE from the MLSIM stack
+  * New training architecture described in CVPR paper
+* Enable live-learned steering actuation delay
+* Opt-in audio recording for dashcam video

 Version 0.9.9 (2025-05-23)
 ========================
@@ -39,10 +39,6 @@ AddOption('--clazy',
          action='store_true',
          help='build with clazy')

-AddOption('--compile_db',
-          action='store_true',
-          help='build clang compilation database')
-
 AddOption('--ccflags',
          action='store',
          type='string',
@@ -234,8 +230,7 @@ if arch == "Darwin":
  darwin_rpath_link_flags = [f"-Wl,-rpath,{path}" for path in env["RPATH"]]
  env["LINKFLAGS"] += darwin_rpath_link_flags

-if GetOption('compile_db'):
-  env.CompilationDatabase('compile_commands.json')
+env.CompilationDatabase('compile_commands.json')

 # Setup cache dir
 default_cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache'
@@ -101,6 +101,7 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {

 struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
  dec @0 :DynamicExperimentalControl;
+  accelPersonality @1 :AccelerationPersonality;

  struct DynamicExperimentalControl {
    state @0 :DynamicExperimentalControlState;
@@ -112,6 +113,12 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
      blended @1;
    }
  }
+
+  enum AccelerationPersonality {
+    sport @0;
+    normal @1;
+    eco @2;
+  }
 }

 struct OnroadEventSP @0xda96579883444c35 {
@@ -1083,7 +1083,7 @@ struct ModelDataV2 {
  confidence @23: ConfidenceClass;

  # Model perceived motion
-  temporalPose @21 :Pose;
+  temporalPoseDEPRECATED @21 :Pose;

  # e2e lateral planner
  action @26: Action;
@@ -2281,6 +2281,7 @@ struct LiveTorqueParametersData {
  points @10 :List(List(Float32));
  version @11 :Int32;
  useParams @12 :Bool;
+  calPerc @13 :Int8;
 }

 struct LiveDelayData {
@@ -2291,6 +2292,7 @@ struct LiveDelayData {
  lateralDelayEstimate @3 :Float32;
  lateralDelayEstimateStd @5 :Float32;
  points @4 :List(Float32);
+  calPerc @6 :Int8;

  enum Status {
    unestimated @0;
@@ -2468,13 +2470,19 @@ struct DebugAlert {
 struct UserFlag {
 }

-struct Microphone {
+struct SoundPressure @0xdc24138990726023 {
  soundPressure @0 :Float32;

  # uncalibrated, A-weighted
  soundPressureWeighted @3 :Float32;
  soundPressureWeightedDb @1 :Float32;
-  filteredSoundPressureWeightedDb @2 :Float32;
+
+  filteredSoundPressureWeightedDbDEPRECATED @2 :Float32;
+}
+
+struct AudioData {
+  data @0 :Data;
+  sampleRate @1 :UInt32;
 }

 struct Touch {
@@ -2554,7 +2562,8 @@ struct Event {
    livestreamDriverEncodeIdx @119 :EncodeIndex;

    # microphone data
-    microphone @103 :Microphone;
+    soundPressure @103 :SoundPressure;
+    rawAudioData @147 :AudioData;

    # systems stuff
    androidLog @20 :AndroidLogEntry;
@@ -73,7 +73,8 @@ _services: dict[str, tuple] = {
  "navThumbnail": (True, 0.),
  "qRoadEncodeIdx": (False, 20.),
  "userFlag": (True, 0., 1),
-  "microphone": (True, 10., 10),
+  "soundPressure": (True, 10., 10),
+  "rawAudioData": (False, 20.),

  # sunnypilot
  "modelManagerSP": (False, 1., 1),
@@ -1,13 +0,0 @@
-comment: false
-coverage:
-  status:
-    project:
-      default:
-        informational: true
-    patch: off
-
-ignore:
-  - "**/test_*.py"
-  - "selfdrive/test/**"
-  - "system/version.py" # codecov changes depending on if we are in a branch or not
-  - "tools"
@@ -1 +1 @@
-#define DEFAULT_MODEL "Filet o Fish (Default)"
+#define DEFAULT_MODEL "Tomb Raider 14 (Default)"
@@ -5,8 +5,8 @@

 inline static std::unordered_map<std::string, uint32_t> keys = {
    {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
-    {"AdbEnabled", PERSISTENT},
-    {"AlwaysOnDM", PERSISTENT},
+    {"AdbEnabled", PERSISTENT | BACKUP},
+    {"AlwaysOnDM", PERSISTENT | BACKUP},
    {"ApiCache_Device", PERSISTENT},
    {"ApiCache_FirehoseStats", PERSISTENT},
    {"AssistNowToken", PERSISTENT},
@@ -78,7 +78,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
    {"LocationFilterInitialState", PERSISTENT},
    {"LongitudinalManeuverMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
    {"LongitudinalPersonality", PERSISTENT | BACKUP},
-    {"NetworkMetered", PERSISTENT},
+    {"NetworkMetered", PERSISTENT | BACKUP},
    {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
    {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
    {"Offroad_BadNvme", CLEAR_ON_MANAGER_START},
@@ -99,9 +99,10 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
    {"PandaSomResetTriggered", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
    {"PandaSignatures", CLEAR_ON_MANAGER_START},
    {"PrimeType", PERSISTENT},
+    {"RecordAudio", PERSISTENT | BACKUP},
    {"RecordFront", PERSISTENT | BACKUP},
    {"RecordFrontLock", PERSISTENT},  // for the internal fleet
-    {"SecOCKey", PERSISTENT | DONT_LOG},  // Candidate for | BACKUP
+    {"SecOCKey", PERSISTENT | DONT_LOG | BACKUP},
    {"RouteCount", PERSISTENT},
    {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
    {"SshEnabled", PERSISTENT | BACKUP},
@@ -122,25 +123,34 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
    {"Version", PERSISTENT},

    // --- sunnypilot params --- //
+    {"AccelPersonality", PERSISTENT},
    {"ApiCache_DriveStats", PERSISTENT},
-    {"AutoLaneChangeBsmDelay", PERSISTENT},
-    {"AutoLaneChangeTimer", PERSISTENT},
+    {"AutoLaneChangeBsmDelay", PERSISTENT | BACKUP},
+    {"AutoLaneChangeTimer", PERSISTENT | BACKUP},
    {"BlinkerMinLateralControlSpeed", PERSISTENT | BACKUP},
    {"BlinkerPauseLateralControl", PERSISTENT | BACKUP},
+    {"Brightness", PERSISTENT | BACKUP},
    {"CarParamsSP", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
    {"CarParamsSPCache", CLEAR_ON_MANAGER_START},
    {"CarParamsSPPersistent", PERSISTENT},
-    {"CarPlatformBundle", PERSISTENT},
+    {"CarPlatformBundle", PERSISTENT | BACKUP},
+    {"ChevronInfo", PERSISTENT | BACKUP},
    {"CustomAccIncrementsEnabled", PERSISTENT | BACKUP},
    {"CustomAccLongPressIncrement", PERSISTENT | BACKUP},
    {"CustomAccShortPressIncrement", PERSISTENT | BACKUP},
    {"DeviceBootMode", PERSISTENT | BACKUP},
    {"EnableGithubRunner", PERSISTENT | BACKUP},
+    {"InteractivityTimeout", PERSISTENT | BACKUP},
+    {"IsDevelopmentBranch", CLEAR_ON_MANAGER_START},
    {"MaxTimeOffroad", PERSISTENT | BACKUP},
-    {"Brightness", PERSISTENT | BACKUP},
    {"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION},
    {"OffroadMode", CLEAR_ON_MANAGER_START},
+    {"QuickBootToggle", PERSISTENT | BACKUP},
    {"QuietMode", PERSISTENT | BACKUP},
+    {"ShowAdvancedControls", PERSISTENT | BACKUP},
+    {"VibePersonalityEnabled", PERSISTENT},
+    {"VibeAccelPersonalityEnabled", PERSISTENT},
+    {"VibeFollowPersonalityEnabled", PERSISTENT},

    // MADS params
    {"Mads", PERSISTENT | BACKUP},
@@ -150,6 +160,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {

    // Model Manager params
    {"ModelManager_ActiveBundle", PERSISTENT},
+    {"ModelManager_ClearCache", CLEAR_ON_MANAGER_START},
    {"ModelManager_DownloadIndex", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
    {"ModelManager_LastSyncTime", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
    {"ModelManager_ModelsCache", PERSISTENT | BACKUP},
@@ -171,13 +182,15 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
    {"BackupManager_RestoreVersion", PERSISTENT},

    // sunnypilot car specific params
-    {"HyundaiLongitudinalTuning", PERSISTENT},
+    {"HyundaiLongitudinalTuning", PERSISTENT | BACKUP},

-    {"DynamicExperimentalControl", PERSISTENT},
+    {"DynamicExperimentalControl", PERSISTENT | BACKUP},
    {"BlindSpot", PERSISTENT | BACKUP},

    // model panel params
    {"LagdToggle", PERSISTENT | BACKUP},
+    {"LagdToggleDesc", PERSISTENT},
+    {"LagdToggledelay", PERSISTENT | BACKUP},

    // mapd
    {"MapAdvisorySpeedLimit", CLEAR_ON_ONROAD_TRANSITION},
@@ -0,0 +1,52 @@
+import os
+import subprocess
+from openpilot.common.basedir import BASEDIR
+
+
+class Spinner:
+  def __init__(self):
+    try:
+      self.spinner_proc = subprocess.Popen(["./spinner.py"],
+                                           stdin=subprocess.PIPE,
+                                           cwd=os.path.join(BASEDIR, "system", "ui"),
+                                           close_fds=True)
+    except OSError:
+      self.spinner_proc = None
+
+  def __enter__(self):
+    return self
+
+  def update(self, spinner_text: str):
+    if self.spinner_proc is not None:
+      self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n")
+      try:
+        self.spinner_proc.stdin.flush()
+      except BrokenPipeError:
+        pass
+
+  def update_progress(self, cur: float, total: float):
+    self.update(str(round(100 * cur / total)))
+
+  def close(self):
+    if self.spinner_proc is not None:
+      self.spinner_proc.kill()
+      try:
+        self.spinner_proc.communicate(timeout=2.)
+      except subprocess.TimeoutExpired:
+        print("WARNING: failed to kill spinner")
+      self.spinner_proc = None
+
+  def __del__(self):
+    self.close()
+
+  def __exit__(self, exc_type, exc_value, traceback):
+    self.close()
+
+
+if __name__ == "__main__":
+  import time
+  with Spinner() as s:
+    s.update("Spinner text")
+    time.sleep(5.0)
+  print("gone")
+  time.sleep(5.0)
@@ -0,0 +1,63 @@
+#!/usr/bin/env python3
+import os
+import time
+import subprocess
+from openpilot.common.basedir import BASEDIR
+
+
+class TextWindow:
+  def __init__(self, text):
+    try:
+      self.text_proc = subprocess.Popen(["./text.py", text],
+                                        stdin=subprocess.PIPE,
+                                        cwd=os.path.join(BASEDIR, "system", "ui"),
+                                        close_fds=True)
+    except OSError:
+      self.text_proc = None
+
+  def get_status(self):
+    if self.text_proc is not None:
+      self.text_proc.poll()
+      return self.text_proc.returncode
+    return None
+
+  def __enter__(self):
+    return self
+
+  def close(self):
+    if self.text_proc is not None:
+      self.text_proc.terminate()
+      self.text_proc = None
+
+  def wait_for_exit(self):
+    if self.text_proc is not None:
+      while True:
+        if self.get_status() == 1:
+          return
+        time.sleep(0.1)
+
+  def __del__(self):
+    self.close()
+
+  def __exit__(self, exc_type, exc_value, traceback):
+    self.close()
+
+
+if __name__ == "__main__":
+  text = """Traceback (most recent call last):
+  File "./controlsd.py", line 608, in <module>
+    main()
+  File "./controlsd.py", line 604, in main
+    controlsd_thread(sm, pm, logcan)
+  File "./controlsd.py", line 455, in controlsd_thread
+    1/0
+ZeroDivisionError: division by zero"""
+  print(text)
+
+  with TextWindow(text) as s:
+    for _ in range(100):
+      if s.get_status() == 1:
+        print("Got exit button")
+        break
+      time.sleep(0.1)
+  print("gone")
@@ -1 +1 @@
-#define COMMA_VERSION "0.9.10"
+#define COMMA_VERSION "0.10.0"
@@ -2,7 +2,6 @@ import contextlib
 import gc
 import os
 import pytest
-import random

 from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.system.manager import manager
@@ -49,8 +48,6 @@ def clean_env():

@pytest.fixture(scope="function", autouse=True)
 def openpilot_function_fixture(request):
-  random.seed(0)
-
  with clean_env():
    # setup a clean environment for each test
    with OpenpilotPrefix(shared_download_cache=request.node.get_closest_marker("shared_download_cache") is not None) as prefix:
@@ -4,7 +4,7 @@

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

-# 312 Supported Cars
+# 319 Supported Cars

 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -15,7 +15,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>|||
 |Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
 |Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>|||
-|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>|||
+|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-24">Buy Here</a></sub></details>|||
 |Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>|||
 |Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>|||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
@@ -38,6 +38,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Hybrid 2023-24">Buy Here</a></sub></details>||https://www.youtube.com/watch?v=uUGkH6C_EQU|
 |Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
 |Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Plug-in Hybrid 2023-24">Buy Here</a></sub></details>||https://www.youtube.com/watch?v=uUGkH6C_EQU|
+|Ford|Expedition 2022-24|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Expedition 2022-24">Buy Here</a></sub></details>||https://www.youtube.com/watch?v=MewJc9LYp9M|
 |Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer 2020-24">Buy Here</a></sub></details>|||
 |Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer Hybrid 2020-24">Buy Here</a></sub></details>|||
 |Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=F-150 2021-23">Buy Here</a></sub></details>||https://www.youtube.com/watch?v=MewJc9LYp9M|
@@ -53,7 +54,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2023-24">Buy Here</a></sub></details>|||
 |Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2022">Buy Here</a></sub></details>|||
 |Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2023-24">Buy Here</a></sub></details>|||
-|Ford|Mustang Mach-E 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Mustang Mach-E 2021-23">Buy Here</a></sub></details>||https://www.youtube.com/watch?v=uUGkH6C_EQU|
+|Ford|Mustang Mach-E 2021-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Mustang Mach-E 2021-24">Buy Here</a></sub></details>||https://www.youtube.com/watch?v=uUGkH6C_EQU|
 |Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Ranger 2024">Buy Here</a></sub></details>||https://www.youtube.com/watch?v=uUGkH6C_EQU|
 |Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2018">Buy Here</a></sub></details>|||
 |Genesis|G70 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2019-21">Buy Here</a></sub></details>|||
@@ -77,8 +78,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Civic Hatchback Hybrid 2023 (Europe only)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback Hybrid 2023 (Europe only)">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback Hybrid 2025|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback Hybrid 2025">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
 |Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>|||
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>|||
 |Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
@@ -181,13 +182,13 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Telluride 2020-22">Buy Here</a></sub></details>|||
 |Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=CT Hybrid 2017-18">Buy Here</a></sub></details>|||
 |Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2017-18">Buy Here</a></sub></details>|||
-|Lexus|ES 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2019-24">Buy Here</a></sub></details>|||
+|Lexus|ES 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2019-25">Buy Here</a></sub></details>|||
 |Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>|||
 |Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2019-25">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=GS F 2016">Buy Here</a></sub></details>|||
 |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2017-19">Buy Here</a></sub></details>|||
-|Lexus|IS 2022-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2022-23">Buy Here</a></sub></details>|||
-|Lexus|LC 2024|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=LC 2024">Buy Here</a></sub></details>|||
+|Lexus|IS 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2022-24">Buy Here</a></sub></details>|||
+|Lexus|LC 2024-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=LC 2024-25">Buy Here</a></sub></details>|||
 |Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX 2018-19">Buy Here</a></sub></details>|||
 |Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX 2020-21">Buy Here</a></sub></details>|||
 |Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX Hybrid 2018-19">Buy Here</a></sub></details>|||
@@ -211,7 +212,9 @@ A supported vehicle is one that just works when you install a comma device. All
 |Nissan[<sup>7</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Nissan[<sup>7</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>|||
 |Nissan[<sup>7</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>|||
-|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ram&model=1500 2019-24">Buy Here</a></sub></details>|||
+|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ram&model=1500 2019-24">Buy Here</a></sub></details>|||
+|Ram|2500 2020-24|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ram&model=2500 2020-24">Buy Here</a></sub></details>|||
+|Ram|3500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ram&model=3500 2019-22">Buy Here</a></sub></details>|||
 |Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Rivian&model=R1S 2022-24">Buy Here</a></sub></details>||https://youtu.be/uaISd1j7Z4U|
 |Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Rivian&model=R1T 2022-24">Buy Here</a></sub></details>||https://youtu.be/uaISd1j7Z4U|
 |SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2016-23">Buy Here</a></sub></details>|||
@@ -219,10 +222,14 @@ A supported vehicle is one that just works when you install a comma device. All
 |Subaru|Ascent 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Forester 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Legacy 2020-22|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Outback 2020-22|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
@@ -313,11 +320,11 @@ A supported vehicle is one that just works when you install a comma device. All
 |Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
 |Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
 |Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>|||
+|Volkswagen|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-24">Buy Here</a></sub></details>|||
 |Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>|||
 |Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
 |Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-24">Buy Here</a></sub></details>|||
 |Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
 |Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>|||

@@ -7,7 +7,6 @@ Development is coordinated through [Discord](https://discord.comma.ai) and GitHu
 ### Getting Started

 * Setup your [development environment](../tools/)
-* Read about the [development workflow](WORKFLOW.md)
 * Join our [Discord](https://discord.comma.ai)
 * Docs are at https://docs.comma.ai and https://blog.comma.ai

@@ -1,33 +0,0 @@
-# openpilot development workflow
-
-Aside from the ML models, most tools used for openpilot development are in this repo.
-
-Most development happens on normal Ubuntu workstations, and not in cars or directly on comma devices. See the [setup guide](../tools) for getting your PC setup for openpilot development.
-
-## Quick start
-
-```bash
-# get the latest stuff
-git pull
-git lfs pull
-git submodule update --init --recursive
-
-# update dependencies
-tools/ubuntu_setup.sh
-
-# build everything
-scons -j$(nproc)
-
-# build just the ui with either of these
-scons -j8 selfdrive/ui/
-cd selfdrive/ui/ && scons -u -j8
-
-# test everything
-pytest
-
-# test just logging services
-cd system/loggerd && pytest .
-
-# run the linter
-op lint
-```
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1

 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="12.3"
+  export AGNOS_VERSION="12.4"
 fi

 export STAGING_ROOT="/data/safe_staging"
@@ -59,7 +59,7 @@ dependencies = [
  "future-fstrings",

  # joystickd
-  "pygame",
+  "inputs",

  # these should be removed
  "psutil",
@@ -68,6 +68,9 @@ dependencies = [

  # logreader
  "zstandard",
+
+  # ui
+  "qrcode",
 ]

 [project.optional-dependencies]
@@ -78,14 +81,13 @@ docs = [
 ]

 testing = [
-  "coverage",
  "hypothesis ==6.47.*",
  "mypy",
  "pytest",
-  "pytest-cov",
  "pytest-cpp",
  "pytest-subtests",
-  "pytest-xdist",
+  # https://github.com/pytest-dev/pytest-xdist/issues/1215
+  "pytest-xdist @ git+https://github.com/sshane/pytest-xdist@909e97b49d12401c10608f9d777bfc9dab8a4413",
  "pytest-timeout",
  "pytest-randomly",
  "pytest-asyncio",
@@ -102,10 +104,11 @@ dev = [
  "azure-storage-blob",
  "dbus-next",
  "dictdiffer",
-  "lru-dict",
  "matplotlib",
+  "opencv-python-headless",
  "parameterized >=0.8, <0.9",
  "pyautogui",
+  "pygame",
  "pyopencl; platform_machine != 'aarch64'", # broken on arm64
  "pytools < 2024.1.11; platform_machine != 'aarch64'", # pyopencl use a broken version
  "pywinctl",
@@ -261,8 +264,5 @@ lint.flake8-implicit-str-concat.allow-multiline = false
 "unittest".msg = "Use pytest"
 "pyray.measure_text_ex".msg = "Use openpilot.system.ui.lib.text_measure"

-[tool.coverage.run]
-concurrency = ["multiprocessing", "thread"]
-
 [tool.ruff.format]
 quote-style = "preserve"
@@ -1,36 +1,31 @@
 # openpilot releases

+```
 ## release checklist

 **Go to `devel-staging`**
+- [ ] update RELEASES.md
 - [ ] update `devel-staging`: `git reset --hard origin/master-ci`
 - [ ] open a pull request from `devel-staging` to `devel`
+- [ ] post on Discord

 **Go to `devel`**
- [ ] update RELEASES.md
- [ ] close out milestone
- [ ] post on Discord dev channel
 - [ ] bump version on master: `common/version.h` and `RELEASES.md`
- [ ] merge the pull request
-
-tests:
- [ ] update from previous release -> new release
- [ ] update from new release -> previous release
- [ ] fresh install with `openpilot-test.comma.ai`
- [ ] drive on fresh install
- [ ] comma body test
- [ ] no submodules or LFS
- [ ] check sentry, MTBF, etc.
+- [ ] before merging the pull request
+  - [ ] update from previous release -> new release
+  - [ ] update from new release -> previous release
+  - [ ] fresh install with `openpilot-test.comma.ai`
+  - [ ] drive on fresh install
+  - [ ] no submodules or LFS
+  - [ ] check sentry, MTBF, etc.

 **Go to `release3`**
 - [ ] publish the blog post
 - [ ] `git reset --hard origin/release3-staging`
- [ ] tag the release
-```
-git tag v0.X.X <commit-hash>
-git push origin v0.X.X
-```
+- [ ] tag the release: `git tag v0.X.X <commit-hash> && git push origin v0.X.X`
 - [ ] create GitHub release
 - [ ] final test install on `openpilot.comma.ai`
- [ ] update production
- [ ] Post on Discord, X, etc.
+- [ ] update factory provisioning
+- [ ] close out milestone
+- [ ] post on Discord, X, etc.
+```
@@ -5,6 +5,7 @@ set -e
 DEFAULT_REPO_URL="https://github.com/sunnypilot"
 START_AT_BOOT=false
 RESTORE_MODE=false
+RUNNER_VERSION="2.325.0"

 # Parse command line arguments
 while [[ $# -gt 0 ]]; do
@@ -108,9 +109,9 @@ setup_system_configs() {
 install_runner() {
    echo "Downloading and setting up runner..."
    cd "$RUNNER_DIR"
-    curl -o actions-runner-linux-arm64-2.322.0.tar.gz -L https://github.com/actions/runner/releases/download/v2.322.0/actions-runner-linux-arm64-2.322.0.tar.gz
-    sudo -u ${RUNNER_USER} tar -xzf ./actions-runner-linux-arm64-2.322.0.tar.gz
-    sudo rm ./actions-runner-linux-arm64-2.322.0.tar.gz
+    curl -o actions-runner-linux-arm64-${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
 }

@@ -149,25 +150,32 @@ 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 [ "$START_AT_BOOT" = false ]; then
-        local service_name
-        if [ -f "${RUNNER_DIR}/.service" ]; then
-            service_name=$(cat "${RUNNER_DIR}/.service")
-        else
-            service_name="actions.runner.sunnypilot.$(uname -n)"
-        fi
        sudo systemctl disable "${service_name}"
    fi
    remount_ro
 }

 check_restore_prerequisites() {
-    local needs_restore=false
    local can_restore=false
    local service_name=""

@@ -189,25 +197,16 @@ check_restore_prerequisites() {
        exit 1
    fi

-    # Then check if restoration is needed (if either service or user is missing)
-    if ! systemctl list-unit-files "${service_name}" &>/dev/null; then
-        echo "Service ${service_name} not found in systemd"
-        needs_restore=true
-    fi
-
    if ! id "${RUNNER_USER}" &>/dev/null; then
        echo "User ${RUNNER_USER} does not exist"
-        needs_restore=true
    fi

    # Only proceed if we can restore AND need to restore
-    if [ "$can_restore" = true ] && [ "$needs_restore" = true ]; then
-        echo "Restoration is needed and possible"
+    if [ "$can_restore" = true ]; then
+        echo "Restoration is possible"
        return 0
    else
-        if [ "$needs_restore" = false ]; then
-            echo "System is already properly configured (user and service exist)"
-        fi
+        echo "No restoration possible"
        exit 0
    fi
 }
@@ -226,7 +225,6 @@ perform_install() {
    setup_system_configs
    install_runner
    set_directory_permissions
-    create_service_template
    configure_runner
    install_service
    echo "Installation completed successfully"
@@ -13,17 +13,32 @@ def create_short_name(full_name):
  words = [re.sub(r'[^a-zA-Z0-9]', '', word) for word in clean_name.split() if re.sub(r'[^a-zA-Z0-9]', '', word)]

  if len(words) == 1:
-    # If there's only one word, return it as is, lowercased, truncated to 8 characters
-    truncated = words[0][:8]
-    return truncated.lower() if truncated.isupper() else truncated
+    return words[0][:8].upper()

  # Handle special case: Name + Version (e.g., "Word A1" -> "WordA1")
  if len(words) == 2 and re.match(r'^[A-Za-z]\d+$', words[1]):
-    first_word = words[0].lower() if words[0].isupper() else words[0]
-    return (first_word + words[1])[:8]
+    return (words[0] + words[1])[:8].upper()

-  # Normal case: first letter and trailing numbers from each word
-  result = ''.join(word if word.isdigit() else word[0] + (re.search(r'\d+$', word) or [''])[0] for word in words)
+  result = ""
+  for word in words:
+    # Version or number patterns
+    if (re.match(r'^\d+[a-zA-Z]+$', word) or
+        re.match(r'^\d+[vVbB]\d+$', word) or
+        re.match(r'^[vVbB]\d+$', word) or
+        re.match(r'^\d{4}$', word)):
+      result += word.upper()
+    # All uppercase abbreviations (2-3 letters)
+    elif re.match(r'^[A-Z]{2,3}$', word):
+      result += word
+    # Letters+digits (for example tr15 rev2)
+    elif re.match(r'^[a-zA-Z]+[0-9]+$', word):
+      result += word[0].upper() + ''.join(re.findall(r'\d+', word))
+    elif word.isalpha():
+      result += word[0].upper()
+    elif word.isdigit():
+      result += word
+    else:
+      result += word[0].upper()
  return result[:8]


@@ -58,14 +73,14 @@ def generate_metadata(model_path: Path, output_dir: Path, short_name: str):
    "artifact": {
      "file_name": tinygrad_file.name,
      "download_uri": {
-        "url": "https://gitlab.com/sunnypilot/public/docs.sunnypilot.ai/-/raw/main/<FILLME>",
+        "url": "https://gitlab.com/sunnypilot/public/docs.sunnypilot.ai/-/raw/main/",
        "sha256": tinygrad_hash
      }
    },
    "metadata": {
      "file_name": metadata_file.name,
      "download_uri": {
-        "url": "https://gitlab.com/sunnypilot/public/docs.sunnypilot.ai/-/raw/main/<FILLME>",
+        "url": "https://gitlab.com/sunnypilot/public/docs.sunnypilot.ai/-/raw/main/",
        "sha256": metadata_hash
      }
    }
@@ -83,12 +98,12 @@ def create_metadata_json(models: list, output_dir: Path, custom_name=None, short
    "ref": upstream_branch,
    "environment": "development",
    "runner": "tinygrad",
-    "build_time": datetime.now(UTC).strftime("%Y-%m-%dT%H:%M:%SZ"),
-    "models": models,
-    "overrides": {},
    "index": -1,
    "minimum_selector_version": "-1",
    "generation": "-1",
+    "build_time": datetime.now(UTC).strftime("%Y-%m-%dT%H:%M:%SZ"),
+    "overrides": {},
+    "models": models,
  }

  # Write metadata to output_dir
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fc1f7f31d41f26ea7d6f52b3096f7a91844a3b897bc233a8489253c46f0403b
+size 6324
@@ -12,11 +12,10 @@

  <h5>Quectel/EG25-G</h5>
  <p>FCC ID: XMR201903EG25G</p>
-  <p>
-  This device complies with Part 15 of the FCC Rules.
-  Operation is subject to the following two conditions:
+  <p>This device complies with Part 15 of the FCC Rules.</p>
+  <p>Operation is subject to the following two conditions:</p>

-  <p>(1) this device may not cause harmful interference, and
+  <p>(1) this device may not cause harmful interference, and</p>
  <p>(2) this device must accept any interference received, including interference that may cause undesired operation.</p>

  The following test reports are subject to this declaration:
@@ -93,7 +93,8 @@ class Controls(ControlsExt):
                                           torque_params.frictionCoefficientFiltered)

      self.LaC.extension.update_model_v2(self.sm['modelV2'])
-      self.LaC.extension.update_lateral_lag(self.sm['liveDelay'].lateralDelay)
+      calculated_lag = self.LaC.extension.lagd_torqued_main(self.CP, self.sm['liveDelay'])
+      self.LaC.extension.update_lateral_lag(calculated_lag)

    long_plan = self.sm['longitudinalPlan']
    model_v2 = self.sm['modelV2']
@@ -1,5 +1,4 @@
 import numpy as np
-from cereal import log
 from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.common.realtime import DT_CTRL, DT_MDL

@@ -40,14 +39,6 @@ def clip_curvature(v_ego, prev_curvature, new_curvature, roll):
  return float(new_curvature), limited_accel or limited_max_curv


-def get_speed_error(modelV2: log.ModelDataV2, v_ego: float) -> float:
-  # ToDo: Try relative error, and absolute speed
-  if len(modelV2.temporalPose.trans):
-    vel_err = np.clip(modelV2.temporalPose.trans[0] - v_ego, -MAX_VEL_ERR, MAX_VEL_ERR)
-    return float(vel_err)
-  return 0.0
-
-
 def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.05):
  if len(speeds) == len(t_idxs):
    v_now = speeds[0]
@@ -31,7 +31,6 @@ class LatControlTorque(LatControl):
    self.pid = PIDController(self.torque_params.kp, self.torque_params.ki,
                             k_f=self.torque_params.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
    self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
-    self.use_steering_angle = self.torque_params.useSteeringAngle
    self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg

    self.extension = LatControlTorqueExt(self, CP, CP_SP)
@@ -47,16 +46,9 @@ class LatControlTorque(LatControl):
      output_torque = 0.0
      pid_log.active = False
    else:
-      actual_curvature_vm = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
+      actual_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
      roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY
-      if self.use_steering_angle:
-        actual_curvature = actual_curvature_vm
-        curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
-      else:
-        assert calibrated_pose is not None
-        actual_curvature_pose = calibrated_pose.angular_velocity.yaw / CS.vEgo
-        actual_curvature = np.interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_pose])
-        curvature_deadzone = 0.0
+      curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
      desired_lateral_accel = desired_curvature * CS.vEgo ** 2

      # desired rate is the desired rate of change in the setpoint, not the absolute desired curvature
@@ -10,6 +10,8 @@ from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.modeld.constants import index_function
 from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU

+from openpilot.sunnypilot.selfdrive.controls.lib.vibe_personality.vibe_personality import VibePersonalityController
+
 if __name__ == '__main__':  # generating code
  from openpilot.third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
 else:
@@ -228,6 +230,7 @@ class LongitudinalMpc:
    self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
    self.reset()
    self.source = SOURCES[2]
+    self.vibe_controller = VibePersonalityController()

  def reset(self):
    # self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
@@ -328,10 +331,31 @@ class LongitudinalMpc:
    return lead_xv

  def update(self, radarstate, v_cruise, x, v, a, j, personality=log.LongitudinalPersonality.standard):
-    t_follow = get_T_FOLLOW(personality)
    v_ego = self.x0[1]
+
+    # Get following distance
+    if self.vibe_controller.is_follow_enabled():
+      t_follow = self.vibe_controller.get_follow_distance_multiplier(v_ego)
+      if t_follow is None:
+        # Fallback to stock behavior when vibe controller can't provide a value
+        t_follow = get_T_FOLLOW(personality)
+    else:
+      t_follow = get_T_FOLLOW(personality)
+
    self.status = radarstate.leadOne.status or radarstate.leadTwo.status

+    # Get acceleration limits
+    if self.vibe_controller.is_accel_enabled():
+      accel_limits = self.vibe_controller.get_accel_limits(v_ego)
+      if accel_limits is not None:
+        min_accel = accel_limits[0]
+      else:
+        min_accel = CRUISE_MIN_ACCEL
+    else:
+      min_accel = CRUISE_MIN_ACCEL
+
+    a_cruise_min = min_accel
+
    lead_xv_0 = self.process_lead(radarstate.leadOne)
    lead_xv_1 = self.process_lead(radarstate.leadTwo)

@@ -350,7 +374,7 @@ class LongitudinalMpc:

      # Fake an obstacle for cruise, this ensures smooth acceleration to set speed
      # when the leads are no factor.
-      v_lower = v_ego + (T_IDXS * CRUISE_MIN_ACCEL * 1.05)
+      v_lower = v_ego + (T_IDXS * a_cruise_min * 1.05)
      # TODO does this make sense when max_a is negative?
      v_upper = v_ego + (T_IDXS * CRUISE_MAX_ACCEL * 1.05)
      v_cruise_clipped = np.clip(v_cruise * np.ones(N+1),
@@ -11,7 +11,7 @@ from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
-from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_speed_error, get_accel_from_plan
+from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_accel_from_plan
 from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET
 from openpilot.common.swaglog import cloudlog

@@ -54,6 +54,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
  def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
    self.CP = CP
    self.mpc = LongitudinalMpc(dt=dt)
+    # TODO remove mpc modes when TR released
    self.mpc.mode = 'acc'
    LongitudinalPlannerSP.__init__(self, self.CP, self.mpc)
    self.fcw = False
@@ -63,7 +64,6 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    self.a_desired = init_a
    self.v_desired_filter = FirstOrderFilter(init_v, 2.0, self.dt)
    self.prev_accel_clip = [ACCEL_MIN, ACCEL_MAX]
-    self.v_model_error = 0.0
    self.output_a_target = 0.0
    self.output_should_stop = False

@@ -73,12 +73,12 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    self.solverExecutionTime = 0.0

  @staticmethod
-  def parse_model(model_msg, model_error):
+  def parse_model(model_msg):
    if (len(model_msg.position.x) == ModelConstants.IDX_N and
      len(model_msg.velocity.x) == ModelConstants.IDX_N and
      len(model_msg.acceleration.x) == ModelConstants.IDX_N):
-      x = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.position.x) - model_error * T_IDXS_MPC
-      v = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.velocity.x) - model_error
+      x = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.position.x)
+      v = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.velocity.x)
      a = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.acceleration.x)
      j = np.zeros(len(T_IDXS_MPC))
    else:
@@ -94,9 +94,13 @@ class LongitudinalPlanner(LongitudinalPlannerSP):

  def update(self, sm):
    self.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
+    if not self.mlsim:
+      self.mpc.mode = self.mode
    LongitudinalPlannerSP.update(self, sm)
    if dec_mpc_mode := self.get_mpc_mode():
      self.mode = dec_mpc_mode
+      if not self.mlsim:
+        self.mpc.mode = dec_mpc_mode

    if len(sm['carControl'].orientationNED) == 3:
      accel_coast = get_coast_accel(sm['carControl'].orientationNED[1])
@@ -120,9 +124,22 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    prev_accel_constraint = not (reset_state or sm['carState'].standstill)

    if self.mode == 'acc':
-      accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
-      steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
-      accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
+      if self.vibe_controller.is_accel_enabled():
+        # Only get max acceleration from vibe controller, use default ACCEL_MIN for minimum
+        accel_limits = self.vibe_controller.get_accel_limits(v_ego)
+        if accel_limits is not None:
+          max_accel = accel_limits[1]
+          accel_clip = [ACCEL_MIN, max_accel]
+        else:
+          # Fallback to stock if vibe controller returns None
+          accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
+        # Recalculate limit turn according to the new max limit
+        steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
+        accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
+      else:
+        accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
+        steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
+        accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
    else:
      accel_clip = [ACCEL_MIN, ACCEL_MAX]

@@ -133,9 +150,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):

    # Prevent divergence, smooth in current v_ego
    self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))
-    # Compute model v_ego error
-    self.v_model_error = get_speed_error(sm['modelV2'], v_ego)
-    x, v, a, j, throttle_prob = self.parse_model(sm['modelV2'], self.v_model_error)
+    x, v, a, j, throttle_prob = self.parse_model(sm['modelV2'])
    # Don't clip at low speeds since throttle_prob doesn't account for creep
    self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= MIN_ALLOW_THROTTLE_SPEED

@@ -171,7 +186,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
    output_should_stop_e2e = sm['modelV2'].action.shouldStop

-    if self.mode == 'acc':
+    if self.mode == 'acc' or not self.mlsim:
      output_a_target = output_a_target_mpc
      self.output_should_stop = output_should_stop_mpc
    else:
@@ -1,81 +0,0 @@
-#!/usr/bin/env python3
-import jinja2
-import os
-
-from cereal import car
-from openpilot.common.basedir import BASEDIR
-from opendbc.car.interfaces import get_interface_attr
-
-Ecu = car.CarParams.Ecu
-
-CARS = get_interface_attr('CAR')
-FW_VERSIONS = get_interface_attr('FW_VERSIONS')
-FINGERPRINTS = get_interface_attr('FINGERPRINTS')
-ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
-
-FINGERPRINTS_PY_TEMPLATE = jinja2.Template("""
-{%- if FINGERPRINTS[brand] %}
-# ruff: noqa: E501
-{% endif %}
-{% if FW_VERSIONS[brand] %}
-from opendbc.car.structs import CarParams
-{% endif %}
-from opendbc.car.{{brand}}.values import CAR
-{% if FW_VERSIONS[brand] %}
-
-Ecu = CarParams.Ecu
-{% endif %}
-{% if comments +%}
-{{ comments | join() }}
-{% endif %}
-{% if FINGERPRINTS[brand] %}
-
-FINGERPRINTS = {
-{% for car, fingerprints in FINGERPRINTS[brand].items() %}
-  CAR.{{car.name}}: [{
-{% for fingerprint in fingerprints %}
-{% if not loop.first %}
-  {{ "{" }}
-{% endif %}
-    {% for key, value in fingerprint.items() %}{{key}}: {{value}}{% if not loop.last %}, {% endif %}{% endfor %}
-
-  }{% if loop.last %}]{% endif %},
-{% endfor %}
-{% endfor %}
-}
-{% endif %}
-
-FW_VERSIONS{% if not FW_VERSIONS[brand] %}: dict[str, dict[tuple, list[bytes]]]{% endif %} = {
-{% for car, _ in FW_VERSIONS[brand].items() %}
-  CAR.{{car.name}}: {
-{% for key, fw_versions in FW_VERSIONS[brand][car].items() %}
-    (Ecu.{{ECU_NAME[key[0]]}}, 0x{{"%0x" | format(key[1] | int)}}, \
-{% if key[2] %}0x{{"%0x" | format(key[2] | int)}}{% else %}{{key[2]}}{% endif %}): [
-  {% for fw_version in (fw_versions + extra_fw_versions.get(car, {}).get(key, [])) | unique | sort %}
-    {{fw_version}},
-  {% endfor %}
-  ],
-{% endfor %}
-  },
-{% endfor %}
-}
-
-""", trim_blocks=True)
-
-
-def format_brand_fw_versions(brand, extra_fw_versions: None | dict[str, dict[tuple, list[bytes]]] = None):
-  extra_fw_versions = extra_fw_versions or {}
-
-  fingerprints_file = os.path.join(BASEDIR, f"opendbc/car/{brand}/fingerprints.py")
-  with open(fingerprints_file) as f:
-    comments = [line for line in f.readlines() if line.startswith("#") and "noqa" not in line]
-
-  with open(fingerprints_file, "w") as f:
-    f.write(FINGERPRINTS_PY_TEMPLATE.render(brand=brand, comments=comments, ECU_NAME=ECU_NAME,
-                                            FINGERPRINTS=FINGERPRINTS, FW_VERSIONS=FW_VERSIONS,
-                                            extra_fw_versions=extra_fw_versions))
-
-
-if __name__ == "__main__":
-  for brand in FW_VERSIONS.keys():
-    format_brand_fw_versions(brand)
@@ -13,6 +13,7 @@ from typing import NoReturn

 from cereal import log, car
 import cereal.messaging as messaging
+from openpilot.system.hardware import HARDWARE
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process
@@ -36,8 +37,11 @@ RPY_INIT = np.array([0.0,0.0,0.0])
 WIDE_FROM_DEVICE_EULER_INIT = np.array([0.0, 0.0, 0.0])
 HEIGHT_INIT = np.array([1.22])

-# These values are needed to accommodate the model frame in the narrow cam of the C3
-PITCH_LIMITS = np.array([-0.09074112085129739, 0.17])
+# These values are needed to accommodate the model frame in the narrow cam
+if HARDWARE.get_device_type() == 'mici':
+  PITCH_LIMITS = np.array([-0.143101, 0.22235988])
+else:
+  PITCH_LIMITS = np.array([-0.09074112085129739, 0.17])
 YAW_LIMITS = np.array([-0.06912048084718224, 0.06912048084718235])
 DEBUG = os.getenv("DEBUG") is not None

@@ -82,6 +82,12 @@ class PointBuckets:
    total_points_valid = self.__len__() >= self.min_points_total
    return individual_buckets_valid and total_points_valid

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

@@ -157,8 +157,7 @@ class LateralLagEstimator:
               block_count: int = BLOCK_NUM, min_valid_block_count: int = BLOCK_NUM_NEEDED, block_size: int = BLOCK_SIZE,
               window_sec: float = MOVING_WINDOW_SEC, okay_window_sec: float = MIN_OKAY_WINDOW_SEC, min_recovery_buffer_sec: float = MIN_RECOVERY_BUFFER_SEC,
               min_vego: float = MIN_VEGO, min_yr: float = MIN_ABS_YAW_RATE, min_ncc: float = MIN_NCC,
-               max_lat_accel: float = MAX_LAT_ACCEL, max_lat_accel_diff: float = MAX_LAT_ACCEL_DIFF, min_confidence: float = MIN_CONFIDENCE,
-               enabled: bool = True):
+               max_lat_accel: float = MAX_LAT_ACCEL, max_lat_accel_diff: float = MAX_LAT_ACCEL_DIFF, min_confidence: float = MIN_CONFIDENCE):
    self.dt = dt
    self.window_sec = window_sec
    self.okay_window_sec = okay_window_sec
@@ -173,7 +172,6 @@ class LateralLagEstimator:
    self.min_confidence = min_confidence
    self.max_lat_accel = max_lat_accel
    self.max_lat_accel_diff = max_lat_accel_diff
-    self.enabled = enabled

    self.t = 0.0
    self.lat_active = False
@@ -208,7 +206,7 @@ class LateralLagEstimator:
    liveDelay = msg.liveDelay

    valid_mean_lag, valid_std, current_mean_lag, current_std = self.block_avg.get()
-    if self.enabled and self.block_avg.valid_blocks >= self.min_valid_block_count and not np.isnan(valid_mean_lag) and not np.isnan(valid_std):
+    if self.block_avg.valid_blocks >= self.min_valid_block_count and not np.isnan(valid_mean_lag) and not np.isnan(valid_std):
      if valid_std > MAX_LAG_STD:
        liveDelay.status = log.LiveDelayData.Status.invalid
      else:
@@ -229,6 +227,8 @@ class LateralLagEstimator:
      liveDelay.lateralDelayEstimateStd = 0.0

    liveDelay.validBlocks = self.block_avg.valid_blocks
+    liveDelay.calPerc = min(100 * (self.block_avg.valid_blocks * self.block_size + self.block_avg.idx) //
+                            (self.min_valid_block_count * self.block_size), 100)
    if debug:
      liveDelay.points = self.block_avg.values.flatten().tolist()

@@ -369,10 +369,7 @@ def main():
  params = Params()
  CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)

-  # TODO: remove me, lagd is in shadow mode on release
-  is_release = params.get_bool("IsReleaseBranch")
-
-  lag_learner = LateralLagEstimator(CP, 1. / SERVICE_LIST['livePose'].frequency, enabled=not is_release)
+  lag_learner = LateralLagEstimator(CP, 1. / SERVICE_LIST['livePose'].frequency)
  if (initial_lag_params := retrieve_initial_lag(params, CP)) is not None:
    lag, valid_blocks = initial_lag_params
    lag_learner.reset(lag, valid_blocks)
@@ -94,6 +94,7 @@ class TestLagd:
    assert np.allclose(msg.liveDelay.lateralDelay, estimator.initial_lag)
    assert np.allclose(msg.liveDelay.lateralDelayEstimate, estimator.initial_lag)
    assert msg.liveDelay.validBlocks == 0
+    assert msg.liveDelay.calPerc == 0

  def test_estimator_basics(self, subtests):
    for lag_frames in range(5):
@@ -107,18 +108,7 @@ class TestLagd:
        assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01)
        assert np.allclose(msg.liveDelay.lateralDelayEstimateStd, 0.0, atol=0.01)
        assert msg.liveDelay.validBlocks == BLOCK_NUM_NEEDED
-
-  def test_disabled_estimator(self):
-    mocked_CP = car.CarParams(steerActuatorDelay=0.8)
-    estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0, enabled=False)
-    lag_frames = 5
-    process_messages(estimator, lag_frames, int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_NUM_NEEDED * BLOCK_SIZE)
-    msg = estimator.get_msg(True)
-    assert msg.liveDelay.status == 'unestimated'
-    assert np.allclose(msg.liveDelay.lateralDelay, 1.0, atol=0.01)
-    assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01)
-    assert np.allclose(msg.liveDelay.lateralDelayEstimateStd, 0.0, atol=0.01)
-    assert msg.liveDelay.validBlocks == BLOCK_NUM_NEEDED
+        assert msg.liveDelay.calPerc == 100

  def test_estimator_masking(self):
    mocked_CP, lag_frames = car.CarParams(steerActuatorDelay=0.8), random.randint(1, 19)
@@ -127,6 +117,7 @@ class TestLagd:
    msg = estimator.get_msg(True)
    assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01)
    assert np.allclose(msg.liveDelay.lateralDelayEstimateStd, 0.0, atol=0.01)
+    assert msg.liveDelay.calPerc == 100

  @pytest.mark.skipif(PC, reason="only on device")
  @pytest.mark.timeout(60)
@@ -0,0 +1,25 @@
+from cereal import car
+from openpilot.selfdrive.locationd.torqued import TorqueEstimator
+
+
+def test_cal_percent():
+  est = TorqueEstimator(car.CarParams())
+  msg = est.get_msg()
+  assert msg.liveTorqueParameters.calPerc == 0
+
+  for (low, high), min_pts in zip(est.filtered_points.buckets.keys(),
+                                  est.filtered_points.buckets_min_points.values(), strict=True):
+    for _ in range(int(min_pts)):
+      est.filtered_points.add_point((low + high) / 2.0, 0.0)
+
+  # enough bucket points, but not enough total points
+  msg = est.get_msg()
+  assert msg.liveTorqueParameters.calPerc == (len(est.filtered_points) / est.min_points_total * 100 + 100) / 2
+
+  # add enough points to bucket with most capacity
+  key = list(est.filtered_points.buckets)[0]
+  for _ in range(est.min_points_total - len(est.filtered_points)):
+    est.filtered_points.add_point((key[0] + key[1]) / 2.0, 0.0)
+
+  msg = est.get_msg()
+  assert msg.liveTorqueParameters.calPerc == 100
@@ -11,6 +11,8 @@ from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator, PoseCalibrator, Pose

+from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
+
 HISTORY = 5  # secs
 POINTS_PER_BUCKET = 1500
 MIN_POINTS_TOTAL = 4000
@@ -49,8 +51,10 @@ class TorqueBuckets(PointBuckets):
        break


-class TorqueEstimator(ParameterEstimator):
+class TorqueEstimator(ParameterEstimator, LagdToggle):
  def __init__(self, CP, decimated=False, track_all_points=False):
+    super().__init__()
+    self.CP = CP
    self.hist_len = int(HISTORY / DT_MDL)
    self.lag = 0.0
    self.track_all_points = track_all_points  # for offline analysis, without max lateral accel or max steer torque filters
@@ -176,7 +180,7 @@ class TorqueEstimator(ParameterEstimator):
    elif which == "liveCalibration":
      self.calibrator.feed_live_calib(msg)
    elif which == "liveDelay":
-      self.lag = msg.lateralDelay
+      self.lag = self.lagd_torqued_main(self.CP, msg)
    # calculate lateral accel from past steering torque
    elif which == "livePose":
      if len(self.raw_points['steer_torque']) == self.hist_len:
@@ -233,6 +237,7 @@ class TorqueEstimator(ParameterEstimator):
    liveTorqueParameters.latAccelOffsetFiltered = float(self.filtered_params['latAccelOffset'].x)
    liveTorqueParameters.frictionCoefficientFiltered = float(self.filtered_params['frictionCoefficient'].x)
    liveTorqueParameters.totalBucketPoints = len(self.filtered_points)
+    liveTorqueParameters.calPerc = self.filtered_points.get_valid_percent()
    liveTorqueParameters.decay = self.decay
    liveTorqueParameters.maxResets = self.resets
    return msg
@@ -56,17 +56,15 @@ for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
  tg_compile(flags, model_name)

 # Compile BIG model if USB GPU is available
-import subprocess
-from tinygrad import Device
-
-# because tg doesn't support multi-process
-devs = subprocess.check_output('python3 -c "from tinygrad import Device; print(list(Device.get_available_devices()))"', shell=True)
-if b"AMD" in devs:
-  del Device
-  print("USB GPU detected... building")
-  flags = "AMD=1 AMD_IFACE=USB AMD_LLVM=1 NOLOCALS=0 IMAGE=0"
-  bp = tg_compile(flags, "big_driving_policy")
-  bv = tg_compile(flags, "big_driving_vision")
-  lenv.SideEffect('lock', [bp, bv])  # tg doesn't support multi-process so build serially
-else:
-  print("USB GPU not detected... skipping")
+if "USBGPU" in os.environ:
+  import subprocess
+  # because tg doesn't support multi-process
+  devs = subprocess.check_output('python3 -c "from tinygrad import Device; print(list(Device.get_available_devices()))"', shell=True, cwd=env.Dir('#').abspath)
+  if b"AMD" in devs:
+    print("USB GPU detected... building")
+    flags = "AMD=1 AMD_IFACE=USB AMD_LLVM=1 NOLOCALS=0 IMAGE=0"
+    bp = tg_compile(flags, "big_driving_policy")
+    bv = tg_compile(flags, "big_driving_vision")
+    lenv.SideEffect('lock', [bp, bv])  # tg doesn't support multi-process so build serially
+  else:
+    print("USB GPU not detected... skipping")
@@ -14,7 +14,6 @@ import pickle
 import ctypes
 import numpy as np
 from pathlib import Path
-from setproctitle import setproctitle

 from cereal import messaging
 from cereal.messaging import PubMaster, SubMaster
@@ -25,7 +24,6 @@ from openpilot.common.transformations.model import dmonitoringmodel_intrinsics,
 from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import CLContext, MonitoringModelFrame
 from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid
-from openpilot.system import sentry

 MODEL_WIDTH, MODEL_HEIGHT = DM_INPUT_SIZE
 CALIB_LEN = 3
@@ -133,12 +131,8 @@ def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts:


 def main():
-  setproctitle(PROCESS_NAME)
  config_realtime_process(7, 5)

-  sentry.set_tag("daemon", PROCESS_NAME)
-  cloudlog.bind(daemon=PROCESS_NAME)
-
  cl_context = CLContext()
  model = ModelState(cl_context)
  cloudlog.warning("models loaded, dmonitoringmodeld starting")
@@ -180,7 +174,4 @@ if __name__ == "__main__":
  try:
    main()
  except KeyboardInterrupt:
-    cloudlog.warning(f"child {PROCESS_NAME} got SIGINT")
-  except Exception:
-    sentry.capture_exception()
-    raise
+    cloudlog.warning("got SIGINT")
@@ -89,13 +89,6 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
  fill_xyzt(modelV2.orientation, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.T_FROM_CURRENT_EULER].T)
  fill_xyzt(modelV2.orientationRate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)

-  # temporal pose
-  temporal_pose = modelV2.temporalPose
-  temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist()
-  temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist()
-  temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist()
-  temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist()
-
  # poly path
  fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)

@@ -19,7 +19,6 @@ import numpy as np
 import cereal.messaging as messaging
 from cereal import car, log
 from pathlib import Path
-from setproctitle import setproctitle
 from cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from opendbc.car.car_helpers import get_demo_car_params
@@ -29,14 +28,15 @@ from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import config_realtime_process, DT_MDL
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.transformations.model import get_warp_matrix
-from openpilot.system import sentry
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
-from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value
+from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext

+from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
+

 PROCESS_NAME = "selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
@@ -46,8 +46,8 @@ POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl'
 VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl'
 POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl'

-LAT_SMOOTH_SECONDS = 0.0
-LONG_SMOOTH_SECONDS = 0.0
+LAT_SMOOTH_SECONDS = 0.1
+LONG_SMOOTH_SECONDS = 0.3
 MIN_LAT_CONTROL_SPEED = 0.3


@@ -60,7 +60,11 @@ def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.
                                                     action_t=long_action_t)
    desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS)

-    desired_curvature = model_output['desired_curvature'][0, 0]
+    desired_curvature = get_curvature_from_plan(plan[:,Plan.T_FROM_CURRENT_EULER][:,2],
+                                                plan[:,Plan.ORIENTATION_RATE][:,2],
+                                                ModelConstants.T_IDXS,
+                                                v_ego,
+                                                lat_action_t)
    if v_ego > MIN_LAT_CONTROL_SPEED:
      desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS)
    else:
@@ -86,10 +90,21 @@ class ModelState:
  prev_desire: np.ndarray  # for tracking the rising edge of the pulse

  def __init__(self, context: CLContext):
-    self.frames = {
-      'input_imgs': DrivingModelFrame(context, ModelConstants.TEMPORAL_SKIP),
-      'big_input_imgs': DrivingModelFrame(context, ModelConstants.TEMPORAL_SKIP)
-    }
+    self.LAT_SMOOTH_SECONDS = LAT_SMOOTH_SECONDS
+    with open(VISION_METADATA_PATH, 'rb') as f:
+      vision_metadata = pickle.load(f)
+      self.vision_input_shapes =  vision_metadata['input_shapes']
+      self.vision_input_names = list(self.vision_input_shapes.keys())
+      self.vision_output_slices = vision_metadata['output_slices']
+      vision_output_size = vision_metadata['output_shapes']['outputs'][1]
+
+    with open(POLICY_METADATA_PATH, 'rb') as f:
+      policy_metadata = pickle.load(f)
+      self.policy_input_shapes =  policy_metadata['input_shapes']
+      self.policy_output_slices = policy_metadata['output_slices']
+      policy_output_size = policy_metadata['output_shapes']['outputs'][1]
+
+    self.frames = {name: DrivingModelFrame(context, ModelConstants.TEMPORAL_SKIP) for name in self.vision_input_names}
    self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)

    self.full_features_buffer = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32)
@@ -106,18 +121,6 @@ class ModelState:
      'features_buffer': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32),
    }

-    with open(VISION_METADATA_PATH, 'rb') as f:
-      vision_metadata = pickle.load(f)
-      self.vision_input_shapes =  vision_metadata['input_shapes']
-      self.vision_output_slices = vision_metadata['output_slices']
-      vision_output_size = vision_metadata['output_shapes']['outputs'][1]
-
-    with open(POLICY_METADATA_PATH, 'rb') as f:
-      policy_metadata = pickle.load(f)
-      self.policy_input_shapes =  policy_metadata['input_shapes']
-      self.policy_output_slices = policy_metadata['output_slices']
-      policy_output_size = policy_metadata['output_shapes']['outputs'][1]
-
    # img buffers are managed in openCL transform code
    self.vision_inputs: dict[str, Tensor] = {}
    self.vision_output = np.zeros(vision_output_size, dtype=np.float32)
@@ -135,7 +138,7 @@ class ModelState:
    parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()}
    return parsed_model_outputs

-  def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray,
+  def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
                inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
    # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
    inputs['desire'][0] = 0
@@ -148,8 +151,7 @@ class ModelState:

    self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
    self.numpy_inputs['lateral_control_params'][:] = inputs['lateral_control_params']
-    imgs_cl = {'input_imgs': self.frames['input_imgs'].prepare(buf, transform.flatten()),
-               'big_input_imgs': self.frames['big_input_imgs'].prepare(wbuf, transform_wide.flatten())}
+    imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.vision_input_names}

    if TICI and not USBGPU:
      # The imgs tensors are backed by opencl memory, only need init once
@@ -177,7 +179,7 @@ class ModelState:
    # TODO model only uses last value now
    self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:]
    self.full_prev_desired_curv[0,-1,:] = policy_outputs_dict['desired_curvature'][0, :]
-    self.numpy_inputs['prev_desired_curv'][:] = self.full_prev_desired_curv[0, self.temporal_idxs]
+    self.numpy_inputs['prev_desired_curv'][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs]

    combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
    if SEND_RAW_PRED:
@@ -189,9 +191,6 @@ class ModelState:
 def main(demo=False):
  cloudlog.warning("modeld init")

-  sentry.set_tag("daemon", PROCESS_NAME)
-  cloudlog.bind(daemon=PROCESS_NAME)
-  setproctitle(PROCESS_NAME)
  if not USBGPU:
    # USB GPU currently saturates a core so can't do this yet,
    # also need to move the aux USB interrupts for good timings
@@ -254,6 +253,8 @@ def main(demo=False):
    CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
  cloudlog.info("modeld got CarParams: %s", CP.brand)

+  modeld_lagd = LagdToggle()
+
  # TODO this needs more thought, use .2s extra for now to estimate other delays
  # TODO Move smooth seconds to action function
  long_delay = CP.longitudinalActuatorDelay + LONG_SMOOTH_SECONDS
@@ -299,7 +300,7 @@ def main(demo=False):
    is_rhd = sm["driverMonitoringState"].isRHD
    frame_id = sm["roadCameraState"].frameId
    v_ego = max(sm["carState"].vEgo, 0.)
-    lat_delay = sm["liveDelay"].lateralDelay + LAT_SMOOTH_SECONDS
+    lat_delay = modeld_lagd.lagd_main(CP, sm, model)
    lateral_control_params = np.array([v_ego, lat_delay], dtype=np.float32)
    if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
      device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
@@ -328,14 +329,16 @@ def main(demo=False):
    if prepare_only:
      cloudlog.error(f"skipping model eval. Dropped {vipc_dropped_frames} frames")

+    bufs = {name: buf_extra if 'big' in name else buf_main for name in model.vision_input_names}
+    transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.vision_input_names}
    inputs:dict[str, np.ndarray] = {
      'desire': vec_desire,
      'traffic_convention': traffic_convention,
      'lateral_control_params': lateral_control_params,
-      }
+    }

    mt1 = time.perf_counter()
-    model_output = model.run(buf_main, buf_extra, model_transform_main, model_transform_extra, inputs, prepare_only)
+    model_output = model.run(bufs, transforms, inputs, prepare_only)
    mt2 = time.perf_counter()
    model_execution_time = mt2 - mt1

@@ -375,7 +378,4 @@ if __name__ == "__main__":
    args = parser.parse_args()
    main(demo=args.demo)
  except KeyboardInterrupt:
-    cloudlog.warning(f"child {PROCESS_NAME} got SIGINT")
-  except Exception:
-    sentry.capture_exception()
-    raise
+    cloudlog.warning("got SIGINT")
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:98f0121ccb6f850077b04cc91bd33d370fc6cbdc2bd35f1ab55628a15a813f36
-size 15966721
+oid sha256:1741cad23f6f451782b5db6182218749ee12072e393d57eac36d8d5c55d9358a
+size 15583374
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:897f80d0388250f99bba69b6a8434560cc0fd83157cbeb0bc134c67fe4e64624
-size 34882971
+oid sha256:3d2bd82ba42341dba1bda5426e45c4c646db604c9ac422156eaa2b9ef26194f9
+size 46265993
@@ -88,6 +88,12 @@ class Parser:
    self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
    self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
    self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
+    self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
+    self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
+    self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
+                   out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
+    for k in ['lead_prob', 'lane_lines_prob']:
+      self.parse_binary_crossentropy(k, outs)
    self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
    self.parse_binary_crossentropy('meta', outs)
    return outs
@@ -95,17 +101,10 @@ class Parser:
  def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
    self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
                   out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
-    self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
-    self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
-    self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
-    self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
-                   out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
    if 'lat_planner_solution' in outs:
      self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
    if 'desired_curvature' in outs:
      self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
-    for k in ['lead_prob', 'lane_lines_prob']:
-      self.parse_binary_crossentropy(k, outs)
    self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
    return outs

@@ -585,11 +585,6 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
  },

  EventName.noGps: {
-    ET.PERMANENT: Alert(
-      "Poor GPS reception",
-      "Ensure device has a clear view of the sky",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=600.)
  },

  EventName.tooDistracted: {
@@ -135,7 +135,8 @@ class SelfdriveD(CruiseHelper):
    self.ignored_processes.update({'mapd'})

    # Determine startup event
-    self.startup_event = EventName.startup if build_metadata.openpilot.comma_remote and build_metadata.tested_channel else EventName.startupMaster
+    is_remote = build_metadata.openpilot.comma_remote or build_metadata.openpilot.sunnypilot_remote
+    self.startup_event = EventName.startup if is_remote and build_metadata.tested_channel else EventName.startupMaster
    if not car_recognized:
      self.startup_event = EventName.startupNoCar
    elif car_recognized and self.CP.passive:
@@ -382,16 +383,16 @@ class SelfdriveD(CruiseHelper):
    if (planner_fcw or model_fcw) and not self.CP.notCar:
      self.events.add(EventName.fcw)

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

@@ -1,20 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-OP_ROOT="$DIR/../../"
-
-if [ -z "$BUILD" ]; then
-  docker pull ghcr.io/commaai/openpilot-base:latest
-else
-  docker build --cache-from ghcr.io/commaai/openpilot-base:latest -t ghcr.io/commaai/openpilot-base:latest -f $OP_ROOT/Dockerfile.openpilot_base .
-fi
-
-docker run \
-       -it \
-       --rm \
-       --volume $OP_ROOT:$OP_ROOT \
-       --workdir $PWD \
-       --env PYTHONPATH=$OP_ROOT \
-       ghcr.io/commaai/openpilot-base:latest \
-       /bin/bash
@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 import os
+import pickle
 import sys
 from collections import defaultdict
 from typing import Any
@@ -189,22 +190,44 @@ def model_replay(lr, frs):
  print("----------------- Model Timing -----------------")
  print("------------------------------------------------")
  print(tabulate(rows, header, tablefmt="simple_grid", stralign="center", numalign="center", floatfmt=".4f"))
-  assert timings_ok
+  assert timings_ok or PC

  return msgs


+def get_frames():
+  regen_cache = "--regen-cache" in sys.argv
+  frames_cache = '/tmp/model_replay_cache' if PC else '/data/model_replay_cache'
+  os.makedirs(frames_cache, exist_ok=True)
+
+  cache_name = f'{frames_cache}/{TEST_ROUTE}_{SEGMENT}_{START_FRAME}_{END_FRAME}.pkl'
+  if os.path.isfile(cache_name) and not regen_cache:
+    try:
+      print(f"Loading frames from cache {cache_name}")
+      return pickle.load(open(cache_name, "rb"))
+    except Exception as e:
+      print(f"Failed to load frames from cache {cache_name}: {e}")
+
+  frs = {
+    'roadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "fcamera.hevc"), pix_fmt='nv12', cache_size=END_FRAME - START_FRAME),
+    'driverCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "dcamera.hevc"), pix_fmt='nv12', cache_size=END_FRAME - START_FRAME),
+    'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "ecamera.hevc"), pix_fmt='nv12', cache_size=END_FRAME - START_FRAME),
+  }
+  for fr in frs.values():
+    for fidx in range(START_FRAME, END_FRAME):
+      fr.get(fidx)
+    fr.it = None
+  print(f"Dumping frame cache {cache_name}")
+  pickle.dump(frs, open(cache_name, "wb"))
+  return frs
+
 if __name__ == "__main__":
  update = "--update" in sys.argv or (os.getenv("GIT_BRANCH", "") == 'master')
  replay_dir = os.path.dirname(os.path.abspath(__file__))

  # load logs
  lr = list(LogReader(get_url(TEST_ROUTE, SEGMENT, "rlog.zst")))
-  frs = {
-    'roadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "fcamera.hevc"), readahead=True),
-    'driverCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "dcamera.hevc"), readahead=True),
-    'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "ecamera.hevc"), readahead=True)
-  }
+  frs = get_frames()

  log_msgs = []
  # run replays
@@ -27,7 +27,7 @@ from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera
 from openpilot.selfdrive.test.process_replay.migration import migrate_all
 from openpilot.selfdrive.test.process_replay.capture import ProcessOutputCapture
 from openpilot.tools.lib.logreader import LogIterable
-from openpilot.tools.lib.framereader import BaseFrameReader
+from openpilot.tools.lib.framereader import FrameReader

 # Numpy gives different results based on CPU features after version 19
 NUMPY_TOLERANCE = 1e-7
@@ -209,6 +209,7 @@ class ProcessContainer:
    streams_metas = available_streams(all_msgs)
    for meta in streams_metas:
      if meta.camera_state in self.cfg.vision_pubs:
+        assert frs[meta.camera_state].pix_fmt == 'nv12'
        frame_size = (frs[meta.camera_state].w, frs[meta.camera_state].h)
        vipc_server.create_buffers(meta.stream, 2, *frame_size)
    vipc_server.start_listener()
@@ -224,7 +225,7 @@ class ProcessContainer:

  def start(
    self, params_config: dict[str, Any], environ_config: dict[str, Any],
-    all_msgs: LogIterable, frs: dict[str, BaseFrameReader] | None,
+    all_msgs: LogIterable, frs: dict[str, FrameReader] | None,
    fingerprint: str | None, capture_output: bool
  ):
    with self.prefix as p:
@@ -266,7 +267,7 @@ class ProcessContainer:
      self.prefix.clean_dirs()
      self._clean_env()

-  def run_step(self, msg: capnp._DynamicStructReader, frs: dict[str, BaseFrameReader] | None) -> list[capnp._DynamicStructReader]:
+  def run_step(self, msg: capnp._DynamicStructReader, frs: dict[str, FrameReader] | None) -> list[capnp._DynamicStructReader]:
    assert self.rc and self.pm and self.sockets and self.process.proc

    output_msgs = []
@@ -296,7 +297,7 @@ class ProcessContainer:
            camera_state = getattr(m, m.which())
            camera_meta = meta_from_camera_state(m.which())
            assert frs is not None
-            img = frs[m.which()].get(camera_state.frameId, pix_fmt="nv12")[0]
+            img = frs[m.which()].get(camera_state.frameId)
            self.vipc_server.send(camera_meta.stream, img.flatten().tobytes(),
                                  camera_state.frameId, camera_state.timestampSof, camera_state.timestampEof)
        self.msg_queue = []
@@ -655,7 +656,7 @@ def replay_process_with_name(name: str | Iterable[str], lr: LogIterable, *args,


 def replay_process(
-  cfg: ProcessConfig | Iterable[ProcessConfig], lr: LogIterable, frs: dict[str, BaseFrameReader] = None,
+  cfg: ProcessConfig | Iterable[ProcessConfig], lr: LogIterable, frs: dict[str, FrameReader] = None,
  fingerprint: str = None, return_all_logs: bool = False, custom_params: dict[str, Any] = None,
  captured_output_store: dict[str, dict[str, str]] = None, disable_progress: bool = False
 ) -> list[capnp._DynamicStructReader]:
@@ -683,7 +684,7 @@ def replay_process(


 def _replay_multi_process(
-  cfgs: list[ProcessConfig], lr: LogIterable, frs: dict[str, BaseFrameReader] | None, fingerprint: str | None,
+  cfgs: list[ProcessConfig], lr: LogIterable, frs: dict[str, FrameReader] | None, fingerprint: str | None,
  custom_params: dict[str, Any] | None, captured_output_store: dict[str, dict[str, str]] | None, disable_progress: bool
 ) -> list[capnp._DynamicStructReader]:
  if fingerprint is not None:
@@ -1 +1 @@
-9e2fe2942fbf77f24bccdbef15893831f9c0b390
+de16c6fbe14e121c5e74cd944ce03a0e4672540d
@@ -3,40 +3,17 @@ import os
 import argparse
 import time
 import capnp
-import numpy as np

 from typing import Any
 from collections.abc import Iterable

 from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, ProcessConfig, replay_process, get_process_config, \
                                                                   check_openpilot_enabled, check_most_messages_valid, get_custom_params_from_lr
-from openpilot.selfdrive.test.process_replay.vision_meta import DRIVER_CAMERA_FRAME_SIZES
 from openpilot.selfdrive.test.update_ci_routes import upload_route
-from openpilot.tools.lib.framereader import FrameReader, BaseFrameReader, FrameType
+from openpilot.tools.lib.framereader import FrameReader
 from openpilot.tools.lib.logreader import LogReader, LogIterable, save_log
 from openpilot.tools.lib.openpilotci import get_url

-class DummyFrameReader(BaseFrameReader):
-  def __init__(self, w: int, h: int, frame_count: int, pix_val: int):
-    self.pix_val = pix_val
-    self.w, self.h = w, h
-    self.frame_count = frame_count
-    self.frame_type = FrameType.raw
-
-  def get(self, idx, count=1, pix_fmt="rgb24"):
-    if pix_fmt == "rgb24":
-      shape = (self.h, self.w, 3)
-    elif pix_fmt == "nv12" or pix_fmt == "yuv420p":
-      shape = (int((self.h * self.w) * 3 / 2),)
-    else:
-      raise NotImplementedError
-
-    return [np.full(shape, self.pix_val, dtype=np.uint8) for _ in range(count)]
-
-  @staticmethod
-  def zero_dcamera():
-    return DummyFrameReader(*DRIVER_CAMERA_FRAME_SIZES[("tici", "ar0231")], 1200, 0)
-

 def regen_segment(
  lr: LogIterable, frs: dict[str, Any] = None,
@@ -64,7 +41,7 @@ def setup_data_readers(
      frs['wideRoadCameraState'] = FrameReader(get_url(route, str(sidx), "ecamera.hevc"))
  if needs_driver_cam:
    if dummy_driver_cam:
-      frs['driverCameraState'] = DummyFrameReader.zero_dcamera()
+      frs['driverCameraState'] = FrameReader(get_url(route, str(sidx), "fcamera.hevc")) # Use fcam as dummy
    else:
      device_type = next(str(msg.initData.deviceType) for msg in lr if msg.which() == "initData")
      assert device_type != "neo", "Driver camera not supported on neo segments. Use dummy dcamera."
@@ -19,7 +19,6 @@ from openpilot.tools.lib.logreader import LogReader, save_log
 IS_AZURE_TOKEN_DEFINED = os.getenv("AZURE_TOKEN")

 source_segments = [
-  ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"),        # COMMA.COMMA_BODY
  ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"),     # HYUNDAI.HYUNDAI_SONATA
  ("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"),    # HYUNDAI.HYUNDAI_KIA_EV6 (+ QCOM GPS)
  ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"),     # TOYOTA.TOYOTA_PRIUS
@@ -44,7 +43,6 @@ source_segments = [
 ]

 segments = [
-  ("BODY", "regen2F3C7259F1B|2025-04-08--23-00-23--0"),
  ("HYUNDAI", "regenAA0FC4ED71E|2025-04-08--22-57-50--0"),
  ("HYUNDAI2", "regenAFB9780D823|2025-04-08--23-00-34--0"),
  ("TOYOTA", "regen218A4DCFAA1|2025-04-08--22-57-51--0"),
@@ -65,7 +63,7 @@ segments = [
 ]

 # dashcamOnly makes don't need to be tested until a full port is done
-excluded_interfaces = ["mock", "tesla"]
+excluded_interfaces = ["mock", "body"]

 BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
 REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
@@ -253,7 +251,7 @@ if __name__ == "__main__":
          continue

        # to speed things up, we only test all segments on card
-        if cfg.proc_name != 'card' and car_brand not in ('HYUNDAI', 'TOYOTA', 'HONDA', 'SUBARU', 'FORD', 'RIVIAN', 'TESLA'):
+        if cfg.proc_name not in ('card', 'controlsd', 'lagd') and car_brand not in ('HYUNDAI', 'TOYOTA'):
          continue

        cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.zst")
@@ -1,6 +1,6 @@
 from parameterized import parameterized

-from openpilot.selfdrive.test.process_replay.regen import regen_segment, DummyFrameReader
+from openpilot.selfdrive.test.process_replay.regen import regen_segment
 from openpilot.selfdrive.test.process_replay.process_replay import check_openpilot_enabled
 from openpilot.tools.lib.openpilotci import get_url
 from openpilot.tools.lib.logreader import LogReader
@@ -18,7 +18,7 @@ def ci_setup_data_readers(route, sidx):
  lr = LogReader(get_url(route, sidx, "rlog.bz2"))
  frs = {
    'roadCameraState': FrameReader(get_url(route, sidx, "fcamera.hevc")),
-    'driverCameraState': DummyFrameReader.zero_dcamera()
+    'driverCameraState': FrameReader(get_url(route, sidx, "fcamera.hevc")),
  }
  if next((True for m in lr if m.which() == "wideRoadCameraState"), False):
    frs["wideRoadCameraState"] = FrameReader(get_url(route, sidx, "ecamera.hevc"))
@@ -112,7 +112,7 @@ if GetOption('extras'):
      obj = raylib_env.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d)
      f = raylib_env.Program(f"installer/installers/installer_{name}", [obj, cont, inter], LIBS=raylib_libs)
      # keep installers small
-      assert f[0].get_size() < 1300*1e3, f[0].get_size()
+      assert f[0].get_size() < 1900*1e3, f[0].get_size()

 # build watch3
 if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'):
@@ -4,10 +4,12 @@ from collections.abc import Callable
 from enum import IntEnum
 from openpilot.common.params import Params
 from openpilot.selfdrive.ui.widgets.offroad_alerts import UpdateAlert, OffroadAlert
+from openpilot.selfdrive.ui.widgets.exp_mode_button import ExperimentalModeButton
+from openpilot.selfdrive.ui.widgets.prime import PrimeWidget
+from openpilot.selfdrive.ui.widgets.setup import SetupWidget
 from openpilot.system.ui.lib.text_measure import measure_text_cached
-from openpilot.system.ui.lib.label import gui_label
 from openpilot.system.ui.lib.application import gui_app, FontWeight, DEFAULT_TEXT_COLOR
-
+from openpilot.system.ui.lib.widget import Widget

 HEADER_HEIGHT = 80
 HEAD_BUTTON_FONT_SIZE = 40
@@ -25,8 +27,9 @@ class HomeLayoutState(IntEnum):
  ALERTS = 2


-class HomeLayout:
+class HomeLayout(Widget):
  def __init__(self):
+    super().__init__()
    self.params = Params()

    self.update_alert = UpdateAlert()
@@ -47,6 +50,10 @@ class HomeLayout:
    self.update_notif_rect = rl.Rectangle(0, 0, 200, HEADER_HEIGHT - 10)
    self.alert_notif_rect = rl.Rectangle(0, 0, 220, HEADER_HEIGHT - 10)

+    self._prime_widget = PrimeWidget()
+    self._setup_widget = SetupWidget()
+
+    self._exp_mode_button = ExperimentalModeButton()
    self._setup_callbacks()

  def _setup_callbacks(self):
@@ -59,9 +66,7 @@ class HomeLayout:
  def _set_state(self, state: HomeLayoutState):
    self.current_state = state

-  def render(self, rect: rl.Rectangle):
-    self._update_layout_rects(rect)
-
+  def _render(self, rect: rl.Rectangle):
    current_time = time.time()
    if current_time - self.last_refresh >= REFRESH_INTERVAL:
      self._refresh()
@@ -78,16 +83,16 @@ class HomeLayout:
    elif self.current_state == HomeLayoutState.ALERTS:
      self._render_alerts_view()

-  def _update_layout_rects(self, rect: rl.Rectangle):
+  def _update_layout_rects(self):
    self.header_rect = rl.Rectangle(
-      rect.x + CONTENT_MARGIN, rect.y + CONTENT_MARGIN, rect.width - 2 * CONTENT_MARGIN, HEADER_HEIGHT
+      self._rect.x + CONTENT_MARGIN, self._rect.y + CONTENT_MARGIN, self._rect.width - 2 * CONTENT_MARGIN, HEADER_HEIGHT
    )

-    content_y = rect.y + CONTENT_MARGIN + HEADER_HEIGHT + SPACING
-    content_height = rect.height - CONTENT_MARGIN - HEADER_HEIGHT - SPACING - CONTENT_MARGIN
+    content_y = self._rect.y + CONTENT_MARGIN + HEADER_HEIGHT + SPACING
+    content_height = self._rect.height - CONTENT_MARGIN - HEADER_HEIGHT - SPACING - CONTENT_MARGIN

    self.content_rect = rl.Rectangle(
-      rect.x + CONTENT_MARGIN, content_y, rect.width - 2 * CONTENT_MARGIN, content_height
+      self._rect.x + CONTENT_MARGIN, content_y, self._rect.width - 2 * CONTENT_MARGIN, content_height
    )

    left_width = self.content_rect.width - RIGHT_COLUMN_WIDTH - SPACING
@@ -170,28 +175,25 @@ class HomeLayout:
    self.offroad_alert.render(self.content_rect)

  def _render_left_column(self):
-    rl.draw_rectangle_rounded(self.left_column_rect, 0.02, 10, PRIME_BG_COLOR)
-    gui_label(self.left_column_rect, "Prime Widget", 48, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
+    self._prime_widget.render(self.left_column_rect)

  def _render_right_column(self):
-    widget_height = (self.right_column_rect.height - SPACING) // 2
-
+    exp_height = 125
    exp_rect = rl.Rectangle(
-      self.right_column_rect.x, self.right_column_rect.y, self.right_column_rect.width, widget_height
+      self.right_column_rect.x, self.right_column_rect.y, self.right_column_rect.width, exp_height
    )
-    rl.draw_rectangle_rounded(exp_rect, 0.02, 10, PRIME_BG_COLOR)
-    gui_label(exp_rect, "Experimental Mode", 36, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
+    self._exp_mode_button.render(exp_rect)

    setup_rect = rl.Rectangle(
      self.right_column_rect.x,
-      self.right_column_rect.y + widget_height + SPACING,
+      self.right_column_rect.y + exp_height + SPACING,
      self.right_column_rect.width,
-      widget_height,
+      self.right_column_rect.height - exp_height - SPACING,
    )
-    rl.draw_rectangle_rounded(setup_rect, 0.02, 10, PRIME_BG_COLOR)
-    gui_label(setup_rect, "Setup", 36, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
+    self._setup_widget.render(setup_rect)

  def _refresh(self):
+    # TODO: implement _update_state with a timer
    self.update_available = self.update_alert.refresh()
    self.alert_count = self.offroad_alert.refresh()
    self._update_state_priority(self.update_available, self.alert_count > 0)
@@ -1,10 +1,12 @@
 import pyray as rl
 from enum import IntEnum
+import cereal.messaging as messaging
 from openpilot.selfdrive.ui.layouts.sidebar import Sidebar, SIDEBAR_WIDTH
 from openpilot.selfdrive.ui.layouts.home import HomeLayout
-from openpilot.selfdrive.ui.layouts.settings.settings import SettingsLayout
-from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.layouts.settings.settings import SettingsLayout, PanelType
+from openpilot.selfdrive.ui.ui_state import device, ui_state
 from openpilot.selfdrive.ui.onroad.augmented_road_view import AugmentedRoadView
+from openpilot.system.ui.lib.widget import Widget


 class MainState(IntEnum):
@@ -13,14 +15,15 @@ class MainState(IntEnum):
  ONROAD = 2


-class MainLayout:
+class MainLayout(Widget):
  def __init__(self):
+    super().__init__()
+
+    self._pm = messaging.PubMaster(['userFlag'])
+
    self._sidebar = Sidebar()
-    self._sidebar_visible = True
    self._current_mode = MainState.HOME
    self._prev_onroad = False
-    self._window_rect = None
-    self._current_callback: callable | None = None

    # Initialize layouts
    self._layouts = {MainState.HOME: HomeLayout(), MainState.SETTINGS: SettingsLayout(), MainState.ONROAD: AugmentedRoadView()}
@@ -31,32 +34,23 @@ class MainLayout:
    # Set callbacks
    self._setup_callbacks()

-  def render(self, rect):
-    self._current_callback = None
-
-    self._update_layout_rects(rect)
+  def _render(self, _):
    self._handle_onroad_transition()
    self._render_main_content()
-    self._handle_input()
-
-    if self._current_callback:
-      self._current_callback()

  def _setup_callbacks(self):
-    self._sidebar.set_callbacks(
-      on_settings=lambda: setattr(self, '_current_callback', self._on_settings_clicked),
-      on_flag=lambda: setattr(self, '_current_callback', self._on_flag_clicked),
-    )
-    self._layouts[MainState.SETTINGS].set_callbacks(
-      on_close=lambda: setattr(self, '_current_callback', self._set_mode_for_state)
-    )
+    self._sidebar.set_callbacks(on_settings=self._on_settings_clicked,
+                                on_flag=self._on_flag_clicked)
+    self._layouts[MainState.HOME]._setup_widget.set_open_settings_callback(lambda: self.open_settings(PanelType.FIREHOSE))
+    self._layouts[MainState.SETTINGS].set_callbacks(on_close=self._set_mode_for_state)
+    self._layouts[MainState.ONROAD].set_callbacks(on_click=self._on_onroad_clicked)
+    device.add_interactive_timeout_callback(self._set_mode_for_state)

-  def _update_layout_rects(self, rect):
-    self._window_rect = rect
-    self._sidebar_rect = rl.Rectangle(rect.x, rect.y, SIDEBAR_WIDTH, rect.height)
+  def _update_layout_rects(self):
+    self._sidebar_rect = rl.Rectangle(self._rect.x, self._rect.y, SIDEBAR_WIDTH, self._rect.height)

-    x_offset = SIDEBAR_WIDTH if self._sidebar_visible else 0
-    self._content_rect = rl.Rectangle(rect.y + x_offset, rect.y, rect.width - x_offset, rect.height)
+    x_offset = SIDEBAR_WIDTH if self._sidebar.is_visible else 0
+    self._content_rect = rl.Rectangle(self._rect.y + x_offset, self._rect.y, self._rect.width - x_offset, self._rect.height)

  def _handle_onroad_transition(self):
    if ui_state.started != self._prev_onroad:
@@ -66,31 +60,34 @@ class MainLayout:

  def _set_mode_for_state(self):
    if ui_state.started:
+      # Don't hide sidebar from interactive timeout
+      if self._current_mode != MainState.ONROAD:
+        self._sidebar.set_visible(False)
      self._current_mode = MainState.ONROAD
-      self._sidebar_visible = False
    else:
      self._current_mode = MainState.HOME
-      self._sidebar_visible = True
+      self._sidebar.set_visible(True)
+
+  def open_settings(self, panel_type: PanelType):
+    self._layouts[MainState.SETTINGS].set_current_panel(panel_type)
+    self._current_mode = MainState.SETTINGS
+    self._sidebar.set_visible(False)

  def _on_settings_clicked(self):
-    self._current_mode = MainState.SETTINGS
-    self._sidebar_visible = False
+    self.open_settings(PanelType.DEVICE)

  def _on_flag_clicked(self):
-    pass
+    user_flag = messaging.new_message('userFlag')
+    user_flag.valid = True
+    self._pm.send('userFlag', user_flag)
+
+  def _on_onroad_clicked(self):
+    self._sidebar.set_visible(not self._sidebar.is_visible)

  def _render_main_content(self):
    # Render sidebar
-    if self._sidebar_visible:
+    if self._sidebar.is_visible:
      self._sidebar.render(self._sidebar_rect)

-    content_rect = self._content_rect if self._sidebar_visible else self._window_rect
+    content_rect = self._content_rect if self._sidebar.is_visible else self._rect
    self._layouts[self._current_mode].render(content_rect)
-
-  def _handle_input(self):
-    if self._current_mode != MainState.ONROAD or not rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT):
-      return
-
-    mouse_pos = rl.get_mouse_position()
-    if rl.check_collision_point_rec(mouse_pos, self._content_rect):
-      self._sidebar_visible = not self._sidebar_visible
@@ -1,19 +1,17 @@
 import pyray as rl
+from openpilot.system.ui.lib.widget import Widget
 from openpilot.system.ui.lib.wifi_manager import WifiManagerWrapper
 from openpilot.system.ui.widgets.network import WifiManagerUI


-class NetworkLayout:
+class NetworkLayout(Widget):
  def __init__(self):
+    super().__init__()
    self.wifi_manager = WifiManagerWrapper()
    self.wifi_ui = WifiManagerUI(self.wifi_manager)

-  def render(self, rect: rl.Rectangle):
+  def _render(self, rect: rl.Rectangle):
    self.wifi_ui.render(rect)

-  @property
-  def require_full_screen(self):
-    return self.wifi_ui.require_full_screen
-
  def shutdown(self):
    self.wifi_manager.shutdown()
@@ -1,5 +1,8 @@
-from openpilot.system.ui.lib.list_view import ListView,  toggle_item
+from openpilot.system.ui.lib.list_view import toggle_item
+from openpilot.system.ui.lib.scroller import Scroller
+from openpilot.system.ui.lib.widget import Widget
 from openpilot.common.params import Params
+from openpilot.selfdrive.ui.widgets.ssh_key import ssh_key_item

 # Description constants
 DESCRIPTIONS = {
@@ -8,11 +11,16 @@ DESCRIPTIONS = {
    "See https://docs.comma.ai/how-to/connect-to-comma for more info."
  ),
  'joystick_debug_mode': "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)",
+  'ssh_key': (
+    "Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username " +
+    "other than your own. A comma employee will NEVER ask you to add their GitHub username."
+  ),
 }


-class DeveloperLayout:
+class DeveloperLayout(Widget):
  def __init__(self):
+    super().__init__()
    self._params = Params()
    items = [
      toggle_item(
@@ -21,6 +29,7 @@ class DeveloperLayout:
        initial_state=self._params.get_bool("AdbEnabled"),
        callback=self._on_enable_adb,
      ),
+      ssh_key_item("SSH Key", description=DESCRIPTIONS["ssh_key"]),
      toggle_item(
        "Joystick Debug Mode",
        description=DESCRIPTIONS["joystick_debug_mode"],
@@ -41,10 +50,10 @@ class DeveloperLayout:
      ),
    ]

-    self._list_widget = ListView(items)
+    self._scroller = Scroller(items, line_separator=True, spacing=0)

-  def render(self, rect):
-    self._list_widget.render(rect)
+  def _render(self, rect):
+    self._scroller.render(rect)

  def _on_enable_adb(self): pass
  def _on_joystick_debug_mode(self): pass
@@ -1,47 +1,150 @@
-from openpilot.system.ui.lib.list_view import ListView, text_item, button_item
+import os
+import json
+
+from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
+from openpilot.selfdrive.ui.onroad.driver_camera_dialog import DriverCameraDialog
+from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.hardware import TICI
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.list_view import text_item, button_item, dual_button_item
+from openpilot.system.ui.lib.scroller import Scroller
+from openpilot.system.ui.lib.widget import Widget, DialogResult
+from openpilot.selfdrive.ui.widgets.pairing_dialog import PairingDialog
+from openpilot.system.ui.widgets.option_dialog import MultiOptionDialog
+from openpilot.system.ui.widgets.confirm_dialog import confirm_dialog, alert_dialog
+from openpilot.system.ui.widgets.html_render import HtmlRenderer

 # Description constants
 DESCRIPTIONS = {
  'pair_device': "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.",
  'driver_camera': "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)",
  'reset_calibration': (
-    "openpilot requires the device to be mounted within 4° left or right and within 5° " +
-    "up or 9° down. openpilot is continuously calibrating, resetting is rarely required."
+      "openpilot requires the device to be mounted within 4° left or right and within 5° " +
+      "up or 9° down. openpilot is continuously calibrating, resetting is rarely required."
  ),
  'review_guide': "Review the rules, features, and limitations of openpilot",
 }


-class DeviceLayout:
+class DeviceLayout(Widget):
  def __init__(self):
-    params = Params()
-    dongle_id = params.get("DongleId", encoding="utf-8") or "N/A"
-    serial = params.get("HardwareSerial") or "N/A"
+    super().__init__()
+
+    self._params = Params()
+    self._select_language_dialog: MultiOptionDialog | None = None
+    self._driver_camera: DriverCameraDialog | None = None
+    self._pair_device_dialog: PairingDialog | None = None
+    self._fcc_dialog: HtmlRenderer | None = None
+
+    items = self._initialize_items()
+    self._scroller = Scroller(items, line_separator=True, spacing=0)
+
+  def _initialize_items(self):
+    dongle_id = self._params.get("DongleId", encoding="utf-8") or "N/A"
+    serial = self._params.get("HardwareSerial") or "N/A"

    items = [
      text_item("Dongle ID", dongle_id),
      text_item("Serial", serial),
-      button_item("Pair Device", "PAIR", DESCRIPTIONS['pair_device'], self._on_pair_device),
-      button_item("Driver Camera", "PREVIEW", DESCRIPTIONS['driver_camera'], self._on_driver_camera),
-      button_item("Reset Calibration", "RESET", DESCRIPTIONS['reset_calibration'], self._on_reset_calibration),
+      button_item("Pair Device", "PAIR", DESCRIPTIONS['pair_device'], callback=self._pair_device),
+      button_item("Driver Camera", "PREVIEW", DESCRIPTIONS['driver_camera'], callback=self._show_driver_camera, enabled=ui_state.is_offroad),
+      button_item("Reset Calibration", "RESET", DESCRIPTIONS['reset_calibration'], callback=self._reset_calibration_prompt),
+      regulatory_btn := button_item("Regulatory", "VIEW", callback=self._on_regulatory),
      button_item("Review Training Guide", "REVIEW", DESCRIPTIONS['review_guide'], self._on_review_training_guide),
+      button_item("Change Language", "CHANGE", callback=self._show_language_selection, enabled=ui_state.is_offroad),
+      dual_button_item("Reboot", "Power Off", left_callback=self._reboot_prompt, right_callback=self._power_off_prompt),
    ]
+    regulatory_btn.set_visible(TICI)
+    return items

-    if TICI:
-      items.append(button_item("Regulatory", "VIEW", callback=self._on_regulatory))
+  def _render(self, rect):
+    self._scroller.render(rect)

-    items.append(button_item("Change Language", "CHANGE", callback=self._on_change_language))
+  def _show_language_selection(self):
+    try:
+      languages_file = os.path.join(BASEDIR, "selfdrive/ui/translations/languages.json")
+      with open(languages_file, encoding='utf-8') as f:
+        languages = json.load(f)

-    self._list_widget = ListView(items)
+      self._select_language_dialog = MultiOptionDialog("Select a language", languages)
+      gui_app.set_modal_overlay(self._select_language_dialog, callback=self._handle_language_selection)
+    except FileNotFoundError:
+      pass

-  def render(self, rect):
-    self._list_widget.render(rect)
+  def _handle_language_selection(self, result: int):
+    if result == 1 and self._select_language_dialog:
+      selected_language = self._select_language_dialog.selection
+      self._params.put("LanguageSetting", selected_language)
+
+    self._select_language_dialog = None
+
+  def _show_driver_camera(self):
+    if not self._driver_camera:
+      self._driver_camera = DriverCameraDialog()
+
+    gui_app.set_modal_overlay(self._driver_camera, callback=lambda result: setattr(self, '_driver_camera', None))
+
+  def _reset_calibration_prompt(self):
+    if ui_state.engaged:
+      gui_app.set_modal_overlay(lambda: alert_dialog("Disengage to Reset Calibration"))
+      return
+
+    gui_app.set_modal_overlay(
+      lambda: confirm_dialog("Are you sure you want to reset calibration?", "Reset"),
+      callback=self._reset_calibration,
+    )
+
+  def _reset_calibration(self, result: int):
+    if ui_state.engaged or result != DialogResult.CONFIRM:
+      return
+
+    self._params.remove("CalibrationParams")
+    self._params.remove("LiveTorqueParameters")
+    self._params.remove("LiveParameters")
+    self._params.remove("LiveParametersV2")
+    self._params.remove("LiveDelay")
+    self._params.put_bool("OnroadCycleRequested", True)
+
+  def _reboot_prompt(self):
+    if ui_state.engaged:
+      gui_app.set_modal_overlay(lambda: alert_dialog("Disengage to Reboot"))
+      return
+
+    gui_app.set_modal_overlay(
+      lambda: confirm_dialog("Are you sure you want to reboot?", "Reboot"),
+      callback=self._perform_reboot,
+    )
+
+  def _perform_reboot(self, result: int):
+    if not ui_state.engaged and result == DialogResult.CONFIRM:
+      self._params.put_bool_nonblocking("DoReboot", True)
+
+  def _power_off_prompt(self):
+    if ui_state.engaged:
+      gui_app.set_modal_overlay(lambda: alert_dialog("Disengage to Power Off"))
+      return
+
+    gui_app.set_modal_overlay(
+      lambda: confirm_dialog("Are you sure you want to power off?", "Power Off"),
+      callback=self._perform_power_off,
+    )
+
+  def _perform_power_off(self, result: int):
+    if not ui_state.engaged and result == DialogResult.CONFIRM:
+      self._params.put_bool_nonblocking("DoShutdown", True)
+
+  def _pair_device(self):
+    if not self._pair_device_dialog:
+      self._pair_device_dialog = PairingDialog()
+    gui_app.set_modal_overlay(self._pair_device_dialog, callback=lambda result: setattr(self, '_pair_device_dialog', None))
+
+  def _on_regulatory(self):
+    if not self._fcc_dialog:
+      self._fcc_dialog = HtmlRenderer(os.path.join(BASEDIR, "selfdrive/assets/offroad/fcc.html"))
+
+    gui_app.set_modal_overlay(self._fcc_dialog,
+      callback=lambda result: setattr(self, '_fcc_dialog', None),
+    )

-  def _on_pair_device(self): pass
-  def _on_driver_camera(self): pass
-  def _on_reset_calibration(self): pass
  def _on_review_training_guide(self): pass
-  def _on_regulatory(self): pass
-  def _on_change_language(self): pass
@@ -0,0 +1,180 @@
+import pyray as rl
+import json
+import time
+import threading
+
+from openpilot.common.api import Api, api_get
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.wrap_text import wrap_text
+from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
+from openpilot.system.ui.lib.widget import Widget
+from openpilot.selfdrive.ui.ui_state import ui_state
+
+
+TITLE = "Firehose Mode"
+DESCRIPTION = (
+  "openpilot learns to drive by watching humans, like you, drive.\n\n"
+  + "Firehose Mode allows you to maximize your training data uploads to improve "
+  + "openpilot's driving models. More data means bigger models, which means better Experimental Mode."
+)
+INSTRUCTIONS = (
+  "For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.\n\n"
+  + "Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.\n\n"
+  + "Frequently Asked Questions\n\n"
+  + "Does it matter how or where I drive? Nope, just drive as you normally would.\n\n"
+  + "Do all of my segments get pulled in Firehose Mode? No, we selectively pull a subset of your segments.\n\n"
+  + "What's a good USB-C adapter? Any fast phone or laptop charger should be fine.\n\n"
+  + "Does it matter which software I run? Yes, only upstream openpilot (and particular forks) are able to be used for training."
+)
+
+
+class FirehoseLayout(Widget):
+  PARAM_KEY = "ApiCache_FirehoseStats"
+  GREEN = rl.Color(46, 204, 113, 255)
+  RED = rl.Color(231, 76, 60, 255)
+  GRAY = rl.Color(68, 68, 68, 255)
+  LIGHT_GRAY = rl.Color(228, 228, 228, 255)
+  UPDATE_INTERVAL = 30  # seconds
+
+  def __init__(self):
+    super().__init__()
+    self.params = Params()
+    self.segment_count = self._get_segment_count()
+    self.scroll_panel = GuiScrollPanel()
+
+    self.running = True
+    self.update_thread = threading.Thread(target=self._update_loop, daemon=True)
+    self.update_thread.start()
+    self.last_update_time = 0
+
+  def _get_segment_count(self) -> int:
+    stats = self.params.get(self.PARAM_KEY, encoding='utf8')
+    if not stats:
+      return 0
+    try:
+      return int(json.loads(stats).get("firehose", 0))
+    except Exception:
+      cloudlog.exception(f"Failed to decode firehose stats: {stats}")
+      return 0
+
+  def __del__(self):
+    self.running = False
+    if self.update_thread and self.update_thread.is_alive():
+      self.update_thread.join(timeout=1.0)
+
+  def _render(self, rect: rl.Rectangle):
+    # Calculate content dimensions
+    content_width = rect.width - 80
+    content_height = self._calculate_content_height(int(content_width))
+    content_rect = rl.Rectangle(rect.x, rect.y, rect.width, content_height)
+
+    # Handle scrolling and render with clipping
+    scroll_offset = self.scroll_panel.handle_scroll(rect, content_rect)
+    rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height))
+    self._render_content(rect, scroll_offset)
+    rl.end_scissor_mode()
+
+  def _calculate_content_height(self, content_width: int) -> int:
+    height = 80  # Top margin
+
+    # Title
+    height += 100 + 40
+
+    # Description
+    desc_font = gui_app.font(FontWeight.NORMAL)
+    desc_lines = wrap_text(desc_font, DESCRIPTION, 45, content_width)
+    height += len(desc_lines) * 45 + 40
+
+    # Status section
+    height += 32  # Separator
+    status_text, _ = self._get_status()
+    status_lines = wrap_text(gui_app.font(FontWeight.BOLD), status_text, 60, content_width)
+    height += len(status_lines) * 60 + 20
+
+    # Contribution count (if available)
+    if self.segment_count > 0:
+      contrib_text = f"{self.segment_count} segment(s) of your driving is in the training dataset so far."
+      contrib_lines = wrap_text(gui_app.font(FontWeight.BOLD), contrib_text, 52, content_width)
+      height += len(contrib_lines) * 52 + 20
+
+    # Instructions section
+    height += 32  # Separator
+    inst_lines = wrap_text(gui_app.font(FontWeight.NORMAL), INSTRUCTIONS, 40, content_width)
+    height += len(inst_lines) * 40 + 40  # Bottom margin
+
+    return height
+
+  def _render_content(self, rect: rl.Rectangle, scroll_offset: rl.Vector2):
+    x = int(rect.x + 40)
+    y = int(rect.y + 40 + scroll_offset.y)
+    w = int(rect.width - 80)
+
+    # Title
+    title_font = gui_app.font(FontWeight.MEDIUM)
+    rl.draw_text_ex(title_font, TITLE, rl.Vector2(x, y), 100, 0, rl.WHITE)
+    y += 140
+
+    # Description
+    y = self._draw_wrapped_text(x, y, w, DESCRIPTION, gui_app.font(FontWeight.NORMAL), 45, rl.WHITE)
+    y += 40
+
+    # Separator
+    rl.draw_rectangle(x, y, w, 2, self.GRAY)
+    y += 30
+
+    # Status
+    status_text, status_color = self._get_status()
+    y = self._draw_wrapped_text(x, y, w, status_text, gui_app.font(FontWeight.BOLD), 60, status_color)
+    y += 20
+
+    # Contribution count (if available)
+    if self.segment_count > 0:
+      contrib_text = f"{self.segment_count} segment(s) of your driving is in the training dataset so far."
+      y = self._draw_wrapped_text(x, y, w, contrib_text, gui_app.font(FontWeight.BOLD), 52, rl.WHITE)
+      y += 20
+
+    # Separator
+    rl.draw_rectangle(x, y, w, 2, self.GRAY)
+    y += 30
+
+    # Instructions
+    self._draw_wrapped_text(x, y, w, INSTRUCTIONS, gui_app.font(FontWeight.NORMAL), 40, self.LIGHT_GRAY)
+
+  def _draw_wrapped_text(self, x, y, width, text, font, size, color):
+    wrapped = wrap_text(font, text, size, width)
+    for line in wrapped:
+      rl.draw_text_ex(font, line, rl.Vector2(x, y), size, 0, color)
+      y += size
+    return y
+
+  def _get_status(self) -> tuple[str, rl.Color]:
+    network_type = ui_state.sm["deviceState"].networkType
+    network_metered = ui_state.sm["deviceState"].networkMetered
+
+    if not network_metered and network_type != 0:  # Not metered and connected
+      return "ACTIVE", self.GREEN
+    else:
+      return "INACTIVE: connect to an unmetered network", self.RED
+
+  def _fetch_firehose_stats(self):
+    try:
+      dongle_id = self.params.get("DongleId", encoding='utf8')
+      if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID:
+        return
+      identity_token = Api(dongle_id).get_token()
+      response = api_get(f"v1/devices/{dongle_id}/firehose_stats", access_token=identity_token)
+      if response.status_code == 200:
+        data = response.json()
+        self.segment_count = data.get("firehose", 0)
+        self.params.put(self.PARAM_KEY, json.dumps(data))
+    except Exception as e:
+      cloudlog.error(f"Failed to fetch firehose stats: {e}")
+
+  def _update_loop(self):
+    while self.running:
+      if not ui_state.started:
+        self._fetch_firehose_stats()
+      time.sleep(self.UPDATE_INTERVAL)
@@ -2,15 +2,15 @@ import pyray as rl
 from dataclasses import dataclass
 from enum import IntEnum
 from collections.abc import Callable
-from openpilot.common.params import Params
 from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout
 from openpilot.selfdrive.ui.layouts.settings.device import DeviceLayout
+from openpilot.selfdrive.ui.layouts.settings.firehose import FirehoseLayout
 from openpilot.selfdrive.ui.layouts.settings.software import SoftwareLayout
 from openpilot.selfdrive.ui.layouts.settings.toggles import TogglesLayout
-from openpilot.system.ui.lib.application import gui_app, FontWeight
-from openpilot.system.ui.lib.label import gui_text_box
+from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.selfdrive.ui.layouts.network import NetworkLayout
+from openpilot.system.ui.lib.widget import Widget

 # Import individual panels

@@ -18,9 +18,8 @@ SETTINGS_CLOSE_TEXT = "X"
 # Constants
 SIDEBAR_WIDTH = 500
 CLOSE_BTN_SIZE = 200
-NAV_BTN_HEIGHT = 80
+NAV_BTN_HEIGHT = 110
 PANEL_MARGIN = 50
-SCROLL_SPEED = 30

 # Colors
 SIDEBAR_COLOR = rl.BLACK
@@ -29,7 +28,6 @@ CLOSE_BTN_COLOR = rl.Color(41, 41, 41, 255)
 CLOSE_BTN_PRESSED = rl.Color(59, 59, 59, 255)
 TEXT_NORMAL = rl.Color(128, 128, 128, 255)
 TEXT_SELECTED = rl.Color(255, 255, 255, 255)
-TEXT_PRESSED = rl.Color(173, 173, 173, 255)


 class PanelType(IntEnum):
@@ -45,23 +43,22 @@ class PanelType(IntEnum):
 class PanelInfo:
  name: str
  instance: object
-  button_rect: rl.Rectangle
+  button_rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0)


-class SettingsLayout:
+class SettingsLayout(Widget):
  def __init__(self):
-    self._params = Params()
+    super().__init__()
    self._current_panel = PanelType.DEVICE
-    self._max_scroll = 0.0

    # Panel configuration
    self._panels = {
-      PanelType.DEVICE: PanelInfo("Device", DeviceLayout(), rl.Rectangle(0, 0, 0, 0)),
-      PanelType.TOGGLES: PanelInfo("Toggles", TogglesLayout(), rl.Rectangle(0, 0, 0, 0)),
-      PanelType.SOFTWARE: PanelInfo("Software", SoftwareLayout(), rl.Rectangle(0, 0, 0, 0)),
-      PanelType.FIREHOSE: PanelInfo("Firehose", None, rl.Rectangle(0, 0, 0, 0)),
-      PanelType.NETWORK: PanelInfo("Network", NetworkLayout(), rl.Rectangle(0, 0, 0, 0)),
-      PanelType.DEVELOPER: PanelInfo("Developer", DeveloperLayout(), rl.Rectangle(0, 0, 0, 0)),
+      PanelType.DEVICE: PanelInfo("Device", DeviceLayout()),
+      PanelType.NETWORK: PanelInfo("Network", NetworkLayout()),
+      PanelType.TOGGLES: PanelInfo("Toggles", TogglesLayout()),
+      PanelType.SOFTWARE: PanelInfo("Software", SoftwareLayout()),
+      PanelType.FIREHOSE: PanelInfo("Firehose", FirehoseLayout()),
+      PanelType.DEVELOPER: PanelInfo("Developer", DeveloperLayout()),
    }

    self._font_medium = gui_app.font(FontWeight.MEDIUM)
@@ -73,7 +70,7 @@ class SettingsLayout:
  def set_callbacks(self, on_close: Callable):
    self._close_callback = on_close

-  def render(self, rect: rl.Rectangle):
+  def _render(self, rect: rl.Rectangle):
    # Calculate layout
    sidebar_rect = rl.Rectangle(rect.x, rect.y, SIDEBAR_WIDTH, rect.height)
    panel_rect = rl.Rectangle(rect.x + SIDEBAR_WIDTH, rect.y, rect.width - SIDEBAR_WIDTH, rect.height)
@@ -82,9 +79,6 @@ class SettingsLayout:
    self._draw_sidebar(sidebar_rect)
    self._draw_current_panel(panel_rect)

-    if rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT):
-      self.handle_mouse_release(rl.get_mouse_position())
-
  def _draw_sidebar(self, rect: rl.Rectangle):
    rl.draw_rectangle_rec(rect, SIDEBAR_COLOR)

@@ -109,17 +103,9 @@ class SettingsLayout:
    self._close_btn_rect = close_btn_rect

    # Navigation buttons
-    nav_start_y = rect.y + 300
-    button_spacing = 20
-
-    i = 0
+    y = rect.y + 300
    for panel_type, panel_info in self._panels.items():
-      button_rect = rl.Rectangle(
-        rect.x + 50,
-        nav_start_y + i * (NAV_BTN_HEIGHT + button_spacing),
-        rect.width - 150,  # Right-aligned with margin
-        NAV_BTN_HEIGHT,
-      )
+      button_rect = rl.Rectangle(rect.x + 50, y, rect.width - 150, NAV_BTN_HEIGHT)

      # Button styling
      is_selected = panel_type == self._current_panel
@@ -133,7 +119,8 @@ class SettingsLayout:

      # Store button rect for click detection
      panel_info.button_rect = button_rect
-      i += 1
+
+      y += NAV_BTN_HEIGHT

  def _draw_current_panel(self, rect: rl.Rectangle):
    rl.draw_rectangle_rounded(
@@ -144,17 +131,8 @@ class SettingsLayout:
    panel = self._panels[self._current_panel]
    if panel.instance:
      panel.instance.render(content_rect)
-    else:
-      gui_text_box(
-        content_rect,
-        f"Demo {self._panels[self._current_panel].name} Panel",
-        font_size=170,
-        color=rl.WHITE,
-        alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
-        alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE,
-      )

-  def handle_mouse_release(self, mouse_pos: rl.Vector2) -> bool:
+  def _handle_mouse_release(self, mouse_pos: MousePos) -> bool:
    # Check close button
    if rl.check_collision_point_rec(mouse_pos, self._close_btn_rect):
      if self._close_callback:
@@ -164,20 +142,15 @@ class SettingsLayout:
    # Check navigation buttons
    for panel_type, panel_info in self._panels.items():
      if rl.check_collision_point_rec(mouse_pos, panel_info.button_rect):
-        self._switch_to_panel(panel_type)
+        self.set_current_panel(panel_type)
        return True

    return False

-  def _switch_to_panel(self, panel_type: PanelType):
+  def set_current_panel(self, panel_type: PanelType):
    if panel_type != self._current_panel:
      self._current_panel = panel_type

-  def set_current_panel(self, index: int, param: str = ""):
-    panel_types = list(self._panels.keys())
-    if 0 <= index < len(panel_types):
-      self._switch_to_panel(panel_types[index])
-
  def close_settings(self):
    if self._close_callback:
      self._close_callback()
@@ -1,7 +1,20 @@
-from openpilot.system.ui.lib.list_view import ListView, button_item, text_item
+from openpilot.common.params import Params
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.list_view import button_item, text_item
+from openpilot.system.ui.lib.scroller import Scroller
+from openpilot.system.ui.lib.widget import Widget, DialogResult
+from openpilot.system.ui.widgets.confirm_dialog import confirm_dialog

-class SoftwareLayout:
+
+class SoftwareLayout(Widget):
  def __init__(self):
+    super().__init__()
+
+    self._params = Params()
+    items = self._init_items()
+    self._scroller = Scroller(items, line_separator=True, spacing=0)
+
+  def _init_items(self):
    items = [
      text_item("Current Version", ""),
      button_item("Download", "CHECK", callback=self._on_download_update),
@@ -9,13 +22,21 @@ class SoftwareLayout:
      button_item("Target Branch", "SELECT", callback=self._on_select_branch),
      button_item("Uninstall", "UNINSTALL", callback=self._on_uninstall),
    ]
+    return items

-    self._list_widget = ListView(items)
-
-  def render(self, rect):
-    self._list_widget.render(rect)
+  def _render(self, rect):
+    self._scroller.render(rect)

  def _on_download_update(self): pass
  def _on_install_update(self): pass
  def _on_select_branch(self): pass
-  def _on_uninstall(self): pass
+
+  def _on_uninstall(self):
+    def handle_uninstall_confirmation(result):
+      if result == DialogResult.CONFIRM:
+        self._params.put_bool("DoUninstall", True)
+
+    gui_app.set_modal_overlay(
+      lambda: confirm_dialog("Are you sure you want to uninstall?", "Uninstall"),
+      callback=handle_uninstall_confirmation,
+    )
@@ -1,4 +1,6 @@
-from openpilot.system.ui.lib.list_view import ListView, toggle_item
+from openpilot.system.ui.lib.list_view import multiple_button_item, toggle_item
+from openpilot.system.ui.lib.scroller import Scroller
+from openpilot.system.ui.lib.widget import Widget
 from openpilot.common.params import Params

 # Description constants
@@ -8,18 +10,25 @@ DESCRIPTIONS = {
    "Your attention is required at all times to use this feature."
  ),
  "DisengageOnAccelerator": "When enabled, pressing the accelerator pedal will disengage openpilot.",
+  "LongitudinalPersonality": (
+    "Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. " +
+    "In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with " +
+    "your steering wheel distance button."
+  ),
  "IsLdwEnabled": (
    "Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line " +
-     "without a turn signal activated while driving over 31 mph (50 km/h)."
+    "without a turn signal activated while driving over 31 mph (50 km/h)."
  ),
  "AlwaysOnDM": "Enable driver monitoring even when openpilot is not engaged.",
  'RecordFront': "Upload data from the driver facing camera and help improve the driver monitoring algorithm.",
  "IsMetric": "Display speed in km/h instead of mph.",
+  "RecordAudio": "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.",
 }


-class TogglesLayout:
+class TogglesLayout(Widget):
  def __init__(self):
+    super().__init__()
    self._params = Params()
    items = [
      toggle_item(
@@ -39,6 +48,15 @@ class TogglesLayout:
        self._params.get_bool("DisengageOnAccelerator"),
        icon="disengage_on_accelerator.png",
      ),
+      multiple_button_item(
+        "Driving Personality",
+        DESCRIPTIONS["LongitudinalPersonality"],
+        buttons=["Aggressive", "Standard", "Relaxed"],
+        button_width=255,
+        callback=self._set_longitudinal_personality,
+        selected_index=int(self._params.get("LongitudinalPersonality") or 0),
+        icon="speed_limit.png"
+      ),
      toggle_item(
        "Enable Lane Departure Warnings",
        DESCRIPTIONS["IsLdwEnabled"],
@@ -57,12 +75,21 @@ class TogglesLayout:
        self._params.get_bool("RecordFront"),
        icon="monitoring.png",
      ),
+      toggle_item(
+        "Record Microphone Audio",
+        DESCRIPTIONS["RecordAudio"],
+        self._params.get_bool("RecordAudio"),
+        icon="microphone.png",
+      ),
      toggle_item(
        "Use Metric System", DESCRIPTIONS["IsMetric"], self._params.get_bool("IsMetric"), icon="monitoring.png"
      ),
    ]

-    self._list_widget = ListView(items)
+    self._scroller = Scroller(items, line_separator=True, spacing=0)

-  def render(self, rect):
-    self._list_widget.render(rect)
+  def _render(self, rect):
+    self._scroller.render(rect)
+
+  def _set_longitudinal_personality(self, button_index: int):
+    self._params.put("LongitudinalPersonality", str(button_index))
@@ -4,8 +4,9 @@ from dataclasses import dataclass
 from collections.abc import Callable
 from cereal import log
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
 from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.lib.widget import Widget

 SIDEBAR_WIDTH = 300
 METRIC_HEIGHT = 126
@@ -18,6 +19,7 @@ HOME_BTN = rl.Rectangle(60, 860, 180, 180)
 ThermalStatus = log.DeviceState.ThermalStatus
 NetworkType = log.DeviceState.NetworkType

+
 # Color scheme
 class Colors:
  SIDEBAR_BG = rl.Color(57, 57, 57, 255)
@@ -35,6 +37,7 @@ class Colors:
  BUTTON_NORMAL = rl.Color(255, 255, 255, 255)
  BUTTON_PRESSED = rl.Color(255, 255, 255, 166)

+
 NETWORK_TYPES = {
  NetworkType.none: "Offline",
  NetworkType.wifi: "WiFi",
@@ -57,8 +60,10 @@ class MetricData:
    self.value = value
    self.color = color

-class Sidebar:
+
+class Sidebar(Widget):
  def __init__(self):
+    super().__init__()
    self._net_type = NETWORK_TYPES.get(NetworkType.none)
    self._net_strength = 0

@@ -72,7 +77,7 @@ class Sidebar:
    self._font_regular = gui_app.font(FontWeight.NORMAL)
    self._font_bold = gui_app.font(FontWeight.SEMI_BOLD)

-     # Callbacks
+    # Callbacks
    self._on_settings_click: Callable | None = None
    self._on_flag_click: Callable | None = None

@@ -80,9 +85,7 @@ class Sidebar:
    self._on_settings_click = on_settings
    self._on_flag_click = on_flag

-  def render(self, rect: rl.Rectangle):
-    self.update_state()
-
+  def _render(self, rect: rl.Rectangle):
    # Background
    rl.draw_rectangle_rec(rect, Colors.SIDEBAR_BG)

@@ -90,9 +93,7 @@ class Sidebar:
    self._draw_network_indicator(rect)
    self._draw_metrics(rect)

-    self._handle_mouse_release()
-
-  def update_state(self):
+  def _update_state(self):
    sm = ui_state.sm
    if not sm.updated['deviceState']:
      return
@@ -134,11 +135,7 @@ class Sidebar:
    else:
      self._panda_status.update("VEHICLE", "ONLINE", Colors.GOOD)

-  def _handle_mouse_release(self):
-    if not rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT):
-      return
-
-    mouse_pos = rl.get_mouse_position()
+  def _handle_mouse_release(self, mouse_pos: MousePos):
    if rl.check_collision_point_rec(mouse_pos, SETTINGS_BTN):
      if self._on_settings_click:
        self._on_settings_click()
@@ -148,8 +145,7 @@ class Sidebar:

  def _draw_buttons(self, rect: rl.Rectangle):
    mouse_pos = rl.get_mouse_position()
-    mouse_down = rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT)
-
+    mouse_down = self._is_pressed and rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT)

    # Settings button
    settings_down = mouse_down and rl.check_collision_point_rec(mouse_pos, SETTINGS_BTN)
@@ -0,0 +1,99 @@
+from enum import IntEnum
+import os
+import threading
+import time
+
+from openpilot.common.api import Api, api_get
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
+
+
+class PrimeType(IntEnum):
+  UNKNOWN = -2,
+  UNPAIRED = -1,
+  NONE = 0,
+  MAGENTA = 1,
+  LITE = 2,
+  BLUE = 3,
+  MAGENTA_NEW = 4,
+  PURPLE = 5,
+
+
+class PrimeState:
+  FETCH_INTERVAL = 5.0  # seconds between API calls
+  API_TIMEOUT = 10.0  # seconds for API requests
+  SLEEP_INTERVAL = 0.5  # seconds to sleep between checks in the worker thread
+
+  def __init__(self):
+    self._params = Params()
+    self._lock = threading.Lock()
+    self.prime_type: PrimeType = self._load_initial_state()
+
+    self._running = False
+    self._thread = None
+    self.start()
+
+  def _load_initial_state(self) -> PrimeType:
+    prime_type_str = os.getenv("PRIME_TYPE") or self._params.get("PrimeType", encoding='utf8')
+    try:
+      if prime_type_str is not None:
+        return PrimeType(int(prime_type_str))
+    except (ValueError, TypeError):
+      pass
+    return PrimeType.UNKNOWN
+
+  def _fetch_prime_status(self) -> None:
+    dongle_id = self._params.get("DongleId", encoding='utf8')
+    if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID:
+      return
+
+    try:
+      identity_token = Api(dongle_id).get_token()
+      response = api_get(f"v1.1/devices/{dongle_id}", timeout=self.API_TIMEOUT, access_token=identity_token)
+      if response.status_code == 200:
+        data = response.json()
+        is_paired = data.get("is_paired", False)
+        prime_type = data.get("prime_type", 0)
+        self.set_type(PrimeType(prime_type) if is_paired else PrimeType.UNPAIRED)
+    except Exception as e:
+      cloudlog.error(f"Failed to fetch prime status: {e}")
+
+  def set_type(self, prime_type: PrimeType) -> None:
+    with self._lock:
+      if prime_type != self.prime_type:
+        self.prime_type = prime_type
+        self._params.put("PrimeType", str(int(prime_type)))
+        cloudlog.info(f"Prime type updated to {prime_type}")
+
+  def _worker_thread(self) -> None:
+    while self._running:
+      self._fetch_prime_status()
+
+      for _ in range(int(self.FETCH_INTERVAL / self.SLEEP_INTERVAL)):
+        if not self._running:
+          break
+        time.sleep(self.SLEEP_INTERVAL)
+
+  def start(self) -> None:
+    if self._thread and self._thread.is_alive():
+      return
+    self._running = True
+    self._thread = threading.Thread(target=self._worker_thread, daemon=True)
+    self._thread.start()
+
+  def stop(self) -> None:
+    self._running = False
+    if self._thread and self._thread.is_alive():
+      self._thread.join(timeout=1.0)
+
+  def get_type(self) -> PrimeType:
+    with self._lock:
+      return self.prime_type
+
+  def is_prime(self) -> bool:
+    with self._lock:
+      return bool(self.prime_type > PrimeType.NONE)
+
+  def __del__(self):
+    self.stop()
@@ -6,9 +6,9 @@ from openpilot.system.hardware import TICI
 from openpilot.system.ui.lib.application import gui_app, FontWeight, DEFAULT_FPS
 from openpilot.system.ui.lib.label import gui_text_box
 from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.lib.widget import Widget
 from openpilot.selfdrive.ui.ui_state import ui_state

-
 ALERT_MARGIN = 40
 ALERT_PADDING = 60
 ALERT_LINE_SPACING = 45
@@ -21,7 +21,6 @@ ALERT_FONT_BIG = 88
 SELFDRIVE_STATE_TIMEOUT = 5  # Seconds
 SELFDRIVE_UNRESPONSIVE_TIMEOUT = 10  # Seconds

-
 # Constants
 ALERT_COLORS = {
  log.SelfdriveState.AlertStatus.normal: rl.Color(0, 0, 0, 235),  # Black
@@ -61,8 +60,9 @@ ALERT_CRITICAL_REBOOT = Alert(
 )


-class AlertRenderer:
+class AlertRenderer(Widget):
  def __init__(self):
+    super().__init__()
    self.font_regular: rl.Font = gui_app.font(FontWeight.NORMAL)
    self.font_bold: rl.Font = gui_app.font(FontWeight.BOLD)

@@ -73,18 +73,20 @@ class AlertRenderer:
    # Check if selfdriveState messages have stopped arriving
    if not sm.updated['selfdriveState']:
      recv_frame = sm.recv_frame['selfdriveState']
-      if (sm.frame - recv_frame) > 5 * DEFAULT_FPS:
-        # Check if waiting to start
-        if recv_frame < ui_state.started_frame:
-          return ALERT_STARTUP_PENDING
+      time_since_onroad = (sm.frame - ui_state.started_frame) / DEFAULT_FPS

-        # Handle selfdrive timeout
-        if TICI:
-          ss_missing = time.monotonic() - sm.recv_time['selfdriveState']
-          if ss_missing > SELFDRIVE_STATE_TIMEOUT:
-            if ss.enabled and (ss_missing - SELFDRIVE_STATE_TIMEOUT) < SELFDRIVE_UNRESPONSIVE_TIMEOUT:
-              return ALERT_CRITICAL_TIMEOUT
-            return ALERT_CRITICAL_REBOOT
+      # 1. Never received selfdriveState since going onroad
+      waiting_for_startup = recv_frame < ui_state.started_frame
+      if waiting_for_startup and time_since_onroad > 5:
+        return ALERT_STARTUP_PENDING
+
+      # 2. Lost communication with selfdriveState after receiving it
+      if TICI and not waiting_for_startup:
+        ss_missing = time.monotonic() - sm.recv_time['selfdriveState']
+        if ss_missing > SELFDRIVE_STATE_TIMEOUT:
+          if ss.enabled and (ss_missing - SELFDRIVE_STATE_TIMEOUT) < SELFDRIVE_UNRESPONSIVE_TIMEOUT:
+            return ALERT_CRITICAL_TIMEOUT
+          return ALERT_CRITICAL_REBOOT

    # No alert if size is none
    if ss.alertSize == 0:
@@ -93,10 +95,10 @@ class AlertRenderer:
    # Return current alert
    return Alert(text1=ss.alertText1, text2=ss.alertText2, size=ss.alertSize, status=ss.alertStatus)

-  def draw(self, rect: rl.Rectangle, sm: messaging.SubMaster) -> None:
-    alert = self.get_alert(sm)
+  def _render(self, rect: rl.Rectangle) -> bool:
+    alert = self.get_alert(ui_state.sm)
    if not alert:
-      return
+      return False

    alert_rect = self._get_alert_rect(rect, alert.size)
    self._draw_background(alert_rect, alert)
@@ -108,13 +110,14 @@ class AlertRenderer:
      alert_rect.height - 2 * ALERT_PADDING
    )
    self._draw_text(text_rect, alert)
+    return True

  def _get_alert_rect(self, rect: rl.Rectangle, size: int) -> rl.Rectangle:
    if size == log.SelfdriveState.AlertSize.full:
      return rect

    height = (ALERT_FONT_MEDIUM + 2 * ALERT_PADDING if size == log.SelfdriveState.AlertSize.small else
-             ALERT_FONT_BIG + ALERT_LINE_SPACING + ALERT_FONT_SMALL + 2 * ALERT_PADDING)
+              ALERT_FONT_BIG + ALERT_LINE_SPACING + ALERT_FONT_SMALL + 2 * ALERT_PADDING)

    return rl.Rectangle(
      rect.x + ALERT_MARGIN,
@@ -1,6 +1,6 @@
 import numpy as np
 import pyray as rl
-
+from collections.abc import Callable
 from cereal import log
 from msgq.visionipc import VisionStreamType
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus, UI_BORDER_SIZE
@@ -13,7 +13,6 @@ from openpilot.system.ui.lib.application import gui_app
 from openpilot.common.transformations.camera import DEVICE_CAMERAS, DeviceCameraConfig, view_frame_from_device_frame
 from openpilot.common.transformations.orientation import rot_from_euler

-
 OpState = log.SelfdriveState.OpenpilotState
 CALIBRATED = log.LiveCalibrationData.Status.calibrated
 ROAD_CAM = VisionStreamType.VISION_STREAM_ROAD
@@ -26,6 +25,9 @@ BORDER_COLORS = {
  UIStatus.ENGAGED: rl.Color(0x17, 0x86, 0x44, 0xF1),      # Green for engaged state
 }

+WIDE_CAM_MAX_SPEED = 10.0  # m/s (22 mph)
+ROAD_CAM_MIN_SPEED = 15.0  # m/s (34 mph)
+

 class AugmentedRoadView(CameraView):
  def __init__(self, stream_type: VisionStreamType = VisionStreamType.VISION_STREAM_ROAD):
@@ -47,11 +49,19 @@ class AugmentedRoadView(CameraView):
    self.alert_renderer = AlertRenderer()
    self.driver_state_renderer = DriverStateRenderer()

-  def render(self, rect):
+    # Callbacks
+    self._click_callback: Callable | None = None
+
+  def set_callbacks(self, on_click: Callable | None = None):
+    self._click_callback = on_click
+
+  def _render(self, rect):
    # Only render when system is started to avoid invalid data access
    if not ui_state.started:
      return

+    self._switch_stream_if_needed(ui_state.sm)
+
    # Update calibration before rendering
    self._update_calibration()

@@ -76,13 +86,13 @@ class AugmentedRoadView(CameraView):
    )

    # Render the base camera view
-    super().render(rect)
+    super()._render(rect)

    # Draw all UI overlays
-    self.model_renderer.draw(self._content_rect, ui_state.sm)
-    self._hud_renderer.draw(self._content_rect, ui_state.sm)
-    self.alert_renderer.draw(self._content_rect, ui_state.sm)
-    self.driver_state_renderer.draw(self._content_rect, ui_state.sm)
+    self.model_renderer.render(self._content_rect)
+    self._hud_renderer.render(self._content_rect)
+    if not self.alert_renderer.render(self._content_rect):
+      self.driver_state_renderer.render(self._content_rect)

    # Custom UI extension point - add custom overlays here
    # Use self._content_rect for positioning within camera bounds
@@ -90,10 +100,32 @@ class AugmentedRoadView(CameraView):
    # End clipping region
    rl.end_scissor_mode()

+    # Handle click events if no HUD interaction occurred
+    if not self._hud_renderer.handle_mouse_event():
+      if self._click_callback and rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT):
+        if rl.check_collision_point_rec(rl.get_mouse_position(), self._content_rect):
+          self._click_callback()
+
  def _draw_border(self, rect: rl.Rectangle):
    border_color = BORDER_COLORS.get(ui_state.status, BORDER_COLORS[UIStatus.DISENGAGED])
    rl.draw_rectangle_lines_ex(rect, UI_BORDER_SIZE, border_color)

+  def _switch_stream_if_needed(self, sm):
+    if sm['selfdriveState'].experimentalMode and WIDE_CAM in self.available_streams:
+      v_ego = sm['carState'].vEgo
+      if v_ego < WIDE_CAM_MAX_SPEED:
+        target = WIDE_CAM
+      elif v_ego > ROAD_CAM_MIN_SPEED:
+        target = ROAD_CAM
+      else:
+        # Hysteresis zone - keep current stream
+        target = self.stream_type
+    else:
+      target = ROAD_CAM
+
+    if self.stream_type != target:
+      self.switch_stream(target)
+
  def _update_calibration(self):
    # Update device camera if not already set
    sm = ui_state.sm
@@ -129,7 +161,7 @@ class AugmentedRoadView(CameraView):

    # Get camera configuration
    device_camera = self.device_camera or DEFAULT_DEVICE_CAMERA
-    is_wide_camera = self.stream_type == VisionStreamType.VISION_STREAM_WIDE_ROAD
+    is_wide_camera = self.stream_type == WIDE_CAM
    intrinsic = device_camera.ecam.intrinsics if is_wide_camera else device_camera.fcam.intrinsics
    calibration = self.view_from_wide_calib if is_wide_camera else self.view_from_calib
    zoom = 2.0 if is_wide_camera else 1.1
@@ -170,9 +202,9 @@ class AugmentedRoadView(CameraView):
    ])

    video_transform = np.array([
-        [zoom, 0.0, (w / 2 + x - x_offset) - (cx * zoom)],
-        [0.0, zoom, (h / 2 + y - y_offset) - (cy * zoom)],
-        [0.0, 0.0, 1.0]
+      [zoom, 0.0, (w / 2 + x - x_offset) - (cx * zoom)],
+      [0.0, zoom, (h / 2 + y - y_offset) - (cy * zoom)],
+      [0.0, 0.0, 1.0]
    ])
    self.model_renderer.set_transform(video_transform @ calib_transform)

@@ -1,3 +1,4 @@
+import platform
 import numpy as np
 import pyray as rl

@@ -6,12 +7,21 @@ from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.egl import init_egl, create_egl_image, destroy_egl_image, bind_egl_image_to_texture, EGLImage
-
+from openpilot.system.ui.lib.widget import Widget

 CONNECTION_RETRY_INTERVAL = 0.2  # seconds between connection attempts

-VERTEX_SHADER = """
+VERSION = """
 #version 300 es
+precision mediump float;
+"""
+if platform.system() == "Darwin":
+  VERSION = """
+    #version 330 core
+  """
+
+
+VERTEX_SHADER = VERSION + """
 in vec3 vertexPosition;
 in vec2 vertexTexCoord;
 in vec3 vertexNormal;
@@ -41,9 +51,7 @@ if TICI:
    }
    """
 else:
-  FRAME_FRAGMENT_SHADER = """
-    #version 300 es
-    precision mediump float;
+  FRAME_FRAGMENT_SHADER = VERSION + """
    in vec2 fragTexCoord;
    uniform sampler2D texture0;
    uniform sampler2D texture1;
@@ -55,8 +63,10 @@ else:
    }
    """

-class CameraView:
+
+class CameraView(Widget):
  def __init__(self, name: str, stream_type: VisionStreamType):
+    super().__init__()
    self._name = name
    # Primary stream
    self.client = VisionIpcClient(name, stream_type, conflate=True)
@@ -68,7 +78,6 @@ class CameraView:
    self._target_stream_type: VisionStreamType | None = None
    self._switching: bool = False

-
    self._texture_needs_update = True
    self.last_connection_attempt: float = 0.0
    self.shader = rl.load_shader_from_memory(VERTEX_SHADER, FRAME_FRAGMENT_SHADER)
@@ -82,7 +91,7 @@ class CameraView:
    self.egl_images: dict[int, EGLImage] = {}
    self.egl_texture: rl.Texture | None = None

-    self._placeholder_color : rl.Color | None = None
+    self._placeholder_color: rl.Color | None = None

    # Initialize EGL for zero-copy rendering on TICI
    if TICI:
@@ -145,12 +154,12 @@ class CameraView:
    zy = min(widget_aspect_ratio / frame_aspect_ratio, 1.0)

    return np.array([
-        [zx, 0.0, 0.0],
-        [0.0, zy, 0.0],
-        [0.0, 0.0, 1.0]
+      [zx, 0.0, 0.0],
+      [0.0, zy, 0.0],
+      [0.0, 0.0, 1.0]
    ])

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

@@ -230,7 +239,7 @@ class CameraView:
    # Update textures with new frame data
    if self._texture_needs_update:
      y_data = self.frame.data[: self.frame.uv_offset]
-      uv_data = self.frame.data[self.frame.uv_offset :]
+      uv_data = self.frame.data[self.frame.uv_offset:]

      rl.update_texture(self.texture_y, rl.ffi.cast("void *", y_data.ctypes.data))
      rl.update_texture(self.texture_uv, rl.ffi.cast("void *", uv_data.ctypes.data))
@@ -265,7 +274,7 @@ class CameraView:
  def _handle_switch(self) -> None:
    """Check if target stream is ready and switch immediately."""
    if not self._target_client or not self._switching:
-        return
+      return

    # Try to connect target if needed
    if not self._target_client.is_connected():
@@ -277,28 +286,28 @@ class CameraView:
    # Check if target has frames ready
    target_frame = self._target_client.recv(timeout_ms=0)
    if target_frame:
-      self.frame = target_frame # Update current frame to target frame
+      self.frame = target_frame  # Update current frame to target frame
      self._complete_switch()

  def _complete_switch(self) -> None:
-      """Instantly switch to target stream."""
-      cloudlog.debug(f"Switching to {self._target_stream_type}")
-      # Clean up current resources
-      if self.client:
-        del self.client
+    """Instantly switch to target stream."""
+    cloudlog.debug(f"Switching to {self._target_stream_type}")
+    # Clean up current resources
+    if self.client:
+      del self.client

-      # Switch to target
-      self.client = self._target_client
-      self._stream_type = self._target_stream_type
-      self._texture_needs_update = True
+    # Switch to target
+    self.client = self._target_client
+    self._stream_type = self._target_stream_type
+    self._texture_needs_update = True

-      # Reset state
-      self._target_client = None
-      self._target_stream_type = None
-      self._switching = False
+    # Reset state
+    self._target_client = None
+    self._target_stream_type = None
+    self._switching = False

-      # Initialize textures for new stream
-      self._initialize_textures()
+    # Initialize textures for new stream
+    self._initialize_textures()

  def _initialize_textures(self):
      self._clear_textures()
@@ -1,20 +1,23 @@
 import numpy as np
 import pyray as rl
-from cereal import messaging
 from msgq.visionipc import VisionStreamType
 from openpilot.selfdrive.ui.onroad.cameraview import CameraView
 from openpilot.selfdrive.ui.onroad.driver_state import DriverStateRenderer
+from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.label import gui_label


-class DriverCameraView(CameraView):
-  def __init__(self, stream_type: VisionStreamType):
-    super().__init__("camerad", stream_type)
+class DriverCameraDialog(CameraView):
+  def __init__(self):
+    super().__init__("camerad", VisionStreamType.VISION_STREAM_DRIVER)
    self.driver_state_renderer = DriverStateRenderer()

-  def render(self, rect, sm):
-    super().render(rect)
+  def _render(self, rect):
+    super()._render(rect)
+
+    if rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT):
+      return 1

    if not self.frame:
      gui_label(
@@ -24,13 +27,15 @@ class DriverCameraView(CameraView):
        font_weight=FontWeight.BOLD,
        alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
      )
-      return
+      return -1

-    self._draw_face_detection(rect, sm)
-    self.driver_state_renderer.draw(rect, sm)
+    self._draw_face_detection(rect)
+    self.driver_state_renderer.render(rect)

-  def _draw_face_detection(self, rect: rl.Rectangle, sm) -> None:
-    driver_state = sm["driverStateV2"]
+    return -1
+
+  def _draw_face_detection(self, rect: rl.Rectangle) -> None:
+    driver_state = ui_state.sm["driverStateV2"]
    is_rhd = driver_state.wheelOnRightProb > 0.5
    driver_data = driver_state.rightDriverData if is_rhd else driver_state.leftDriverData
    face_detect = driver_data.faceProb > 0.7
@@ -83,12 +88,11 @@ class DriverCameraView(CameraView):

 if __name__ == "__main__":
  gui_app.init_window("Driver Camera View")
-  sm = messaging.SubMaster(["selfdriveState", "driverStateV2", "driverMonitoringState"])

-  driver_camera_view = DriverCameraView(VisionStreamType.VISION_STREAM_DRIVER)
+  driver_camera_view = DriverCameraDialog()
  try:
    for _ in gui_app.render():
-      sm.update()
-      driver_camera_view.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height), sm)
+      ui_state.update()
+      driver_camera_view.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
  finally:
    driver_camera_view.close()
@@ -3,19 +3,19 @@ import pyray as rl
 from dataclasses import dataclass
 from openpilot.selfdrive.ui.ui_state import ui_state, UI_BORDER_SIZE
 from openpilot.system.ui.lib.application import gui_app
-
+from openpilot.system.ui.lib.widget import Widget

 # Default 3D coordinates for face keypoints as a NumPy array
 DEFAULT_FACE_KPTS_3D = np.array([
-    [-5.98, -51.20, 8.00], [-17.64, -49.14, 8.00], [-23.81, -46.40, 8.00], [-29.98, -40.91, 8.00],
-    [-32.04, -37.49, 8.00], [-34.10, -32.00, 8.00], [-36.16, -21.03, 8.00], [-36.16, 6.40, 8.00],
-    [-35.47, 10.51, 8.00], [-32.73, 19.43, 8.00], [-29.30, 26.29, 8.00], [-24.50, 33.83, 8.00],
-    [-19.01, 41.37, 8.00], [-14.21, 46.17, 8.00], [-12.16, 47.54, 8.00], [-4.61, 49.60, 8.00],
-    [4.99, 49.60, 8.00], [12.53, 47.54, 8.00], [14.59, 46.17, 8.00], [19.39, 41.37, 8.00],
-    [24.87, 33.83, 8.00], [29.67, 26.29, 8.00], [33.10, 19.43, 8.00], [35.84, 10.51, 8.00],
-    [36.53, 6.40, 8.00], [36.53, -21.03, 8.00], [34.47, -32.00, 8.00], [32.42, -37.49, 8.00],
-    [30.36, -40.91, 8.00], [24.19, -46.40, 8.00], [18.02, -49.14, 8.00], [6.36, -51.20, 8.00],
-    [-5.98, -51.20, 8.00],
+  [-5.98, -51.20, 8.00], [-17.64, -49.14, 8.00], [-23.81, -46.40, 8.00], [-29.98, -40.91, 8.00],
+  [-32.04, -37.49, 8.00], [-34.10, -32.00, 8.00], [-36.16, -21.03, 8.00], [-36.16, 6.40, 8.00],
+  [-35.47, 10.51, 8.00], [-32.73, 19.43, 8.00], [-29.30, 26.29, 8.00], [-24.50, 33.83, 8.00],
+  [-19.01, 41.37, 8.00], [-14.21, 46.17, 8.00], [-12.16, 47.54, 8.00], [-4.61, 49.60, 8.00],
+  [4.99, 49.60, 8.00], [12.53, 47.54, 8.00], [14.59, 46.17, 8.00], [19.39, 41.37, 8.00],
+  [24.87, 33.83, 8.00], [29.67, 26.29, 8.00], [33.10, 19.43, 8.00], [35.84, 10.51, 8.00],
+  [36.53, 6.40, 8.00], [36.53, -21.03, 8.00], [34.47, -32.00, 8.00], [32.42, -37.49, 8.00],
+  [30.36, -40.91, 8.00], [24.19, -46.40, 8.00], [18.02, -49.14, 8.00], [6.36, -51.20, 8.00],
+  [-5.98, -51.20, 8.00],
 ], dtype=np.float32)

 # UI constants
@@ -31,6 +31,7 @@ SCALES_NEG = np.array([0.7, 0.4, 0.4], dtype=np.float32)
 ARC_POINT_COUNT = 37  # Number of points in the arc
 ARC_ANGLES = np.linspace(0.0, np.pi, ARC_POINT_COUNT, dtype=np.float32)

+
@dataclass
 class ArcData:
  """Data structure for arc rendering parameters."""
@@ -40,14 +41,15 @@ class ArcData:
  height: float
  thickness: float

-class DriverStateRenderer:
+
+class DriverStateRenderer(Widget):
  def __init__(self):
+    super().__init__()
    # Initial state with NumPy arrays
    self.face_kpts_draw = DEFAULT_FACE_KPTS_3D.copy()
    self.is_active = False
    self.is_rhd = False
    self.dm_fade_state = 0.0
-    self.state_updated = False
    self.last_rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0)
    self.driver_pose_vals = np.zeros(3, dtype=np.float32)
    self.driver_pose_diff = np.zeros(3, dtype=np.float32)
@@ -73,14 +75,10 @@ class DriverStateRenderer:
    self.engaged_color = rl.Color(26, 242, 66, 255)
    self.disengaged_color = rl.Color(139, 139, 139, 255)

-  def draw(self, rect, sm):
-    if not self._is_visible(sm):
-      return
-
-    self._update_state(sm, rect)
-    if not self.state_updated:
-      return
+    self.set_visible(lambda: (ui_state.sm.recv_frame['driverStateV2'] > ui_state.started_frame and
+                              ui_state.sm.seen['driverMonitoringState']))

+  def _render(self, rect):
    # Set opacity based on active state
    opacity = 0.65 if self.is_active else 0.2

@@ -105,18 +103,14 @@ class DriverStateRenderer:
    if self.v_arc_data:
      rl.draw_spline_linear(self.v_arc_lines, len(self.v_arc_lines), self.v_arc_data.thickness, self.arc_color)

-  def _is_visible(self, sm):
-    """Check if the visualization should be rendered."""
-    return (sm.recv_frame['driverStateV2'] > ui_state.started_frame and
-            sm.seen['driverMonitoringState'] and
-            sm['selfdriveState'].alertSize == 0)
-
-  def _update_state(self, sm, rect):
+  def _update_state(self):
    """Update the driver monitoring state based on model data"""
-    if  not sm.updated["driverMonitoringState"]:
-      if self.state_updated and (rect.x != self.last_rect.x or rect.y != self.last_rect.y or \
-         rect.width != self.last_rect.width or rect.height != self.last_rect.height):
-        self._pre_calculate_drawing_elements(rect)
+    sm = ui_state.sm
+    if not sm.updated["driverMonitoringState"]:
+      if (self._rect.x != self.last_rect.x or self._rect.y != self.last_rect.y or
+          self._rect.width != self.last_rect.width or self._rect.height != self.last_rect.height):
+        self._pre_calculate_drawing_elements()
+        self.last_rect = self._rect
      return

    # Get monitoring state
@@ -165,16 +159,15 @@ class DriverStateRenderer:
    self.face_keypoints_transformed = self.face_kpts_draw[:, :2] * kp_depth[:, None]

    # Pre-calculate all drawing elements
-    self._pre_calculate_drawing_elements(rect)
-    self.state_updated = True
+    self._pre_calculate_drawing_elements()

-  def _pre_calculate_drawing_elements(self, rect):
+  def _pre_calculate_drawing_elements(self):
    """Pre-calculate all drawing elements based on the current rectangle"""
    # Calculate icon position (bottom-left or bottom-right)
-    width, height = rect.width, rect.height
+    width, height = self._rect.width, self._rect.height
    offset = UI_BORDER_SIZE + BTN_SIZE // 2
-    self.position_x = rect.x + (width - offset if self.is_rhd else offset)
-    self.position_y = rect.y + height - offset
+    self.position_x = self._rect.x + (width - offset if self.is_rhd else offset)
+    self.position_y = self._rect.y + height - offset

    # Pre-calculate the face lines positions
    positioned_keypoints = self.face_keypoints_transformed + np.array([self.position_x, self.position_y])
@@ -189,15 +182,15 @@ class DriverStateRenderer:
    # Horizontal arc
    h_width = abs(delta_x)
    self.h_arc_data = self._calculate_arc_data(
-        delta_x, h_width, self.position_x, self.position_y - ARC_LENGTH / 2,
-        self.driver_pose_sins[1], self.driver_pose_diff[1], is_horizontal=True
+      delta_x, h_width, self.position_x, self.position_y - ARC_LENGTH / 2,
+      self.driver_pose_sins[1], self.driver_pose_diff[1], is_horizontal=True
    )

    # Vertical arc
    v_height = abs(delta_y)
    self.v_arc_data = self._calculate_arc_data(
-        delta_y, v_height, self.position_x - ARC_LENGTH / 2, self.position_y,
-        self.driver_pose_sins[0], self.driver_pose_diff[0], is_horizontal=False
+      delta_y, v_height, self.position_x - ARC_LENGTH / 2, self.position_y,
+      self.driver_pose_sins[0], self.driver_pose_diff[0], is_horizontal=False
    )

  def _calculate_arc_data(
@@ -0,0 +1,78 @@
+import time
+import pyray as rl
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.widget import Widget
+from openpilot.common.params import Params
+
+
+class ExpButton(Widget):
+  def __init__(self, button_size: int, icon_size: int):
+    super().__init__()
+    self._params = Params()
+    self._experimental_mode: bool = False
+    self._engageable: bool = False
+
+    # State hold mechanism
+    self._hold_duration = 2.0  # seconds
+    self._held_mode: bool | None = None
+    self._hold_end_time: float | None = None
+
+    self._white_color: rl.Color = rl.Color(255, 255, 255, 255)
+    self._black_bg: rl.Color = rl.Color(0, 0, 0, 166)
+    self._txt_wheel: rl.Texture = gui_app.texture('icons/chffr_wheel.png', icon_size, icon_size)
+    self._txt_exp: rl.Texture = gui_app.texture('icons/experimental.png', icon_size, icon_size)
+    self._rect = rl.Rectangle(0, 0, button_size, button_size)
+
+  def set_rect(self, rect: rl.Rectangle) -> None:
+    self._rect.x, self._rect.y = rect.x, rect.y
+
+  def _update_state(self) -> None:
+    selfdrive_state = ui_state.sm["selfdriveState"]
+    self._experimental_mode = selfdrive_state.experimentalMode
+    self._engageable = selfdrive_state.engageable or selfdrive_state.enabled
+
+  def handle_mouse_event(self) -> bool:
+    if rl.check_collision_point_rec(rl.get_mouse_position(), self._rect):
+      if (rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT) and
+          self._is_toggle_allowed()):
+        new_mode = not self._experimental_mode
+        self._params.put_bool("ExperimentalMode", new_mode)
+
+        # Hold new state temporarily
+        self._held_mode = new_mode
+        self._hold_end_time = time.time() + self._hold_duration
+      return True
+    return False
+
+  def _render(self, rect: rl.Rectangle) -> None:
+    center_x = int(self._rect.x + self._rect.width // 2)
+    center_y = int(self._rect.y + self._rect.height // 2)
+
+    mouse_over = rl.check_collision_point_rec(rl.get_mouse_position(), self._rect)
+    mouse_down = rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) and self._is_pressed
+    self._white_color.a = 180 if (mouse_down and mouse_over) or not self._engageable else 255
+
+    texture = self._txt_exp if self._held_or_actual_mode() else self._txt_wheel
+    rl.draw_circle(center_x, center_y, self._rect.width / 2, self._black_bg)
+    rl.draw_texture(texture, center_x - texture.width // 2, center_y - texture.height // 2, self._white_color)
+
+  def _held_or_actual_mode(self):
+    now = time.time()
+    if self._hold_end_time and now < self._hold_end_time:
+      return self._held_mode
+
+    if self._hold_end_time and now >= self._hold_end_time:
+      self._hold_end_time = self._held_mode = None
+
+    return self._experimental_mode
+
+  def _is_toggle_allowed(self):
+    if not self._params.get_bool("ExperimentalModeConfirmed"):
+      return False
+
+    car_params = ui_state.sm["carParams"]
+    if car_params.alphaLongitudinalAvailable:
+      return self._params.get_bool("AlphaLongitudinalEnabled")
+    else:
+      return car_params.openpilotLongitudinalControl
@@ -1,10 +1,11 @@
 import pyray as rl
 from dataclasses import dataclass
-from cereal.messaging import SubMaster
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
+from openpilot.selfdrive.ui.onroad.exp_button import ExpButton
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.common.conversions import Conversions as CV
+from openpilot.system.ui.lib.widget import Widget

 # Constants
 SET_SPEED_NA = 255
@@ -54,21 +55,25 @@ FONT_SIZES = FontSizes()
 COLORS = Colors()


-class HudRenderer:
+class HudRenderer(Widget):
  def __init__(self):
+    super().__init__()
    """Initialize the HUD renderer."""
    self.is_cruise_set: bool = False
    self.is_cruise_available: bool = False
    self.set_speed: float = SET_SPEED_NA
    self.speed: float = 0.0
    self.v_ego_cluster_seen: bool = False
-    self._wheel_texture: rl.Texture = gui_app.texture('icons/chffr_wheel.png', UI_CONFIG.wheel_icon_size, UI_CONFIG.wheel_icon_size)
+
    self._font_semi_bold: rl.Font = gui_app.font(FontWeight.SEMI_BOLD)
    self._font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
    self._font_medium: rl.Font = gui_app.font(FontWeight.MEDIUM)

-  def _update_state(self, sm: SubMaster) -> None:
+    self._exp_button = ExpButton(UI_CONFIG.button_size, UI_CONFIG.wheel_icon_size)
+
+  def _update_state(self) -> None:
    """Update HUD state based on car state and controls state."""
+    sm = ui_state.sm
    if sm.recv_frame["carState"] < ui_state.started_frame:
      self.is_cruise_set = False
      self.set_speed = SET_SPEED_NA
@@ -94,9 +99,9 @@ class HudRenderer:
    speed_conversion = CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH
    self.speed = max(0.0, v_ego * speed_conversion)

-  def draw(self, rect: rl.Rectangle, sm: SubMaster) -> None:
+  def _render(self, rect: rl.Rectangle) -> None:
    """Render HUD elements to the screen."""
-    self._update_state(sm)
+    # Draw the header background
    rl.draw_rectangle_gradient_v(
      int(rect.x),
      int(rect.y),
@@ -110,7 +115,13 @@ class HudRenderer:
      self._draw_set_speed(rect)

    self._draw_current_speed(rect)
-    self._draw_wheel_icon(rect)
+
+    button_x = rect.x + rect.width - UI_CONFIG.border_size - UI_CONFIG.button_size
+    button_y = rect.y + UI_CONFIG.border_size
+    self._exp_button.render(rl.Rectangle(button_x, button_y, UI_CONFIG.button_size, UI_CONFIG.button_size))
+
+  def handle_mouse_event(self) -> bool:
+    return bool(self._exp_button.handle_mouse_event())

  def _draw_set_speed(self, rect: rl.Rectangle) -> None:
    """Draw the MAX speed indicator box."""
@@ -166,13 +177,3 @@ class HudRenderer:
    unit_text_size = measure_text_cached(self._font_medium, unit_text, FONT_SIZES.speed_unit)
    unit_pos = rl.Vector2(rect.x + rect.width / 2 - unit_text_size.x / 2, 290 - unit_text_size.y / 2)
    rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.white_translucent)
-
-  def _draw_wheel_icon(self, rect: rl.Rectangle) -> None:
-    """Draw the steering wheel icon with status-based opacity."""
-    center_x = int(rect.x + rect.width - UI_CONFIG.border_size - UI_CONFIG.button_size / 2)
-    center_y = int(rect.y + UI_CONFIG.border_size + UI_CONFIG.button_size / 2)
-    rl.draw_circle(center_x, center_y, UI_CONFIG.button_size / 2, COLORS.black_translucent)
-
-    opacity = 0.7 if ui_state.status == UIStatus.DISENGAGED else 1.0
-    img_pos = rl.Vector2(center_x - self._wheel_texture.width / 2, center_y - self._wheel_texture.height / 2)
-    rl.draw_texture_v(self._wheel_texture, img_pos, rl.Color(255, 255, 255, int(255 * opacity)))
@@ -7,9 +7,9 @@ from openpilot.common.params import Params
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.ui.lib.application import DEFAULT_FPS
 from openpilot.system.ui.lib.shader_polygon import draw_polygon
+from openpilot.system.ui.lib.widget import Widget
 from openpilot.selfdrive.locationd.calibrationd import HEIGHT_INIT

-
 CLIP_MARGIN = 500
 MIN_DRAW_DISTANCE = 10.0
 MAX_DRAW_DISTANCE = 100.0
@@ -36,6 +36,7 @@ class ModelPoints:
  raw_points: np.ndarray = field(default_factory=lambda: np.empty((0, 3), dtype=np.float32))
  projected_points: np.ndarray = field(default_factory=lambda: np.empty((0, 2), dtype=np.float32))

+
@dataclass
 class LeadVehicle:
  glow: list[float] = field(default_factory=list)
@@ -43,8 +44,9 @@ class LeadVehicle:
  fill_alpha: int = 0


-class ModelRenderer:
+class ModelRenderer(Widget):
  def __init__(self):
+    super().__init__()
    self._longitudinal_control = False
    self._experimental_mode = False
    self._blend_factor = 1.0
@@ -64,11 +66,6 @@ class ModelRenderer:
    self._car_space_transform = np.zeros((3, 3), dtype=np.float32)
    self._transform_dirty = True
    self._clip_region = None
-    self._rect = None
-
-    # Pre-allocated arrays for polygon conversion
-    self._temp_points_3d = np.empty((MAX_POINTS * 2, 3), dtype=np.float32)
-    self._temp_proj = np.empty((3, MAX_POINTS * 2), dtype=np.float32)

    self._exp_gradient = {
      'start': (0.0, 1.0),  # Bottom of path
@@ -86,14 +83,15 @@ class ModelRenderer:
    self._car_space_transform = transform.astype(np.float32)
    self._transform_dirty = True

-  def draw(self, rect: rl.Rectangle, sm: messaging.SubMaster):
+  def _render(self, rect: rl.Rectangle):
+    sm = ui_state.sm
+
    # Check if data is up-to-date
    if (sm.recv_frame["liveCalibration"] < ui_state.started_frame or
        sm.recv_frame["modelV2"] < ui_state.started_frame):
      return

    # Set up clipping region
-    self._rect = rect
    self._clip_region = rl.Rectangle(
      rect.x - CLIP_MARGIN, rect.y - CLIP_MARGIN, rect.width + 2 * CLIP_MARGIN, rect.height + 2 * CLIP_MARGIN
    )
@@ -127,7 +125,6 @@ class ModelRenderer:
        self._update_leads(radar_state, path_x_array)
      self._transform_dirty = False

-
    # Draw elements
    self._draw_lane_lines()
    self._draw_path(sm)
@@ -256,7 +253,7 @@ class ModelRenderer:
    glow = [(x + (sz * 1.35) + g_xo, y + sz + g_yo), (x, y - g_yo), (x - (sz * 1.35) - g_xo, y + sz + g_yo)]
    chevron = [(x + (sz * 1.25), y + sz), (x, y), (x - (sz * 1.25), y + sz)]

-    return LeadVehicle(glow=glow,chevron=chevron, fill_alpha=int(fill_alpha))
+    return LeadVehicle(glow=glow, chevron=chevron, fill_alpha=int(fill_alpha))

  def _draw_lane_lines(self):
    """Draw lane lines and road edges"""
@@ -357,54 +354,60 @@ class ModelRenderer:
    if points.shape[0] == 0:
      return np.empty((0, 2), dtype=np.float32)

-    # Create left and right 3D points in one array
-    n_points = points.shape[0]
-    points_3d = self._temp_points_3d[:n_points * 2]
-    points_3d[:n_points, 0] = points_3d[n_points:, 0] = points[:, 0]
-    points_3d[:n_points, 1] = points[:, 1] - y_off
-    points_3d[n_points:, 1] = points[:, 1] + y_off
-    points_3d[:n_points, 2] = points_3d[n_points:, 2] = points[:, 2] + z_off
+    N = points.shape[0]
+    # Generate left and right 3D points in one array using broadcasting
+    offsets = np.array([[0, -y_off, z_off], [0, y_off, z_off]], dtype=np.float32)
+    points_3d = points[None, :, :] + offsets[:, None, :]  # Shape: 2xNx3
+    points_3d = points_3d.reshape(2 * N, 3)  # Shape: (2*N)x3

-    # Single matrix multiplication for projections
-    proj = np.ascontiguousarray(self._temp_proj[:, :n_points * 2])  # Slice the pre-allocated array
-    np.dot(self._car_space_transform, points_3d.T, out=proj)
-    valid_z = np.abs(proj[2]) > 1e-6
-    if not np.any(valid_z):
+    # Transform all points to projected space in one operation
+    proj = self._car_space_transform @ points_3d.T  # Shape: 3x(2*N)
+    proj = proj.reshape(3, 2, N)
+    left_proj = proj[:, 0, :]
+    right_proj = proj[:, 1, :]
+
+    # Filter points where z is sufficiently large
+    valid_proj = (np.abs(left_proj[2]) >= 1e-6) & (np.abs(right_proj[2]) >= 1e-6)
+    if not np.any(valid_proj):
      return np.empty((0, 2), dtype=np.float32)

    # Compute screen coordinates
-    screen = proj[:2, valid_z] / proj[2, valid_z][None, :]
-    left_screen = screen[:, :n_points].T
-    right_screen = screen[:, n_points:].T
+    left_screen = left_proj[:2, valid_proj] / left_proj[2, valid_proj][None, :]
+    right_screen = right_proj[:2, valid_proj] / right_proj[2, valid_proj][None, :]

-    # Ensure consistent shapes by re-aligning valid points
-    valid_points = np.minimum(left_screen.shape[0], right_screen.shape[0])
-    if valid_points == 0:
+    # Define clip region bounds
+    clip = self._clip_region
+    x_min, x_max = clip.x, clip.x + clip.width
+    y_min, y_max = clip.y, clip.y + clip.height
+
+    # Filter points within clip region
+    left_in_clip = (
+      (left_screen[0] >= x_min) & (left_screen[0] <= x_max) &
+      (left_screen[1] >= y_min) & (left_screen[1] <= y_max)
+    )
+    right_in_clip = (
+      (right_screen[0] >= x_min) & (right_screen[0] <= x_max) &
+      (right_screen[1] >= y_min) & (right_screen[1] <= y_max)
+    )
+    both_in_clip = left_in_clip & right_in_clip
+
+    if not np.any(both_in_clip):
      return np.empty((0, 2), dtype=np.float32)
-    left_screen = left_screen[:valid_points]
-    right_screen = right_screen[:valid_points]

-    if self._clip_region:
-      clip = self._clip_region
-      bounds_mask = (
-        (left_screen[:, 0] >= clip.x) & (left_screen[:, 0] <= clip.x + clip.width) &
-        (left_screen[:, 1] >= clip.y) & (left_screen[:, 1] <= clip.y + clip.height) &
-        (right_screen[:, 0] >= clip.x) & (right_screen[:, 0] <= clip.x + clip.width) &
-        (right_screen[:, 1] >= clip.y) & (right_screen[:, 1] <= clip.y + clip.height)
-      )
-      if not np.any(bounds_mask):
+    # Select valid and clipped points
+    left_screen = left_screen[:, both_in_clip]
+    right_screen = right_screen[:, both_in_clip]
+
+    # Handle Y-coordinate inversion on hills
+    if not allow_invert and left_screen.shape[1] > 1:
+      y = left_screen[1, :]  # y-coordinates
+      keep = y == np.minimum.accumulate(y)
+      if not np.any(keep):
        return np.empty((0, 2), dtype=np.float32)
-      left_screen = left_screen[bounds_mask]
-      right_screen = right_screen[bounds_mask]
+      left_screen = left_screen[:, keep]
+      right_screen = right_screen[:, keep]

-    if not allow_invert and left_screen.shape[0] > 1:
-      keep = np.concatenate(([True], np.diff(left_screen[:, 1]) < 0))
-      left_screen = left_screen[keep]
-      right_screen = right_screen[keep]
-      if left_screen.shape[0] == 0:
-        return np.empty((0, 2), dtype=np.float32)
-
-    return np.vstack((left_screen, right_screen[::-1])).astype(np.float32)
+    return np.vstack((left_screen.T, right_screen[:, ::-1].T)).astype(np.float32)

  @staticmethod
  def _map_val(x, x0, x1, y0, y1):
@@ -417,10 +420,10 @@ class ModelRenderer:
  def _hsla_to_color(h, s, l, a):
    rgb = colorsys.hls_to_rgb(h, l, s)
    return rl.Color(
-        int(rgb[0] * 255),
-        int(rgb[1] * 255),
-        int(rgb[2] * 255),
-        int(a * 255)
+      int(rgb[0] * 255),
+      int(rgb[1] * 255),
+      int(rgb[2] * 255),
+      int(a * 255)
    )

  @staticmethod
@@ -45,17 +45,6 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
  });
  addItem(experimentalLongitudinalToggle);

-  enableGithubRunner = new ParamControl("EnableGithubRunner", tr("Enable GitHub runner service"), tr("Enables or disables the github runner service."), "");
-  addItem(enableGithubRunner);
-
-  // error log button
-  errorLogBtn = new ButtonControl(tr("Error Log"), tr("VIEW"), tr("View the error log for sunnypilot crashes."));
-  connect(errorLogBtn, &ButtonControl::clicked, [=]() {
-    std::string txt = util::read_file("/data/community/crashes/error.log");
-    ConfirmationDialog::rich(QString::fromStdString(txt), this);
-  });
-  addItem(errorLogBtn);
-
  // Joystick and longitudinal maneuvers should be hidden on release branches
  is_release = params.getBool("IsReleaseBranch");

@@ -104,8 +93,6 @@ void DeveloperPanel::updateToggles(bool _offroad) {
  experimentalLongitudinalToggle->refresh();

  // Handle specific controls visibility for release branches
-  enableGithubRunner->setVisible(!is_release);
-  errorLogBtn->setVisible(!is_release);
  joystickToggle->setVisible(!is_release);

  offroad = _offroad;
@@ -16,10 +16,8 @@ private:
  Params params;
  ParamControl* adbToggle;
  ParamControl* joystickToggle;
-  ButtonControl* errorLogBtn;
  ParamControl* longManeuverToggle;
  ParamControl* experimentalLongitudinalToggle;
-  ParamControl* enableGithubRunner;
  bool is_release;
  bool offroad = false;

@@ -22,7 +22,7 @@ FirehosePanel::FirehosePanel(SettingsWindow *parent) : QWidget((QWidget*)parent)
  layout->setSpacing(20);

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

@@ -68,6 +68,13 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
      "../assets/icons/monitoring.png",
      true,
    },
+    {
+      "RecordAudio",
+      tr("Record and Upload Microphone Audio"),
+      tr("Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."),
+      "../assets/icons/microphone.png",
+      true,
+    },
    {
      "IsMetric",
      tr("Use Metric System"),
@@ -85,7 +92,15 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
                                             "your steering wheel distance button."),
                                          "../assets/icons/speed_limit.png",
                                          longi_button_texts);
-
+  // accel controller
+  std::vector<QString> accel_personality_texts{tr("Sport"), tr("Normal"), tr("Eco")};
+  accel_personality_setting = new ButtonParamControlSP("AccelPersonality", tr("Acceleration Personality"),
+                                          tr("Normal is recommended. In sport mode, sunnypilot will provide aggressive acceleration for a dynamic driving experience. "
+                                             "In eco mode, sunnypilot will apply smoother and more relaxed acceleration. On supported cars, you can cycle through these "
+                                             "acceleration personality within Onroad Settings on the driving screen."),
+                                          "",
+                                          accel_personality_texts);
+  accel_personality_setting->showDescription();
  // set up uiState update for personality setting
  QObject::connect(uiState(), &UIState::uiUpdate, this, &TogglesPanel::updateState);

@@ -113,6 +128,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
    // insert longitudinal personality after NDOG toggle
    if (param == "DisengageOnAccelerator") {
      addItem(long_personality_setting);
+      addItem(accel_personality_setting);
    }
  }

@@ -133,12 +149,28 @@ void TogglesPanel::updateState(const UIState &s) {
    }
    uiState()->scene.personality = personality;
  }
+  if (sm.updated("longitudinalPlanSP")) {
+    auto accel_personality = sm["longitudinalPlanSP"].getLongitudinalPlanSP().getAccelPersonality();
+    if (accel_personality != s.scene.accel_personality && s.scene.started && isVisible()) {
+      accel_personality_setting->setCheckedButton(static_cast<int>(accel_personality));
+    }
+    uiState()->scene.accel_personality = accel_personality;
+  }
 }

 void TogglesPanel::expandToggleDescription(const QString &param) {
  toggles[param.toStdString()]->showDescription();
 }

+void TogglesPanel::scrollToToggle(const QString &param) {
+  if (auto it = toggles.find(param.toStdString()); it != toggles.end()) {
+    auto scroll_area = qobject_cast<QScrollArea*>(parent()->parent());
+    if (scroll_area) {
+      scroll_area->ensureWidgetVisible(it->second);
+    }
+  }
+}
+
 void TogglesPanel::showEvent(QShowEvent *event) {
  updateToggles();
 }
@@ -170,10 +202,12 @@ void TogglesPanel::updateToggles() {
      experimental_mode_toggle->setEnabled(true);
      experimental_mode_toggle->setDescription(e2e_description);
      long_personality_setting->setEnabled(true);
+      accel_personality_setting->setEnabled(true);
    } else {
      // no long for now
      experimental_mode_toggle->setEnabled(false);
      long_personality_setting->setEnabled(false);
+      accel_personality_setting->setEnabled(true);
      params.remove("ExperimentalMode");

      const QString unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control.");
@@ -222,7 +256,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
  addItem(dcamBtn);
 #endif

-  auto resetCalibBtn = new ButtonControl(tr("Reset Calibration"), tr("RESET"), "");
+  resetCalibBtn = new ButtonControl(tr("Reset Calibration"), tr("RESET"), "");
  connect(resetCalibBtn, &ButtonControl::showDescriptionEvent, this, &DevicePanel::updateCalibDescription);
  connect(resetCalibBtn, &ButtonControl::clicked, [&]() {
    if (!uiState()->engaged()) {
@@ -235,6 +269,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
          params.remove("LiveParametersV2");
          params.remove("LiveDelay");
          params.putBool("OnroadCycleRequested", true);
+          updateCalibDescription();
        }
      }
    } else {
@@ -313,9 +348,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
 }

 void DevicePanel::updateCalibDescription() {
-  QString desc =
-      tr("sunnypilot requires the device to be mounted within 4° left or right and "
-         "within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.");
+  QString desc = tr("sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.");
  std::string calib_bytes = params.get("CalibrationParams");
  if (!calib_bytes.empty()) {
    try {
@@ -333,8 +366,48 @@ void DevicePanel::updateCalibDescription() {
      qInfo() << "invalid CalibrationParams";
    }
  }
-  desc += tr(" Resetting calibration will restart openpilot if the car is powered on.");
-  qobject_cast<ButtonControl *>(sender())->setDescription(desc);
+
+  int lag_perc = 0;
+  std::string lag_bytes = params.get("LiveDelay");
+  if (!lag_bytes.empty()) {
+    try {
+      AlignedBuffer aligned_buf;
+      capnp::FlatArrayMessageReader cmsg(aligned_buf.align(lag_bytes.data(), lag_bytes.size()));
+      lag_perc = cmsg.getRoot<cereal::Event>().getLiveDelay().getCalPerc();
+    } catch (kj::Exception) {
+      qInfo() << "invalid LiveDelay";
+    }
+  }
+  if (lag_perc < 100) {
+    desc += tr("\n\nSteering lag calibration is %1% complete.").arg(lag_perc);
+  } else {
+    desc += tr("\n\nSteering lag calibration is complete.");
+  }
+
+  std::string torque_bytes = params.get("LiveTorqueParameters");
+  if (!torque_bytes.empty()) {
+    try {
+      AlignedBuffer aligned_buf;
+      capnp::FlatArrayMessageReader cmsg(aligned_buf.align(torque_bytes.data(), torque_bytes.size()));
+      auto torque = cmsg.getRoot<cereal::Event>().getLiveTorqueParameters();
+      // don't add for non-torque cars
+      if (torque.getUseParams()) {
+        int torque_perc = torque.getCalPerc();
+        if (torque_perc < 100) {
+          desc += tr(" Steering torque response calibration is %1% complete.").arg(torque_perc);
+        } else {
+          desc += tr(" Steering torque response calibration is complete.");
+        }
+      }
+    } catch (kj::Exception) {
+      qInfo() << "invalid LiveTorqueParameters";
+    }
+  }
+
+  desc += "\n\n";
+  desc += tr("openpilot is continuously calibrating, resetting is rarely required. "
+             "Resetting calibration will restart openpilot if the car is powered on.");
+  resetCalibBtn->setDescription(desc);
 }

 void DevicePanel::reboot() {
@@ -387,6 +460,7 @@ void SettingsWindow::setCurrentPanel(int index, const QString &param) {
      }
    } else {
      emit expandToggleDescription(param);
+      emit scrollToToggle(param);
    }
  }

@@ -427,6 +501,7 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {

  TogglesPanel *toggles = new TogglesPanel(this);
  QObject::connect(this, &SettingsWindow::expandToggleDescription, toggles, &TogglesPanel::expandToggleDescription);
+  QObject::connect(this, &SettingsWindow::scrollToToggle, toggles, &TogglesPanel::scrollToToggle);

  auto networking = new Networking(this);
  QObject::connect(uiState()->prime_state, &PrimeState::changed, networking, &Networking::setPrimeType);
@@ -42,6 +42,7 @@ signals:
  void reviewTrainingGuide();
  void showDriverView();
  void expandToggleDescription(const QString &param);
+  void scrollToToggle(const QString &param);

 protected:
  QPushButton *sidebar_alert_widget;
@@ -67,6 +68,7 @@ protected slots:
 protected:
  Params params;
  ButtonControl *pair_device;
+  ButtonControl *resetCalibBtn;
 };

 class TogglesPanel : public ListWidget {
@@ -77,6 +79,7 @@ public:

 public slots:
  void expandToggleDescription(const QString &param);
+  void scrollToToggle(const QString &param);

 protected slots:
  virtual void updateState(const UIState &s);
@@ -85,6 +88,7 @@ protected:
  Params params;
  std::map<std::string, ParamControl*> toggles;
  ButtonParamControl *long_personality_setting;
+  ButtonParamControl *accel_personality_setting;

  virtual void updateToggles();
 };
@@ -173,6 +173,7 @@ QColor ModelRenderer::blendColors(const QColor &start, const QColor &end, float
      (1 - t) * start.alphaF() + t * end.alphaF());
 }

+
 void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
                             const QPointF &vd, const QRect &surface_rect) {
  const float speedBuff = 10.;
@@ -234,4 +235,4 @@ void ModelRenderer::mapLineToPolygon(const cereal::XYZTData::Reader &line, float
      pvd->push_front(right);
    }
  }
-}
+}
@@ -58,4 +58,5 @@ protected:
  QPointF lead_vertices[2] = {};
  Eigen::Matrix3f car_space_transform = Eigen::Matrix3f::Zero();
  QRectF clip_region;
+
 };
@@ -136,6 +136,59 @@ QWidget * Setup::low_voltage() {
  return widget;
 }

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

@@ -305,20 +358,17 @@ QWidget * Setup::software_selection() {
  blayout->addWidget(cont);

  QObject::connect(cont, &QPushButton::clicked, [=]() {
-    auto w = currentWidget();
-    QTimer::singleShot(0, [=]() {
-      setCurrentWidget(downloading_widget);
-    });
-    QString url = OPENPILOT_URL;
    if (group->checkedButton() != openpilot) {
-      url = InputDialog::getText(tr("Enter URL"), this, tr("for Custom Software"));
-    }
-    if (!url.isEmpty()) {
-      QTimer::singleShot(1000, this, [=]() {
-        download(url);
+      QTimer::singleShot(0, [=]() {
+        setCurrentWidget(custom_software_warning_widget);
      });
    } else {
-      setCurrentWidget(w);
+      QTimer::singleShot(0, [=]() {
+        setCurrentWidget(downloading_widget);
+      });
+      QTimer::singleShot(1000, this, [=]() {
+        download(OPENPILOT_URL);
+      });
    }
  });

@@ -415,8 +465,10 @@ Setup::Setup(QWidget *parent) : QStackedWidget(parent) {

  addWidget(getting_started());
  addWidget(network_setup());
-  addWidget(software_selection());
-
+  software_selection_widget = software_selection();
+  addWidget(software_selection_widget);
+  custom_software_warning_widget = custom_software_warning();
+  addWidget(custom_software_warning_widget);
  downloading_widget = downloading();
  addWidget(downloading_widget);

@@ -15,6 +15,7 @@ public:
 private:
  void selectLanguage();
  QWidget *low_voltage();
+  QWidget *custom_software_warning();
  QWidget *getting_started();
  QWidget *network_setup();
  QWidget *software_selection();
@@ -23,6 +24,8 @@ private:

  QWidget *failed_widget;
  QWidget *downloading_widget;
+  QWidget *custom_software_warning_widget;
+  QWidget *software_selection_widget;
  QTranslator translator;

 signals:
@@ -24,10 +24,11 @@ void Sidebar::drawMetric(QPainter &p, const QPair<QString, QString> &label, QCol
  p.drawText(rect.adjusted(22, 0, 0, 0), Qt::AlignCenter, label.first + "\n" + label.second);
 }

-Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(false), settings_pressed(false) {
+Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(false), settings_pressed(false), mic_indicator_pressed(false) {
  home_img = loadPixmap("../assets/images/button_home.png", home_btn.size());
  flag_img = loadPixmap("../assets/images/button_flag.png", home_btn.size());
  settings_img = loadPixmap("../assets/images/button_settings.png", settings_btn.size(), Qt::IgnoreAspectRatio);
+  mic_img = loadPixmap("../assets/icons/microphone.png", QSize(30, 30));

  connect(this, &Sidebar::valueChanged, [=] { update(); });

@@ -47,12 +48,15 @@ void Sidebar::mousePressEvent(QMouseEvent *event) {
  } else if (settings_btn.contains(event->pos())) {
    settings_pressed = true;
    update();
+  } else if (recording_audio && mic_indicator_btn.contains(event->pos())) {
+    mic_indicator_pressed = true;
+    update();
  }
 }

 void Sidebar::mouseReleaseEvent(QMouseEvent *event) {
-  if (flag_pressed || settings_pressed) {
-    flag_pressed = settings_pressed = false;
+  if (flag_pressed || settings_pressed || mic_indicator_pressed) {
+    flag_pressed = settings_pressed = mic_indicator_pressed = false;
    update();
  }
  if (onroad && home_btn.contains(event->pos())) {
@@ -61,6 +65,8 @@ void Sidebar::mouseReleaseEvent(QMouseEvent *event) {
    pm->send("userFlag", msg);
  } else if (settings_btn.contains(event->pos())) {
    emit openSettings();
+  } else if (recording_audio && mic_indicator_btn.contains(event->pos())) {
+    emit openSettings(2, "RecordAudio");
  }
 }

@@ -106,6 +112,8 @@ void Sidebar::updateState(const UIState &s) {
    pandaStatus = {{tr("NO"), tr("PANDA")}, danger_color};
  }
  setProperty("pandaStatus", QVariant::fromValue(pandaStatus));
+
+  setProperty("recordingAudio", s.scene.recording_audio);
 }

 void Sidebar::paintEvent(QPaintEvent *event) {
@@ -124,6 +132,14 @@ void Sidebar::drawSidebar(QPainter &p) {
  p.drawPixmap(settings_btn.x(), settings_btn.y(), settings_img);
  p.setOpacity(onroad && flag_pressed ? 0.65 : 1.0);
  p.drawPixmap(home_btn.x(), home_btn.y(), onroad ? flag_img : home_img);
+  if (recording_audio) {
+    p.setBrush(danger_color);
+    p.setOpacity(mic_indicator_pressed ? 0.65 : 1.0);
+    p.drawRoundedRect(mic_indicator_btn, mic_indicator_btn.height() / 2, mic_indicator_btn.height() / 2);
+    int icon_x = mic_indicator_btn.x() + (mic_indicator_btn.width() - mic_img.width()) / 2;
+    int icon_y = mic_indicator_btn.y() + (mic_indicator_btn.height() - mic_img.height()) / 2;
+    p.drawPixmap(icon_x, icon_y, mic_img);
+  }
  p.setOpacity(1.0);

  // network
@@ -23,6 +23,7 @@ class Sidebar : public QFrame {
  Q_PROPERTY(ItemStatus tempStatus MEMBER temp_status NOTIFY valueChanged);
  Q_PROPERTY(QString netType MEMBER net_type NOTIFY valueChanged);
  Q_PROPERTY(int netStrength MEMBER net_strength NOTIFY valueChanged);
+  Q_PROPERTY(bool recordingAudio MEMBER recording_audio NOTIFY valueChanged);

 public:
  explicit Sidebar(QWidget* parent = 0);
@@ -42,8 +43,8 @@ protected:
  void drawMetric(QPainter &p, const QPair<QString, QString> &label, QColor c, int y);
  virtual void drawSidebar(QPainter &p);

-  QPixmap home_img, flag_img, settings_img;
-  bool onroad, flag_pressed, settings_pressed;
+  QPixmap home_img, flag_img, settings_img, mic_img;
+  bool onroad, recording_audio, flag_pressed, settings_pressed, mic_indicator_pressed;
  const QMap<cereal::DeviceState::NetworkType, QString> network_type = {
    {cereal::DeviceState::NetworkType::NONE, tr("--")},
    {cereal::DeviceState::NetworkType::WIFI, tr("Wi-Fi")},
@@ -56,6 +57,7 @@ protected:

  const QRect home_btn = QRect(60, 860, 180, 180);
  const QRect settings_btn = QRect(50, 35, 200, 117);
+  const QRect mic_indicator_btn = QRect(158, 252, 75, 40);
  const QColor good_color = QColor(255, 255, 255);
  const QColor warning_color = QColor(218, 202, 37);
  const QColor danger_color = QColor(201, 34, 49);
@@ -2,6 +2,7 @@

 #include <QPushButton>
 #include <QButtonGroup>
+#include <QScroller>

 #include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/util.h"
@@ -334,3 +335,141 @@ QString MultiOptionDialog::getSelection(const QString &prompt_text, const QStrin
  }
  return "";
 }
+
+TreeOptionDialog::TreeOptionDialog(const QString &prompt_text, const QList<QPair<QString, QStringList>> &items,
+                                   const QString &current, QWidget *parent) : DialogBase(parent) {
+  QFrame *container = new QFrame(this);
+  container->setStyleSheet(R"(
+    QFrame { background-color: #1B1B1B; }
+    #confirm_btn[enabled="false"] { background-color: #2B2B2B; }
+    #confirm_btn:enabled { background-color: #465BEA; }
+    #confirm_btn:enabled:pressed { background-color: #3049F4; }
+    QTreeWidget {
+      background-color: transparent;
+      border: none;
+    }
+    QTreeWidget::item {
+      height: 135;
+      padding: 0px 50px;
+      margin: 5px;
+      text-align: left;
+      font-size: 55px;
+      font-weight: 300;
+      border-radius: 10px;
+      background-color: #4F4F4F;
+      color: white;
+    }
+    QTreeWidget::item:selected {
+      background-color: #465BEA;
+    }
+    QTreeWidget::branch {
+      background-color: transparent;
+    }
+  )");
+
+  QVBoxLayout *main_layout = new QVBoxLayout(container);
+  main_layout->setContentsMargins(55, 50, 55, 50);
+
+  QLabel *title = new QLabel(prompt_text, this);
+  title->setStyleSheet("font-size: 70px; font-weight: 500;");
+  main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop);
+  main_layout->addSpacing(25);
+
+  treeWidget = new QTreeWidget(this);
+  treeWidget->setHeaderHidden(true);
+  treeWidget->setIndentation(50);
+  treeWidget->setExpandsOnDoubleClick(false); // Disable double-click expansion
+  treeWidget->setAnimated(true);
+  treeWidget->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
+  treeWidget->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
+  treeWidget->setVerticalScrollMode(QAbstractItemView::ScrollPerPixel);
+  treeWidget->setDragEnabled(false);
+  treeWidget->setMouseTracking(true);
+
+  // Connect single-click to expand/collapse
+  QObject::connect(treeWidget, &QTreeWidget::itemClicked, [=](QTreeWidgetItem *item, int) {
+    if (item->childCount() > 0) {
+      item->setExpanded(!item->isExpanded());
+      treeWidget->scrollToItem(item->child(0), QAbstractItemView::EnsureVisible);
+    }
+  });
+
+  QScroller::grabGesture(treeWidget->viewport(), QScroller::LeftMouseButtonGesture);
+
+  // Populate tree
+  QListIterator<QPair<QString, QStringList>> iter(items);
+  while (iter.hasNext()) {
+    QPair currItem = iter.next();
+    if (currItem.first.isEmpty()) {
+      for (const QString &item : currItem.second) {
+        QTreeWidgetItem *topLevel = new QTreeWidgetItem();
+        topLevel->setText(0, item);
+        topLevel->setFlags(topLevel->flags() | Qt::ItemIsSelectable);
+        treeWidget->addTopLevelItem(topLevel);
+        if (item == current) {
+          topLevel->setSelected(true);
+        }
+      }
+    } else {
+      QTreeWidgetItem *folderItem = new QTreeWidgetItem(treeWidget);
+      folderItem->setIcon(0, QIcon(QPixmap("../assets/icons/menu.png")));
+      folderItem->setText(0, "  " + currItem.first);
+      folderItem->setFlags(folderItem->flags() | Qt::ItemIsAutoTristate);
+      folderItem->setFlags(folderItem->flags() & ~Qt::ItemIsSelectable);
+
+      for (const QString &item : currItem.second)
+      {
+        QTreeWidgetItem *childItem = new QTreeWidgetItem(folderItem);
+        childItem->setText(0, item);
+        childItem->setFlags(childItem->flags() | Qt::ItemIsSelectable);
+
+        if (item == current) {
+          childItem->setSelected(true);
+          folderItem->setExpanded(true);
+        }
+      }
+    }
+  }
+
+  confirm_btn = new QPushButton(tr("Select"));
+  confirm_btn->setObjectName("confirm_btn");
+  confirm_btn->setEnabled(false);
+
+  QObject::connect(treeWidget, &QTreeWidget::itemSelectionChanged, [=]() {
+    QList<QTreeWidgetItem*> selectedItems = treeWidget->selectedItems();
+    if (!selectedItems.isEmpty()) {
+      selection = selectedItems.first()->text(0);
+      confirm_btn->setEnabled(selection != current);
+    }
+  });
+
+  ScrollView *scroll_view = new ScrollView(treeWidget, this);
+  scroll_view->setVerticalScrollBarPolicy(Qt::ScrollBarAsNeeded);
+
+  main_layout->addWidget(scroll_view);
+  main_layout->addSpacing(35);
+
+  // cancel + confirm buttons
+  QHBoxLayout *blayout = new QHBoxLayout;
+  main_layout->addLayout(blayout);
+  blayout->setSpacing(50);
+
+  QPushButton *cancel_btn = new QPushButton(tr("Cancel"));
+  QObject::connect(cancel_btn, &QPushButton::clicked, this, &ConfirmationDialog::reject);
+  QObject::connect(confirm_btn, &QPushButton::clicked, this, &ConfirmationDialog::accept);
+  blayout->addWidget(cancel_btn);
+  blayout->addWidget(confirm_btn);
+
+  QVBoxLayout *outer_layout = new QVBoxLayout(this);
+  outer_layout->setContentsMargins(50, 50, 50, 50);
+  outer_layout->addWidget(container);
+}
+
+QString TreeOptionDialog::getSelection(const QString &prompt_text, const QList<QPair<QString, QStringList>> &items,
+                                     const QString &current, QWidget *parent) {
+  TreeOptionDialog d(prompt_text, items, current, parent);
+  if (d.exec()) {
+    return d.selection;
+  }
+  return "";
+}
@@ -6,6 +6,7 @@
 #include <QString>
 #include <QVBoxLayout>
 #include <QWidget>
+#include <QTreeWidget>

 #include "selfdrive/ui/qt/widgets/keyboard.h"

@@ -69,3 +70,16 @@ public:
  static QString getSelection(const QString &prompt_text, const QStringList &l, const QString &current, QWidget *parent);
  QString selection;
 };
+
+class TreeOptionDialog : public DialogBase {
+  Q_OBJECT
+
+public:
+  explicit TreeOptionDialog(const QString &prompt_text, const QList<QPair<QString, QStringList>> &items, const QString &current, QWidget *parent = nullptr);
+  static QString getSelection(const QString &prompt_text, const QList<QPair<QString, QStringList>> &items, const QString &current, QWidget *parent = nullptr);
+  QString selection;
+
+private:
+  QTreeWidget *treeWidget;
+  QPushButton *confirm_btn;
+};
@@ -139,7 +139,7 @@ class Soundd(QuietMode):
    # sounddevice must be imported after forking processes
    import sounddevice as sd

-    sm = messaging.SubMaster(['selfdriveState', 'microphone'])
+    sm = messaging.SubMaster(['selfdriveState', 'soundPressure'])

    with self.get_stream(sd) as stream:
      rk = Ratekeeper(20)
@@ -150,8 +150,8 @@ class Soundd(QuietMode):

        self.load_param()

-        if sm.updated['microphone'] and self.current_alert == AudibleAlert.none: # only update volume filter when not playing alert
-          self.spl_filter_weighted.update(sm["microphone"].soundPressureWeightedDb)
+        if sm.updated['soundPressure'] and self.current_alert == AudibleAlert.none: # only update volume filter when not playing alert
+          self.spl_filter_weighted.update(sm["soundPressure"].soundPressureWeightedDb)
          self.current_volume = self.calculate_volume(float(self.spl_filter_weighted.x))

        self.get_audible_alert(sm)
@@ -21,6 +21,7 @@ qt_src = [
  "sunnypilot/qt/home.cc",
  "sunnypilot/qt/offroad/exit_offroad_button.cc",
  "sunnypilot/qt/offroad/offroad_home.cc",
+  "sunnypilot/qt/offroad/settings/developer_panel.cc",
  "sunnypilot/qt/offroad/settings/device_panel.cc",
  "sunnypilot/qt/offroad/settings/lateral_panel.cc",
  "sunnypilot/qt/offroad/settings/longitudinal_panel.cc",
--- a/Show More
+++ b/Show More