Update opendbc_repo

2026-08-18 05:13:43 +08:00 · 2026-08-17 09:41:13 -04:00 · 2026-08-16 15:30:31 -04:00
58 changed files with 737 additions and 1342 deletions
@@ -7,19 +7,6 @@ on:
        description: 'Minimum selector version required for the models (see helpers.py or readme.md)'
        required: true
        type: string
-      target_hardware:
-        description: 'Hardware target to compile for (qcom or usbgpu)'
-        required: true
-        type: choice
-        default: 'qcom'
-        options:
-          - qcom
-          - usbgpu
-      hf_repo:
-        description: 'Hugging Face dataset repository'
-        required: false
-        type: string
-        default: 'sunnypilot/sunnypilot_models_v1'

 jobs:
  setup:
@@ -59,14 +46,13 @@ jobs:
        id: get-json
        run: |
          cd docs/docs
-          PREFIX="driving_models_${{ inputs.target_hardware == 'usbgpu' && 'usbgpu_' || '' }}v"
-          latest=$(ls ${PREFIX}*.json | sed -E "s/${PREFIX}([0-9]+)\.json/\1/" | sort -n | tail -1)
+          latest=$(ls driving_models_v*.json | sed -E 's/.*_v([0-9]+)\.json/\1/' | sort -n | tail -1)
          next=$((latest+1))
-          json_file="${PREFIX}${next}.json"
-          cp "${PREFIX}${latest}.json" "$json_file"
+          json_file="driving_models_v${next}.json"
+          cp "driving_models_v${latest}.json" "$json_file"
          echo "json_file=docs/docs/$json_file" >> $GITHUB_OUTPUT
          echo "json_version=$((next+0))" >> $GITHUB_OUTPUT
-          echo "SRC_JSON_FILE=docs/docs/${PREFIX}${latest}.json" >> $GITHUB_ENV
+          echo "SRC_JSON_FILE=docs/docs/driving_models_v${latest}.json" >> $GITHUB_ENV

      - name: Extract tinygrad models
        id: set-matrix
@@ -75,23 +61,45 @@ jobs:
          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: Get next recompiled dir number
+      - 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:
-          HF_REPO: ${{ github.event.inputs.hf_repo }}
+          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
        run: |
-          pip install huggingface_hub
-          recompiled_dir=$(python3 -c "
-          from huggingface_hub import HfApi
-          import re, sys
-          api = HfApi()
-          files = api.list_repo_files(repo_id=sys.argv[1], repo_type='dataset')
-          dirs = [re.search(r'models/recompiled([0-9]+)', f) for f in files]
-          nums = [int(m.group(1)) for m in dirs if m]
-          print(max(nums) + 1)
-          " "$HF_REPO")
+          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} 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
@@ -115,30 +123,25 @@ jobs:
      is_20hz: ${{ matrix.model.is_20hz }}
      recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
      json_version: ${{ needs.setup.outputs.json_version }}
-      target_hardware: ${{ github.event.inputs.target_hardware }}
-      hf_repo: ${{ github.event.inputs.hf_repo }}
-      set_min_version: ${{ github.event.inputs.set_min_version }}
-      tinygrad_ref: ${{ needs.setup.outputs.tinygrad_ref }}
    secrets: inherit

  retry_failed_models:
    needs: [setup, get_and_build]
    runs-on: ubuntu-latest
-    if: ${{ !cancelled() && needs.setup.result == 'success' && (needs.get_and_build.result == 'success' || needs.get_and_build.result == 'failure') }}
+    if: ${{ needs.setup.result != 'failure' && !cancelled() }}
    outputs:
      retry_matrix: ${{ steps.set-retry-matrix.outputs.retry_matrix }}
    steps:
      - uses: actions/download-artifact@v4
        with:
-          pattern: artifact-name-*
+          pattern: model-*
          path: output
-        continue-on-error: true

      - id: set-retry-matrix
        run: |
          echo '${{ needs.setup.outputs.model_matrix }}' > matrix.json
-          built=(); while IFS= read -r line; do [ -n "$line" ] && built+=("$line"); done < <(
-            find output -maxdepth 1 -name 'artifact-name-*' -printf "%f\n" 2>/dev/null | sed -E 's/^artifact-name-//' | awk '{gsub(/^ +| +$/, ""); print}'
+          built=(); while IFS= read -r line; do built+=("$line"); done < <(
+            find output -maxdepth 1 -name 'model-*' -printf "%f\n" | sed -E 's/^model-//' | sed -E 's/-[0-9]+$//' | 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
@@ -146,7 +149,7 @@ jobs:

  retry_get_and_build:
    needs: [setup, get_and_build, retry_failed_models]
-    if: ${{ !cancelled() && needs.retry_failed_models.result == 'success' && needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '' }}
+    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) }}
@@ -158,9 +161,146 @@ jobs:
      is_20hz: ${{ matrix.model.is_20hz }}
      recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
      json_version: ${{ needs.setup.outputs.json_version }}
-      target_hardware: ${{ github.event.inputs.target_hardware }}
      artifact_suffix: -retry
-      hf_repo: ${{ github.event.inputs.hf_repo }}
-      set_min_version: ${{ github.event.inputs.set_min_version }}
-      tinygrad_ref: ${{ needs.setup.outputs.tinygrad_ref }}
    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:
+      fail-fast: false
+      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: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
+
+      - name: Add GitLab.com SSH key to known_hosts
+        run: |
+          mkdir -p ~/.ssh
+          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
+
+      - name: Clone GitLab docs repo
+        env:
+          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
+        run: |
+          echo "Cloning GitLab"
+          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} 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-models
+          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="$ARGS --sort-by-date"
+          ARGS="$ARGS --tinygrad-ref \"${{ needs.setup.outputs.tinygrad_ref }}\""
+          eval python3 docs/json_parser.py \
+            --json-path "$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 $JSON_FILE) after recompiling model" || echo "No changes to commit"
+          git push origin gh-pages
@@ -29,24 +29,11 @@ on:
        required: false
        type: boolean
        default: true
-      target_hardware:
-        description: 'Hardware target to compile for (qcom or usbgpu)'
+      bypass_push:
+        description: 'Bypass pushing to GitLab for build-all'
        required: false
-        type: string
-        default: 'qcom'
-      hf_repo:
-        description: 'Hugging Face dataset repository (e.g. sunnypilot/sunnypilot_models_v1)'
-        required: false
-        type: string
-        default: 'sunnypilot/sunnypilot_models_v1'
-      set_min_version:
-        description: 'Minimum selector version'
-        required: false
-        type: string
-      tinygrad_ref:
-        description: 'Tinygrad reference'
-        required: false
-        type: string
+        default: true
+        type: boolean
  workflow_dispatch:
    inputs:
      upstream_branch:
@@ -78,8 +65,8 @@ on:
          - None
          - Master Models
          - Release Models
+          - 2025 World Models
          - 2026 World Models
-          - 2026 Deep RL Models
          - Custom Merge Models
          - Other
      custom_model_folder:
@@ -94,22 +81,9 @@ on:
        description: 'Minimum selector version'
        required: false
        type: string
-      target_hardware:
-        description: 'Hardware target to compile for'
-        required: false
-        type: choice
-        default: 'qcom'
-        options:
-          - qcom
-          - usbgpu
-      hf_repo:
-        description: 'Hugging Face dataset repository'
-        required: false
-        type: string
-        default: 'sunnypilot/sunnypilot_models_v1'
 env:
  RECOMPILED_DIR: recompiled${{ inputs.recompiled_dir }}
-  JSON_FILE: docs/docs/driving_models_${{ inputs.target_hardware == 'usbgpu' && 'usbgpu_v' || 'v' }}${{ inputs.json_version }}.json
+  JSON_FILE: docs/docs/driving_models_v${{ inputs.json_version }}.json

 jobs:
  build_model:
@@ -119,20 +93,38 @@ jobs:
      custom_name: ${{ inputs.custom_name || inputs.upstream_branch }}
      is_20hz: ${{ inputs.is_20hz }}
      artifact_suffix: ${{ inputs.artifact_suffix }}
-      target_hardware: ${{ inputs.target_hardware }}
    secrets: inherit

  publish_model:
-    if: ${{ !cancelled() && needs.build_model.result == 'success' }}
+    if: ${{ !inputs.bypass_push && !cancelled() }}
    concurrency:
-      group: hf-push-${{ inputs.recompiled_dir }}
+      group: gitlab-push-${{ inputs.recompiled_dir }}
      cancel-in-progress: false
    needs: build_model
    runs-on: ubuntu-latest
-    permissions:
-      id-token: write
-      contents: write
    steps:
+      - name: Set up SSH
+        uses: webfactory/ssh-agent@v0.9.0
+        with:
+          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
+
+      - name: Add GitLab.com SSH key to known_hosts
+        run: |
+          mkdir -p ~/.ssh
+          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
+
+      - name: Clone GitLab docs repo
+        env:
+          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
+        run: |
+          echo "Cloning GitLab"
+          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} 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:
@@ -141,28 +133,16 @@ jobs:
          path: docs
          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}

-      - name: Install huggingface_hub
-        run: pip install --upgrade "huggingface_hub>=0.22.0"
-
-      - name: Validate hf_repo and JSON version
-        env:
-          HF_OIDC_RESOURCE: datasets/${{ inputs.hf_repo }}
+      - name: Validate recompiled dir and JSON version
        run: |
+          if [ ! -d "gitlab_docs/models/$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 $JSON_FILE does not exist!"
            exit 1
          fi
-          python3 -c "
-          import sys
-          from huggingface_hub import HfApi
-          try:
-              api = HfApi()
-              api.repo_info(repo_id=sys.argv[1], repo_type='dataset')
-              print(f'Success: Repo {sys.argv[1]} exists.')
-          except Exception as e:
-              print('HF validation failed:', e)
-              sys.exit(1)
-          " "${{ inputs.hf_repo }}"

      - name: Download artifact name file
        uses: actions/download-artifact@v4
@@ -182,26 +162,49 @@ jobs:
          name: ${{ steps.read-artifact-name.outputs.artifact_name }}
          path: output

-      - name: Create models folder
+      - 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: ${{ steps.read-artifact-name.outputs.artifact_name }}
        run: |
-          mkdir -p "local_models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
-          cp -r output/* "local_models/${RECOMPILED_DIR}/${ARTIFACT_NAME}/"
-          rm -f "local_models/${RECOMPILED_DIR}/${ARTIFACT_NAME}/artifact_name.txt"
+          ARTIFACT_DIR="gitlab_docs/models/${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: Upload to Hugging Face
+      - name: Push recompiled dir to GitLab
        env:
-          HF_OIDC_RESOURCE: datasets/${{ inputs.hf_repo }}
-          ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
+          GITLAB_SSH_PRIVATE_KEY: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
        run: |
-          hf upload ${{ inputs.hf_repo }} \
-            output/ \
-            "models/${RECOMPILED_DIR}/${ARTIFACT_NAME}/" \
-            --repo-type=dataset
+          cd gitlab_docs
+          git checkout main
+          git pull origin main
+          for d in models/"$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

-      - name: Pull gh-pages
-        run: |
+      - run: |
          cd docs
          git pull origin gh-pages

@@ -217,11 +220,9 @@ jobs:
          fi
          [ -n "${{ inputs.generation }}" ] && ARGS="$ARGS --generation \"${{ inputs.generation }}\""
          [ -n "${{ inputs.version }}" ] && ARGS="$ARGS --version \"${{ inputs.version }}\""
-          [ -n "${{ inputs.set_min_version }}" ] && ARGS="$ARGS --set-min-version \"${{ inputs.set_min_version }}\""
-          [ -n "${{ inputs.tinygrad_ref }}" ] && ARGS="$ARGS --tinygrad-ref \"${{ inputs.tinygrad_ref }}\""
          eval python3 docs/json_parser.py \
            --json-path "$JSON_FILE" \
-            --recompiled-dir "local_models/$RECOMPILED_DIR" \
+            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
            --sort-by-date \
            $ARGS

@@ -80,7 +80,6 @@ jobs:
        with:
          repository: commaai/openpilot
          ref: ${{ inputs.upstream_branch }}
-          fetch-depth: 1
          submodules: recursive
          path: openpilot

@@ -90,25 +89,18 @@ jobs:
        with:
          repository: sunnypilot/sunnypilot
          ref: ${{ inputs.upstream_branch }}
-          fetch-depth: 1
          submodules: recursive
          path: openpilot
      - name: Get commit date
        id: commit-date
        run: |
-          cd ${{ github.workspace }}/openpilot/openpilot
+          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: |
-          cd ${{ github.workspace }}/openpilot/openpilot
-          if [ "${{ inputs.target_hardware }}" != "usbgpu" ]; then
-            git lfs pull -X "selfdrive/modeld/models/big_*.onnx" -X "selfdrive/modeld/models/dmonitoring_*.onnx"
-            rm -f selfdrive/modeld/models/big_*.onnx selfdrive/modeld/models/dmonitoring_*.onnx
-          else
-            git lfs pull -I "selfdrive/modeld/models/big_*.onnx"
-            find selfdrive/modeld/models -name "*.onnx" ! -name "big_*.onnx" -delete
-          fi
+          cd ${{ github.workspace }}/openpilot
+          git lfs pull
      - name: 'Upload Artifact'
        uses: actions/upload-artifact@v4
        with:
@@ -124,10 +116,24 @@ jobs:
    steps:
      - uses: actions/checkout@v4
        with:
-          fetch-depth: 1
          submodules: recursive

      - run: git lfs pull
+      - name: Cache SCons
+        uses: actions/cache@v4
+        with:
+          path: ${{env.SCONS_CACHE_DIR}}
+          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model-${{ github.sha }}
+          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.)
+          #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
+          restore-keys: |
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}-model
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}-model
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}
+            scons-${{ runner.os }}-${{ runner.arch }}

      - name: Set environment variables
        id: set-env
@@ -138,7 +144,7 @@ jobs:
          export UV_PYTHON_PREFERENCE=managed
          export UV_PYTHON_INSTALL_DIR=${HOME}/uv/python
          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          uv sync --frozen
+          uv sync
          printenv >> $GITHUB_ENV
          if [[ "${{ runner.debug }}" == "1" ]]; then
            cat $GITHUB_OUTPUT
@@ -167,6 +173,8 @@ jobs:
        with:
          name: models-${{ env.REF }}${{ inputs.artifact_suffix }}
          path: ${{ env.MODELS_DIR }}
+      - run: |
+          rm -f ${{ env.MODELS_DIR }}/{dmonitoring_model,big_driving_policy,big_driving_vision,big_driving_supercombo}.onnx

      - name: Build Model
        run: |
@@ -183,7 +191,7 @@ jobs:
          if [ "${{ inputs.target_hardware }}" == "usbgpu" ]; then
            echo "USBGPU build"
            export USBGPU=1
-            TG_FLAGS="DEBUG=2 DEV=USB+AMD:LLVM WARP_DEV=QCOM FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2"
+            TG_FLAGS="DEV=AMD USBGPU=1 IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
            OUTPUT_PKL="${{ env.MODELS_DIR }}/big_driving_tinygrad.pkl"
          else
            echo "QCOM build"
@@ -246,8 +254,10 @@ jobs:
          # Copy the model files
          rsync -avm \
            --include='*.dlc' \
+            --include='*.pkl' \
            --include='*.chunk*' \
            --include='*.chunkmanifest' \
+            --include='*.onnx' \
            --exclude='*' \
            --delete-excluded \
            --chown=comma:comma \
@@ -22,7 +22,6 @@ shopt -s huponexit # kill all child processes when the shell exits

 export CI=1
 export PYTHONWARNINGS=error
-export COMMA_CACHE=/data/tmp/comma_download_cache
 #export LOGPRINT=debug # this has gotten too spammy...
 export TEST_DIR=${env.TEST_DIR}
 export SOURCE_DIR=${env.SOURCE_DIR}
@@ -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.

-# 345 Supported Cars
+# 342 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|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -34,7 +34,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">Buy Here</a></sub></details>|||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |CUPRA[<sup>12</sup>](#footnotes)|Ateca 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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
-|CUPRA[<sup>12</sup>](#footnotes)|Born 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Born 2021-23">Buy Here</a></sub></details>|||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
 |Ford|Bronco Sport 2021-24|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
 |Ford|Escape 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
@@ -83,7 +82,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|City (Brazil only) 2023-25|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|14 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023-25">Buy Here</a></sub></details>|||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Honda|Civic 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Civic 2022-26|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-26">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Civic 2022-24|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda 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" /></a>||
@@ -159,7 +158,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Tucson Plug-in Hybrid 2024|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 N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>|||
 |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Veloster 2019-20">Buy Here</a></sub></details>|||
 |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2019-21">Buy Here</a></sub></details>|||
+|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Kia|Carnival 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2022-24">Buy Here</a></sub></details>|||
 |Kia|Carnival (China only) 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival (China only) 2023">Buy Here</a></sub></details>|||
 |Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed 2019-21">Buy Here</a></sub></details>|||
@@ -243,20 +242,20 @@ A supported vehicle is one that just works when you install a comma device. All
 |Rivian|R1T 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
 |SEAT[<sup>12</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
 |SEAT[<sup>12</sup>](#footnotes)|Leon 2014-20|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
-|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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" /></a>||
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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" /></a>||
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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|Forester 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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>7</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 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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>7</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 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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" /></a>||
-|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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>|||
+|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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" /></a>||
+|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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>|||
 |Škoda|Fabia 2022-23[<sup>15</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
 |Škoda|Kamiq 2021-23[<sup>13,15</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
 |Škoda[<sup>12</sup>](#footnotes)|Karoq 2019-23[<sup>15</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
@@ -335,8 +334,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Volkswagen[<sup>12</sup>](#footnotes)|Golf R 2015-19|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
 |Volkswagen[<sup>12</sup>](#footnotes)|Golf SportsVan 2015-20|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
 |Volkswagen[<sup>12</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|ID.4 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|ID.4 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2024-25">Buy Here</a></sub></details>|||
 |Volkswagen[<sup>12</sup>](#footnotes)|Jetta 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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
 |Volkswagen[<sup>12</sup>](#footnotes)|Jetta GLI 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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
 |Volkswagen|Passat 2015-22[<sup>14</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
@@ -15,7 +15,7 @@ public:

  static std::string get_serial() { return "cccccc"; }

-  static std::map<std::string, std::string> get_init_logs(bool route_log = false) {
+  static std::map<std::string, std::string> get_init_logs() {
    return {};
  }

@@ -59,7 +59,7 @@ public:
    std::ofstream("/sys/class/leds/led:switch_2/brightness") << value << "\n";
  }

-  static std::map<std::string, std::string> get_init_logs(bool route_log = false) {
+  static std::map<std::string, std::string> get_init_logs() {
    std::map<std::string, std::string> ret = {
      {"/BUILD", util::read_file("/BUILD")},
      {"lsblk", util::check_output("lsblk -o NAME,SIZE,STATE,VENDOR,MODEL,REV,SERIAL")},
@@ -73,14 +73,12 @@ public:
    temp.erase(temp.find_last_not_of(std::string("\0\r\n", 3))+1);
    ret["boot temp"] = temp;

-    // TODO: these are too slow to do on route log inits. need to do it async?
-    if (!route_log) {
-      for (std::string part : {"xbl", "abl", "aop", "devcfg", "xbl_config"}) {
-        for (std::string slot : {"a", "b"}) {
-          std::string partition = part + "_" + slot;
-          std::string hash = util::check_output("sha256sum /dev/disk/by-partlabel/" + partition);
-          ret[partition] = hash.substr(0, hash.find_first_of(" "));
-        }
+    // TODO: log something from system and boot
+    for (std::string part : {"xbl", "abl", "aop", "devcfg", "xbl_config"}) {
+      for (std::string slot : {"a", "b"}) {
+        std::string partition = part + "_" + slot;
+        std::string hash = util::check_output("sha256sum /dev/disk/by-partlabel/" + partition);
+        ret[partition] = hash.substr(0, hash.find_first_of(" "));
      }
    }

@@ -91,10 +91,10 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"ObdMultiplexingChanged", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
    {"ObdMultiplexingEnabled", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
    {"Offroad_CarUnrecognized", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
-    {"Offroad_ChestnutBranch", {CLEAR_ON_MANAGER_START, JSON}},
    {"Offroad_ConnectivityNeeded", {CLEAR_ON_MANAGER_START, JSON}},
    {"Offroad_ConnectivityNeededPrompt", {CLEAR_ON_MANAGER_START, JSON}},
    {"Offroad_ExcessiveActuation", {PERSISTENT, JSON}},
+    {"Offroad_NeosUpdate", {CLEAR_ON_MANAGER_START, JSON}},
    {"Offroad_NoFirmware", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
    {"Offroad_Recalibration", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
    {"Offroad_TemperatureTooHigh", {CLEAR_ON_MANAGER_START, JSON}},
@@ -195,14 +195,11 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {

    // Model Manager params
    {"ModelManager_ActiveBundle", {PERSISTENT, JSON}},
-    {"ModelManager_ActiveJson", {CLEAR_ON_MANAGER_START, STRING}},
    {"ModelManager_ClearCache", {CLEAR_ON_MANAGER_START, BOOL}},
    {"ModelManager_DownloadIndex", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, INT}},
    {"ModelManager_Favs", {PERSISTENT | BACKUP, STRING}},
    {"ModelManager_LastSyncTime", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
-    {"ModelManager_LastSyncTime_USBGPU", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
    {"ModelManager_ModelsCache", {PERSISTENT | BACKUP, JSON}},
-    {"ModelManager_ModelsCache_USBGPU", {PERSISTENT | BACKUP, JSON}},

    // Neural Network Lateral Control
    {"NeuralNetworkLateralControl", {PERSISTENT | BACKUP, BOOL, "0"}},
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:190e196eba6feffec125ac66cf7e77620b759e346fa69b80e3a3884a5694cb15
-size 3225
+oid sha256:c4c38772e6080aa4b8bf5212d3619e949775468c64f3edb88a1a426d767c38d2
+size 1579
@@ -44,7 +44,8 @@ class LongControl:
    self.CP = CP
    self.CP_SP = CP_SP
    self.long_control_state = LongCtrlState.off
-    self.pid = PIDController(0.0, (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
+    self.pid = PIDController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV),
+                             (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
                             rate=1 / DT_CTRL)
    self.last_output_accel = 0.0

@@ -35,7 +35,6 @@ build_files = [f'{gen}/acados_solver_long.c'] + casadi_model + casadi_cost_y + c

 # extra generated files used to trigger a rebuild
 generated_files = [
-  'acados_ocp_long.json',
  f'{gen}/Makefile',

  f'{gen}/main_long.c',
@@ -79,9 +79,7 @@ for usbgpu in [False, True] if USBGPU else [False]:
  file_prefix, cmd_flags = ('big_', usbgpu_tg_flags) if usbgpu else ('big_' if os.getenv('BIG_INTO_SMALL') else '', tg_flags)
  driving_onnx_deps = get_existing_chunks(File(f"models/{file_prefix}driving_supercombo.onnx").abspath)
  camera_res_args = ' '.join(f'{cw}x{ch}' for cw, ch in CAMERA_CONFIGS)
-  # CPU 7 is isolated with isolcpus on AGNOS, so explicitly pin the compiler to it.
-  taskset = 'taskset -c 7 ' if arch == 'comma_arm64' else ''
-  cmd = (f'{cmd_flags} {mac_brew_string} {taskset}python3 {modeld_dir}/compile_modeld.py '
+  cmd = (f'{cmd_flags} {mac_brew_string} python3 {modeld_dir}/compile_modeld.py '
        f'--model-size {model_w}x{model_h} '
        f'--camera-resolutions {camera_res_args} '
        f'--onnx {File(f"models/{file_prefix}driving_supercombo.onnx").abspath} '
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a501760a9d1d5fef0eab2b8c5d122d06124fc26dc8e0782e0aa94b82a208f0ff
-size 1757355221
+oid sha256:10926f2c0911821ca0e72439c1c3bf3ec11f0a08789aa14b7ee8f25379b2afa4
+size 1753235978
@@ -102,6 +102,7 @@ class TestBoarddSpi(OpenpilotTestCase):
        edt = 1e3 / SERVICE_LIST[service].frequency
        assert edt*0.9 < np.mean(dts) < edt*1.1
        assert np.max(dts) < edt*8
+        assert np.min(dts) < edt
        assert len(dts) >= ((et-0.5)*SERVICE_LIST[service].frequency*0.8)

    with subtests.test(msg="CAN traffic"):
@@ -17,8 +17,8 @@
    "severity": 1,
    "_comment": "Set extra field to the failed reason."
  },
-  "Offroad_ChestnutBranch": {
-    "text": "Chestnut detected! Switch to the release-chestnut branch to use chestnut-class models.",
+  "Offroad_NeosUpdate": {
+    "text": "An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install.",
    "severity": 0
  },
  "Offroad_UnregisteredHardware": {
@@ -234,8 +234,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
  },

  EventName.bigModelFailed: {
-    ET.SOFT_DISABLE: soft_disable_alert("Big Model Failed"),
-    ET.PERMANENT: NormalPermanentAlert("Big Model Failed ", "Restart the car to retry,\nsmall model is still available", duration=20.),
+    ET.PERMANENT: NormalPermanentAlert("Big Model Failed ", "Restart the car to retry,\nnow driving on small model", duration=20.),
  },

  EventName.lateralManeuver: {
@@ -337,7 +337,7 @@ class SelfdriveD(CruiseHelper):
      device_motion = Pose.from_device_motion(self.sm['deviceMotion'])
      self.calibrated_pose = self.pose_calibrator.build_calibrated_pose(device_motion)

-    if self.calibrated_pose is not None and not self.CP.notCar:
+    if self.calibrated_pose is not None:
      excessive_actuation = self.excessive_actuation_check.update(self.sm, CS, self.calibrated_pose)
      if not self.excessive_actuation and excessive_actuation is not None:
        set_offroad_alert("Offroad_ExcessiveActuation", True, extra_text=str(excessive_actuation))
@@ -397,9 +397,6 @@ class SelfdriveD(CruiseHelper):
    # All events here should at least have NO_ENTRY and SOFT_DISABLE.
    num_events = len(self.events)

-    if self.big_model_active and big_failed:
-      self.events.add(EventName.bigModelFailed)
-
    not_running = {p.name for p in self.sm['managerState'].processes if not p.running and p.shouldBeRunning}
    if self.sm.recv_frame['managerState'] and len(not_running):
      if not_running != self.not_running_prev:
@@ -7,7 +7,7 @@ import traceback
 from collections import defaultdict
 from tqdm import tqdm
 from typing import Any
-from opendbc.car.car_helpers import interface_names, interfaces
+from opendbc.car.car_helpers import interface_names
 from openpilot.common.git import get_commit
 from openpilot.tools.lib.openpilotci import get_url
 from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
@@ -64,8 +64,7 @@ segments = [
 ]

 # dashcamOnly makes don't need to be tested until a full port is done
-excluded_interfaces = {brand for brand, platforms in interface_names.items()
-                       if all(interfaces[platform].get_non_essential_params(platform).dashcamOnly for platform in platforms)} | {"body"}
+excluded_interfaces = ["mock", "body", "psa"]

 BASE_URL = "https://raw.githubusercontent.com/sunnypilot/ci-artifacts/refs/heads/process-replay/"
 REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
@@ -67,7 +67,7 @@ PROCS = {
  "openpilot.selfdrive.pandad.pandad": 0,
  "openpilot.system.loggerd.uploader": 15.0,
  "openpilot.system.loggerd.deleter": 1.0,
-  "./pandad": 40.0,
+  "./pandad": 19.0,
  "openpilot.system.qcomgpsd.qcomgpsd": 1.0,
  "openpilot.common.hardware.comma.modem": 10.0,
 }
@@ -107,10 +107,6 @@ def cputime_total(ct):
 class TestOnroad(OpenpilotTestCase):
  COMMA_HARDWARE_TEST = True

-  def setUp(self):
-    # Hardware setup is handled once for the full onroad test in setup_class.
-    unittest.TestCase.setUp(self)
-
  @classmethod
  def setup_class(cls):
    if "DEBUG" in os.environ:
@@ -336,34 +332,26 @@ class TestOnroad(OpenpilotTestCase):
            assert np.all(eof_sof_diff < 50*1e6)

        first_fid = {min(self.ts[c]['frameId']) for c in cams}
-        if cams[0].endswith('CameraState'):
+        assert len(first_fid) == 1, "Cameras don't start on same frame ID"
+        if cam.endswith('CameraState'):
          # camerad guarantees that all cams start on frame ID 0
          # (note loggerd also needs to start up fast enough to catch it)
-          assert min(first_fid) < 100, "Cameras start on frame ID too high"
-        else:
-          # encoderd synchronizes all camera encoders to the same starting frame
-          assert len(first_fid) == 1, "Camera encoders don't start on same frame ID"
+          assert next(iter(first_fid)) < 100, "Cameras start on frame ID too high"

        # we don't do a full segment rotation, so these might not match exactly
        last_fid = {max(self.ts[c]['frameId']) for c in cams}
        assert max(last_fid) - min(last_fid) < 10

-        timestamps = {
-          cam: dict(zip(self.ts[cam]['frameId'], self.ts[cam]['timestampSof'], strict=True))
-          for cam in cams
-        }
-        common_frame_ids = set.intersection(*(set(ts) for ts in timestamps.values()))
-        assert common_frame_ids, "Cameras have no overlapping frame IDs"
-
-        for frame_id in sorted(common_frame_ids):
+        start, end = min(first_fid), min(last_fid)
+        for i in range(end-start):
          # road and wide cameras (first two) should be synced within 2ms
-          ts = {cam: timestamps[cam][frame_id] / 1e6 for cam in cams[:2]}
-          diff = max(ts.values()) - min(ts.values())
-          assert diff < 2, f"Cameras not synced properly: {frame_id=}, {diff=:.1f}ms, {ts=}"
+          ts = {c: round(self.ts[c]['timestampSof'][i]/1e6, 1) for c in cams[:2]}
+          diff = (max(ts.values()) - min(ts.values()))
+          assert diff < 2, f"Cameras not synced properly: frame_id={start+i}, {diff=:.1f}ms, {ts=}"

          # cabin camera should be staggered ~25ms from road camera
-          offset_ms = abs(timestamps[cams[2]][frame_id] - timestamps[cams[0]][frame_id]) / 1e6
-          assert 20 < offset_ms < 30, f"cabin camera stagger out of range at frame {frame_id}: {offset_ms:.1f}ms"
+          offset_ms = abs(self.ts[cams[2]]['timestampSof'][i] - self.ts[cams[0]]['timestampSof'][i]) / 1e6
+          assert 20 < offset_ms < 30, f"cabin camera stagger out of range at frame {start+i}: {offset_ms:.1f}ms"

  def test_camera_encoder_matches(self, subtests):
    # sanity check that the frame metadata is consistent with the encoded frames
@@ -14,7 +14,6 @@ from openpilot.system.ui.lib.application import gui_app
 if gui_app.sunnypilot_ui():
  from openpilot.selfdrive.ui.sunnypilot.mici.layouts.settings import SettingsLayoutSP as SettingsLayout
  from openpilot.selfdrive.ui.sunnypilot.mici.layouts.home import MiciHomeLayoutSP as MiciHomeLayout
-  from openpilot.selfdrive.ui.sunnypilot.mici.layouts.onroad import OnroadViewContainerSP as AugmentedRoadView

 ONROAD_DELAY = 2.5  # seconds

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

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

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

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

  def _on_interactive_timeout(self):
@@ -47,7 +47,7 @@ class SoftwareInfoLayoutMici(Widget):

    self._branch_label = UnifiedLabel("branch", 48, max_width=max_width, font_weight=FontWeight.DISPLAY, wrap_text=False)
    self._branch_text_label = UnifiedLabel("", 32, max_width=max_width, text_color=subheader_color,
-                                           font_weight=FontWeight.ROMAN, wrap_text=False, scroll=True)
+                                           font_weight=FontWeight.ROMAN, wrap_text=False)

  def _update_state(self):
    desc = _split_description(ui_state.params.get("UpdaterCurrentDescription") or "")
@@ -132,7 +132,7 @@ class AlertRenderer(Widget, SpeedLimitAlertRenderer):

      # 1. Never received selfdriveState since going onroad
      waiting_for_startup = recv_frame < ui_state.started_frame
-      if waiting_for_startup and time_since_onroad > 10:
+      if waiting_for_startup and time_since_onroad > 5:
        return ALERT_STARTUP_PENDING

      # 2. Lost communication with selfdriveState after receiving it
@@ -150,8 +150,8 @@ class BigButton(Widget):
    super().set_touch_valid_callback(lambda: touch_callback() and self._grow_animation_until is None)

  def _width_hint(self) -> int:
-    # A value moves the title to the top, where it shares space with the icon.
-    icon_size = self._txt_icon.width if self._txt_icon and self.value else 0
+    # Single line if scrolling, so hide behind icon if exists
+    icon_size = self._txt_icon.width if self._txt_icon and self._scroll and self.value else 0
    return int(self._rect.width - self.LABEL_HORIZONTAL_PADDING * 2 - icon_size)

  def _get_label_font_size(self):
@@ -92,7 +92,7 @@ class AlertRenderer(Widget):

      # 1. Never received selfdriveState since going onroad
      waiting_for_startup = recv_frame < ui_state.started_frame
-      if waiting_for_startup and time_since_onroad > 10:
+      if waiting_for_startup and time_since_onroad > 5:
        return ALERT_STARTUP_PENDING

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

-    sm.recv_time['selfdriveState'] = 0
-    clock = mocker.patch("openpilot.selfdrive.ui.soundd.time.monotonic", return_value=SELFDRIVE_STATE_TIMEOUT)
+    received_at = sm.recv_time['selfdriveState']
+    clock = mocker.patch("openpilot.selfdrive.ui.soundd.time.monotonic", return_value=received_at + SELFDRIVE_STATE_TIMEOUT)
    assert not check_selfdrive_timeout_alert(sm)

-    clock.return_value = SELFDRIVE_STATE_TIMEOUT + 0.1
+    clock.return_value = received_at + SELFDRIVE_STATE_TIMEOUT + 0.1
    assert check_selfdrive_timeout_alert(sm)

-    clock.return_value = SELFDRIVE_STATE_TIMEOUT + 10
+    clock.return_value = received_at + SELFDRIVE_STATE_TIMEOUT + 10
    assert not check_selfdrive_timeout_alert(sm)

  def test_check_selfdrive_timeout_alert_mads_lateral_only(self):
@@ -10,9 +10,6 @@ from openpilot.selfdrive.ui.layouts.main import MainLayout
 from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
 from openpilot.selfdrive.ui.ui_state import ui_state

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


@@ -1,2 +1,3 @@
 SConscript(['common/transformations/SConscript'])
+SConscript(['modeld_v2/SConscript'])
 SConscript(['selfdrive/locationd/SConscript'])
@@ -0,0 +1,84 @@
+import os
+import glob
+
+from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
+from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE
+from openpilot.common.hardware import HARDWARE, PC
+
+Import('env', 'arch', 'release')
+lenv = env.Clone()
+tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x]
+
+
+def get_camera_configs():
+  DEVICE_RESOLUTIONS = {
+    "tici": (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
+    "tizi": (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
+    "mici": (_os_fisheye.width, _os_fisheye.height),
+  }
+  if release or PC or 'CI' in os.environ:
+    return set(DEVICE_RESOLUTIONS.values())
+  return [DEVICE_RESOLUTIONS[HARDWARE.get_device_type()]]
+
+CAMERA_CONFIGS = get_camera_configs()
+
+tg_flags = {
+  'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0',
+  'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")}',
+}.get(arch, 'DEV=CPU:LLVM')
+
+image_flag = {
+  'larch64': 'IMAGE=2',
+}.get(arch, 'IMAGE=0')
+
+model_w, model_h = MEDMODEL_INPUT_SIZE
+from openpilot.selfdrive.modeld.constants import ModelConstants
+frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
+camera_res_args = ' '.join(f'{cw}x{ch}' for cw, ch in CAMERA_CONFIGS)
+
+pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + ':' + env.Dir("#").abspath + '"'
+compile_modeld_script = File("compile_modeld.py").abspath
+upstream_compile_script = File(Dir("#openpilot/selfdrive/modeld").File("compile_modeld.py").abspath)
+script_deps = [File("compile_modeld.py"), upstream_compile_script]
+
+def compile_combined(model_type, onnx_args, output_name):
+  output_pkl = File(f"models/{output_name}").abspath
+  cmd = (f'{pythonpath_string} {tg_flags} {image_flag} python3 {compile_modeld_script} '
+         f'--model-type {model_type} '
+         f'--model-size {model_w}x{model_h} '
+         f'--camera-resolutions {camera_res_args} '
+         f'{onnx_args} '
+         f'--frame-skip {frame_skip} '
+         f'--output {output_pkl}')
+  onnx_files = [f for f in onnx_args.split() if f.endswith('.onnx')]
+  return lenv.Command(output_pkl, tinygrad_files + script_deps + [File(f) for f in onnx_files if os.path.isfile(f)], cmd)
+
+# Vision + Policy (stock default model)
+vision_onnx = File("models/driving_vision.onnx").abspath
+policy_onnx = File("models/driving_policy.onnx").abspath
+if os.path.isfile(vision_onnx) and os.path.isfile(policy_onnx):
+  compile_combined('vision_policy',
+                   f'--vision-onnx {vision_onnx} --policy-onnx {policy_onnx}',
+                   'driving_combined_tinygrad.pkl')
+
+# Vision + Off-Policy
+off_policy_onnx = File("models/driving_off_policy.onnx").abspath
+if os.path.isfile(vision_onnx) and os.path.isfile(off_policy_onnx):
+  policy_arg = f'--policy-onnx {policy_onnx}' if os.path.isfile(policy_onnx) else ''
+  compile_combined('vision_multi_policy',
+                   f'--vision-onnx {vision_onnx} {policy_arg} --off-policy-onnx {off_policy_onnx}',
+                   'driving_combined_multi_tinygrad.pkl')
+
+# Vision + On-Policy + Off-Policy
+on_policy_onnx = File("models/driving_on_policy.onnx").abspath
+if os.path.isfile(vision_onnx) and os.path.isfile(on_policy_onnx) and os.path.isfile(off_policy_onnx):
+  compile_combined('vision_multi_policy',
+                   f'--vision-onnx {vision_onnx} --off-policy-onnx {off_policy_onnx} --on-policy-onnx {on_policy_onnx}',
+                   'driving_combined_tri_tinygrad.pkl')
+
+# Supercombo
+supercombo_onnx = File("models/supercombo.onnx").abspath
+if os.path.isfile(supercombo_onnx):
+  compile_combined('supercombo',
+                   f'--supercombo-onnx {supercombo_onnx}',
+                   'driving_combined_supercombo_tinygrad.pkl')
@@ -8,10 +8,10 @@ See the LICENSE.md file in the root directory for more details.

 import argparse
 import os
-import tempfile
+import pickle
 import time
+from collections import defaultdict
 from functools import partial
-from openpilot.selfdrive.modeld.helpers import dump_oob, load_oob
 import numpy as np
 os.environ['GMMU'] = '0'

@@ -38,9 +38,6 @@ from tinygrad.engine.jit import TinyJit
 from tinygrad.tensor import Tensor

 MODEL_TYPES = ('vision_policy', 'supercombo', 'vision_multi_policy')
-WARP_INPUTS = ['tfm', 'big_tfm']
-POLICY_INPUTS = ['img_q', 'big_img_q', 'feat_q', 'desire_q', 'packed_npy_inputs']
-WARP_DEV = os.getenv('WARP_DEV')


 def _detect_desire_key(shapes: dict) -> str | None:
@@ -79,7 +76,7 @@ def get_policy_npy_shapes(input_shapes: dict, is_supercombo: bool = False) -> tu


 def generate_queues_and_npy(input_shapes: dict, frame_skip: int, device: str = Device.DEFAULT,
-                            is_supercombo: bool = False) -> tuple[dict, dict]:
+                            is_supercombo: bool = False, use_packed: bool = True) -> tuple[dict, dict]:
  road_key, _ = _detect_vision_keys(input_shapes)
  if not road_key:
    raise ValueError("Vision road key missing from input shapes.")
@@ -95,75 +92,74 @@ def generate_queues_and_npy(input_shapes: dict, frame_skip: int, device: str = D
  desire_shape = input_shapes[desire_key]
  features_buffer = input_shapes.get('features_buffer')

-  npy_arrays = {
-    'tfm': np.zeros((3, 3), dtype=np.float32),
-    'big_tfm': np.zeros((3, 3), dtype=np.float32)
-  }
+  if use_packed:  # remove packed detection block after all models are recompiled
+    npy_arrays = {
+      'tfm': np.zeros((3, 3), dtype=np.float32),
+      'big_tfm': np.zeros((3, 3), dtype=np.float32)
+    }

-  shapes, sizes = get_policy_npy_shapes(input_shapes, is_supercombo=is_supercombo)
-  packed_npy_inputs = np.zeros(sum(sizes), dtype=np.float32)
+    shapes, sizes = get_policy_npy_shapes(input_shapes, is_supercombo=is_supercombo)
+    packed_npy_inputs = np.zeros(sum(sizes), dtype=np.float32)

-  split_indices = np.cumsum(sizes[:-1]) if len(sizes) > 1 else []
-  split_views = np.split(packed_npy_inputs, split_indices) if len(sizes) > 0 else []
-  for (k, s), v in zip(shapes.items(), split_views, strict=True):
-    npy_arrays[k] = v.reshape(s)
+    split_indices = np.cumsum(sizes[:-1]) if len(sizes) > 1 else []
+    split_views = np.split(packed_npy_inputs, split_indices) if len(sizes) > 0 else []
+    for (k, s), v in zip(shapes.items(), split_views, strict=True):
+      npy_arrays[k] = v.reshape(s)

-  queues = {
-    'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
-    'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
-    'desire_q': Tensor(np.zeros((frame_skip * desire_shape[1], desire_shape[0], desire_shape[2]),
-                  dtype=np.float32), device=device).contiguous().realize(),
-    'packed_npy_inputs': Tensor(packed_npy_inputs, device='NPY').realize(),
-  }
+    queues = {
+      'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+      'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+      'desire_q': Tensor(np.zeros((frame_skip * desire_shape[1], desire_shape[0], desire_shape[2]),
+                    dtype=np.float32), device=device).contiguous().realize(),
+      'packed_npy_inputs': Tensor(packed_npy_inputs, device='NPY').realize(),
+    }

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

-  queues.update({key: Tensor(value, device='NPY').realize() for key, value in npy_arrays.items() if key in ('tfm', 'big_tfm')})
+    queues.update({key: Tensor(value, device='NPY').realize() for key, value in npy_arrays.items() if key in ('tfm', 'big_tfm')})
+  else:
+    # TODO-SP: Remove legacy queuing fallback else block after all models are recompiled
+    npy_arrays = {
+      'desire': np.zeros(desire_shape[2], dtype=np.float32),
+      'tfm': np.zeros((3, 3), dtype=np.float32),
+      'big_tfm': np.zeros((3, 3), dtype=np.float32)
+    }
+
+    for key, shape in input_shapes.items():
+      if key not in npy_arrays and 'img' not in key and key not in ('features_buffer', desire_key):
+        npy_arrays[key] = np.zeros(shape, dtype=np.float32)
+
+    queues = {
+      'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+      'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+      'desire_q': Tensor(np.zeros((frame_skip * desire_shape[1], desire_shape[0], desire_shape[2]),
+                    dtype=np.float32), device=device).contiguous().realize()
+    }
+
+    if features_buffer:
+      queues['feat_q'] = Tensor(np.zeros((frame_skip * (features_buffer[1] - 1) + 1, features_buffer[0], features_buffer[2]),
+                         dtype=np.float32), device=device).contiguous().realize()
+
+    queues.update({key: Tensor(value, device='NPY').realize() for key, value in npy_arrays.items()})

  return queues, npy_arrays


 def make_split_input_queues(vision_input_shapes: dict, policy_input_shapes: dict,
-                            frame_skip: int, device: str = Device.DEFAULT) -> tuple[dict, dict]:
-  return generate_queues_and_npy({**vision_input_shapes, **policy_input_shapes}, frame_skip, device, is_supercombo=False)
+                            frame_skip: int, device: str = Device.DEFAULT, use_packed: bool = True) -> tuple[dict, dict]:
+  return generate_queues_and_npy({**vision_input_shapes, **policy_input_shapes}, frame_skip, device, is_supercombo=False, use_packed=use_packed)


 def make_supercombo_input_queues(input_shapes: dict, frame_skip: int,
-                                 device: str = Device.DEFAULT) -> tuple[dict, dict]:
-  return generate_queues_and_npy(input_shapes, frame_skip, device, is_supercombo=True)
+                                 device: str = Device.DEFAULT, use_packed: bool = True) -> tuple[dict, dict]:
+  return generate_queues_and_npy(input_shapes, frame_skip, device, is_supercombo=True, use_packed=use_packed)


-def make_random_images(keys, shape, device):
-  return {k: Tensor.randint(shape, low=0, high=256, dtype=dtypes.uint8, device=device).realize() for k in keys}
-
-
-def make_warp_queues(device=Device.DEFAULT):
-  npy = {
-    'tfm': np.zeros((3, 3), dtype=np.float32),
-    'big_tfm': np.zeros((3, 3), dtype=np.float32),
-  }
-  queues = {k: Tensor(v, device='NPY').realize() for k, v in npy.items()}
-  return queues, npy
-
-
-def make_warp(nv12: NV12Frame, model_w: int, model_h: int):
-  frame_prepare = make_frame_prepare(nv12, model_w, model_h)
-  WARP_DEV = os.getenv('WARP_DEV', Device.DEFAULT)
-
-  def warp(tfm, big_tfm, frame, big_frame):
-    tfm = tfm.to(WARP_DEV)
-    big_tfm = big_tfm.to(WARP_DEV)
-    Tensor.realize(tfm, big_tfm)
-
-    warped_frame = frame_prepare(frame, tfm).unsqueeze(0)
-    warped_big_frame = frame_prepare(big_frame, big_tfm).unsqueeze(0)
-    return Tensor.cat(warped_frame, warped_big_frame)
-  return warp
-
-
-def make_run_policy(vision_runner, policy_runners: list, features_slice: slice, frame_skip: int, input_shapes: dict):
+def create_jit_runner(vision_runner, policy_runners: list, nv12: NV12Frame, model_size: tuple[int, int],
+            features_slice: slice, frame_skip: int, input_shapes: dict, prepare_only: bool):
+  frame_prepare = make_frame_prepare(nv12, *model_size)
  sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
  sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)

@@ -176,14 +172,20 @@ def make_run_policy(vision_runner, policy_runners: list, features_slice: slice,
  is_supercombo = vision_runner is None
  npy_shapes, npy_sizes = get_policy_npy_shapes(input_shapes, is_supercombo=is_supercombo)

-  def run_policy(warped, img_q, big_img_q, feat_q, packed_npy_inputs, **kwargs):
+  def runner(img_q, big_img_q, feat_q, packed_npy_inputs, frame, big_frame, tfm, big_tfm, **kwargs):
    desire_q = kwargs['desire_q']
-    packed_npy_inputs_dev = packed_npy_inputs.to(Device.DEFAULT)
-    warped_dev = warped.to(Device.DEFAULT)
-    Tensor.realize(packed_npy_inputs_dev, warped_dev)

-    img = shift_and_sample(img_q, warped_dev[0:1], sample_skip_fn).realize()
-    big_img = shift_and_sample(big_img_q, warped_dev[1:2], sample_skip_fn).realize()
+    packed_npy_inputs_dev = packed_npy_inputs.to(Device.DEFAULT)
+    tfm_dev = tfm.to(Device.DEFAULT)
+    big_tfm_dev = big_tfm.to(Device.DEFAULT)
+
+    Tensor.realize(packed_npy_inputs_dev, tfm_dev, big_tfm_dev)
+
+    img = shift_and_sample(img_q, frame_prepare(frame, tfm_dev).unsqueeze(0), sample_skip_fn).realize()
+    big_img = shift_and_sample(big_img_q, frame_prepare(big_frame, big_tfm_dev).unsqueeze(0), sample_skip_fn).realize()
+
+    if prepare_only:
+      return img, big_img

    unpacked_tensors = [tensor.reshape(shape) for tensor, shape in zip(packed_npy_inputs_dev.split(npy_sizes), npy_shapes.values(), strict=True)]
    unpacked_dict = dict(zip(npy_shapes.keys(), unpacked_tensors, strict=True))
@@ -218,52 +220,42 @@ def make_run_policy(vision_runner, policy_runners: list, features_slice: slice,
      shift_and_sample(feat_q, new_feat, sample_skip_fn).realize()
    return policy_out

-  return run_policy
+  return runner


-def compile_jit(jit, make_random_inputs, input_keys, make_queues):
-  SEED = 42
-  def random_inputs_run(fn, seed, test_val=None, test_buffers=None, expect_match=True):
-    input_queues, npy = make_queues(Device.DEFAULT)
-    rng = np.random.default_rng(seed)
-    Tensor.manual_seed(seed)
+def compile_and_warmup(nv12: NV12Frame, model_size: tuple[int, int], prepare_only: bool, frame_skip: int, vision_runner, policy_runners: list, metadata: dict):
+  print(f"Compiling combined JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")

-    testing = test_val is not None or test_buffers is not None
-    n_runs = 1 if testing else 3
+  all_shapes = {key: value for meta in metadata.values() for key, value in meta['input_shapes'].items()}

-    for i in range(n_runs):
-      for v in npy.values():
-        v[:] = rng.standard_normal(v.shape).astype(v.dtype)
-      Device.default.synchronize()
-      random_inputs = make_random_inputs()
-      st = time.perf_counter()
-      outs = fn(**{k: input_queues[k] for k in input_keys if k in input_queues}, **random_inputs)
-      mt = time.perf_counter()
-      Device.default.synchronize()
-      et = time.perf_counter()
-      print(f"  [{i+1}/{n_runs}] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
+  feat_meta = metadata.get('vision') or metadata.get('model') or metadata.get('policy')
+  if not feat_meta:
+    raise ValueError("Could not find vision, model, or policy metadata.")

-      if i == 0:
-        val = [np.copy(v.numpy()) for v in (outs if isinstance(outs, tuple) else [outs])] if outs is not None else []
-        buffers = [np.copy(v.numpy().copy()) for v in input_queues.values()]
+  features_slice = feat_meta['output_slices']['hidden_state']
+  WARP_DEV = 'CPU' if "USBGPU" in os.environ else Device.DEFAULT

-    if test_val is not None:
-      match = all(np.array_equal(a, b) for a, b in zip(val, test_val, strict=True))
-      assert match == expect_match, f"outputs {'differ from' if expect_match else 'match'} baseline (seed={seed})"
-    if test_buffers is not None:
-      match = all(np.array_equal(a, b) for a, b in zip(buffers, test_buffers, strict=True))
-      assert match == expect_match, f"buffers {'differ from' if expect_match else 'match'} baseline (seed={seed})"
-    return val, buffers
+  is_supercombo = vision_runner is None
+  run_func = create_jit_runner(vision_runner, policy_runners, nv12, model_size, features_slice, frame_skip, all_shapes, prepare_only)
+  run_jit = TinyJit(run_func, prune=True)
+  queues, npy_arrays = generate_queues_and_npy(all_shapes, frame_skip, Device.DEFAULT, is_supercombo=is_supercombo)

-  print('capture + replay')
-  test_val, test_buffers = random_inputs_run(jit, SEED)
-  print('pickle round trip')
-  with tempfile.TemporaryFile(dir=".") as f:
-    dump_oob(jit, f)
-    f.seek(0)
-    deserialized_jit = load_oob(f)
-  random_inputs_run(deserialized_jit, SEED, test_val=test_val, test_buffers=test_buffers)
-  return deserialized_jit
+  for i in range(3):
+    rng = np.random.default_rng(42 + i)
+    frame = Tensor.randint(nv12.size, low=0, high=256, dtype=dtypes.uint8, device=WARP_DEV).realize()
+    big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype=dtypes.uint8, device=WARP_DEV).realize()
+    for arr in npy_arrays.values():
+      arr[:] = rng.standard_normal(arr.shape).astype(arr.dtype)
+
+    Device.default.synchronize()
+    start_time = time.perf_counter()
+    run_jit(**queues, frame=frame, big_frame=big_frame)
+    mid_time = time.perf_counter()
+    Device.default.synchronize()
+    print(f"  [{i + 1}/3] enqueue {(mid_time - start_time) * 1e3:6.2f} ms -- total {(time.perf_counter() - start_time) * 1e3:6.2f} ms")
+
+  # TODO-SP: switch to dump_oob/load_oob on next full recompile of all models
+  return pickle.loads(pickle.dumps(run_jit)) if not prepare_only else run_jit


 def _parse_size(size_str: str) -> tuple[int, int]:
@@ -285,6 +277,19 @@ def read_file_chunked_to_shm(path):
  return shm_path


+def _compile_for_resolutions(camera_resolutions: list, model_size: tuple[int, int], frame_skip: int,
+               vision_runner, policy_runners: list, metadata: dict) -> dict:
+  from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+  return {
+    (cam_w, cam_h): {
+      name: compile_and_warmup(NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h)), model_size, prepare_only,
+                   frame_skip, vision_runner, policy_runners, metadata)
+      for name, prepare_only in [('warp_enqueue', True), ('run_policy', False)]
+    }
+    for cam_w, cam_h in camera_resolutions
+  }
+
+
 def _load_policy_runners(args: argparse.Namespace) -> tuple[list, list]:
  runners, keys = [], []
  for name, onnx_arg in [('policy', args.policy_onnx), ('off_policy', args.off_policy_onnx), ('on_policy', args.on_policy_onnx)]:
@@ -295,18 +300,7 @@ def _load_policy_runners(args: argparse.Namespace) -> tuple[list, list]:


 if __name__ == "__main__":
-  if 'USB' in os.getenv('DEV', '') or os.getenv('USBGPU'):
-    from openpilot.system.hardware.chestnut.flash import link_up
-    for _ in range(10):
-      if link_up():
-        break
-      time.sleep(1)
-    else:
-      raise RuntimeError("Chestnut not ready, skipping big model build")
-
-  from openpilot.common.file_chunker import chunk_file, get_chunk_targets
  from openpilot.selfdrive.modeld.get_model_metadata import make_metadata_dict
-  from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
  from tinygrad.nn.onnx import OnnxRunner

  parser = argparse.ArgumentParser(description="Compile combined JIT pkl for sunnypilot modeld_v2")
@@ -323,8 +317,7 @@ if __name__ == "__main__":
  parser.add_argument('--supercombo-onnx', help='supercombo ONNX (for supercombo)')

  args = parser.parse_args()
-  model_w, model_h = args.model_size
-  output_data = {}
+  output_data = defaultdict(dict)

  args.vision_onnx = read_file_chunked_to_shm(args.vision_onnx)
  args.policy_onnx = read_file_chunked_to_shm(args.policy_onnx)
@@ -355,31 +348,17 @@ if __name__ == "__main__":
  vision_meta = output_data['metadata'].get('vision', {})

  derived_frame_skip = args.frame_skip or derive_frame_skip(vision_meta.get('input_shapes', {}), first_policy_meta.get('input_shapes', {}))
-  all_shapes = {key: value for meta in output_data['metadata'].values() for key, value in meta['input_shapes'].items()}
-  feat_meta = output_data['metadata'].get('vision') or output_data['metadata'].get('model') or output_data['metadata'].get('policy')
-  assert feat_meta is not None
-  features_slice = feat_meta['output_slices']['hidden_state']
-  is_supercombo = vision_runner is None
-
-  print(f"Compiling run_policy JIT (model_size={model_w}x{model_h}, frame_skip={derived_frame_skip})...")
-  run_policy_func = make_run_policy(vision_runner, policy_runners, features_slice, derived_frame_skip, all_shapes)
-  run_policy_jit = TinyJit(run_policy_func, prune=True)
-  make_policy_queues = partial(generate_queues_and_npy, all_shapes, derived_frame_skip, is_supercombo=is_supercombo)
-  make_random_model_inputs = partial(make_random_images, keys=['warped'], shape=(2, 6, model_h // 2, model_w // 2), device=WARP_DEV)
-  output_data['run_policy'] = compile_jit(run_policy_jit, make_random_model_inputs, POLICY_INPUTS, make_policy_queues)
-
-  for cam_w, cam_h in args.camera_resolutions:
-    print(f"Compiling warp JIT for {cam_w}x{cam_h}...")
-    nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
-    make_random_warp_inputs = partial(make_random_images, keys=['frame', 'big_frame'], shape=nv12.size, device=WARP_DEV)
-    warp = TinyJit(make_warp(nv12, model_w, model_h), prune=True)
-    output_data[(cam_w, cam_h)] = compile_jit(warp, make_random_warp_inputs, WARP_INPUTS, make_warp_queues)
+  output_data.update(_compile_for_resolutions(args.camera_resolutions, args.model_size, derived_frame_skip,
+                        vision_runner, policy_runners, output_data['metadata']))

  with open(args.output, "wb") as file:
-    dump_oob(output_data, file)
+    # TODO-SP: switch to dump_oob from openpilot/selfdrive/helpers on next full recompile of all models
+    pickle.dump(output_data, file)

  pkl_size = os.path.getsize(args.output)
  print(f"Saved combined JIT to {args.output} ({pkl_size / 1e6:.2f} MB)")
+
+  from openpilot.common.file_chunker import chunk_file, get_chunk_targets
  chunk_targets = get_chunk_targets(args.output, pkl_size)
  chunk_file(args.output, chunk_targets)
  print(f"Chunked into {len(chunk_targets) - 1} file(s)")
@@ -9,13 +9,17 @@ See the LICENSE.md file in the root directory for more details.
 import os
 os.environ['GMMU'] = '0'
 from openpilot.common.hardware import COMMA_HARDWARE
-from openpilot.selfdrive.modeld.helpers import usbgpu_present, load_oob
+os.environ['DEV'] = 'QCOM' if COMMA_HARDWARE else 'CPU'
+USBGPU = "USBGPU" in os.environ
+if USBGPU:
+  os.environ['DEV'] = 'AMD'
+  os.environ['AMD_IFACE'] = 'USB'
+import pickle
 import time
 import numpy as np
 import openpilot.cereal.messaging as messaging
 from openpilot.cereal import log
 from opendbc.car.structs import car
-from openpilot.cereal.services import SERVICE_LIST
 from setproctitle import setproctitle
 from openpilot.cereal.messaging import PubMaster, SubMaster
 from openpilot.cereal.visionipc import VisionStreamType
@@ -23,6 +27,7 @@ from msgq.visionipc import VisionIpcClient, VisionBuf
 from opendbc.car.car_helpers import get_demo_car_params

 from tinygrad.tensor import Tensor
+from tinygrad.device import Device

 from openpilot.common.file_chunker import open_file_chunked
 from openpilot.common.swaglog import cloudlog
@@ -35,13 +40,12 @@ from openpilot.system import sentry
 from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
 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.modeld.modeld import ChestnutState

 from openpilot.sunnypilot.modeld_v2.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState, get_curvature_from_output
 from openpilot.sunnypilot.modeld_v2.constants import Plan
 from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants
 from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelper
-from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, make_split_input_queues, make_supercombo_input_queues, WARP_INPUTS, POLICY_INPUTS
+from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, make_split_input_queues

 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
@@ -84,7 +88,7 @@ class ModelState(ModelStateBase):
  inputs: dict[str, np.ndarray]
  prev_desire: np.ndarray

-  def __init__(self, cam_w: int, cam_h: int, usbgpu: bool = False):
+  def __init__(self, cam_w: int, cam_h: int):
    ModelStateBase.__init__(self)

    env_pkl = os.environ.get('COMBINED_MODEL_PKL')
@@ -99,7 +103,6 @@ class ModelState(ModelStateBase):
    self.LONG_SMOOTH_SECONDS = float(overrides.get('long', ".0"))
    self.MIN_LAT_CONTROL_SPEED = 0.3
    self.PLANPLUS_CONTROL: float = 1.0
-    self.usbgpu = usbgpu

    pkl_path = _find_driving_pkl(model_bundle)
    assert pkl_path is not None, "No driving pkl found — all models must be compiled with compile_modeld.py"
@@ -107,20 +110,24 @@ class ModelState(ModelStateBase):

  def _init_combined(self, pkl_path, cam_w, cam_h, bundle):
    cloudlog.warning(f"loading combined pkl: {pkl_path}")
-    jits = load_oob(open_file_chunked(pkl_path))
+    # TODO-SP: switch to load_oob from openpilot/selfdrive/helpers on next full recompile of all models
+    jits = pickle.load(open_file_chunked(pkl_path))

-    self.WARP_DEV = 'QCOM' if COMMA_HARDWARE else 'CPU'
-    self.DEV = 'AMD' if self.usbgpu else self.WARP_DEV
+    self.DEV = Device.DEFAULT
+    self.WARP_DEV = 'CPU' if USBGPU else self.DEV
    self.QUEUE_DEV = self.DEV
+
    metadata = jits['metadata']

-    self.is_legacy_model = 'run_policy' not in jits  # remove after next recompile
-    if self.is_legacy_model:
-      self.warp = jits[(cam_w, cam_h)]['warp_enqueue']
-      self.run_policy = jits[(cam_w, cam_h)]['run_policy']
+    self._run_policy = jits[(cam_w, cam_h)]['run_policy']
+    self._warp_enqueue = jits[(cam_w, cam_h)]['warp_enqueue']
+
+    # TODO-SP: Remove legacy use_packed detection block after all models are recompiled
+    captured = getattr(self._run_policy, 'captured', None)
+    if captured is not None:
+      use_packed = 'packed_npy_inputs' in getattr(captured, 'expected_names', [])
    else:
-      self.run_policy = jits['run_policy']
-      self.warp = jits[(cam_w, cam_h)]
+      use_packed = True

    if 'model' in metadata:
      model_metadata = metadata['model']
@@ -129,9 +136,10 @@ class ModelState(ModelStateBase):
      self._policy_slices_list = []
      self._combined_model_type = 'supercombo'
      self._vision_input_names = [key for key in model_metadata['input_shapes'] if 'img' in key]
+      from openpilot.sunnypilot.modeld_v2.compile_modeld import make_supercombo_input_queues
      frame_skip = derive_frame_skip({}, model_metadata['input_shapes'])
      self.input_queues, self.numpy_inputs = make_supercombo_input_queues(model_metadata['input_shapes'],
-                                                                          frame_skip, device=self.QUEUE_DEV)
+                                                                          frame_skip, device=self.QUEUE_DEV, use_packed=use_packed)
    else:
      vision_metadata = metadata['vision']
      policy_keys = [k for k in metadata if k != 'vision']
@@ -144,12 +152,13 @@ class ModelState(ModelStateBase):
      self._policy_slices_list = [metadata[k]['output_slices'] for k in policy_keys]
      self.policy_output_slices = self._policy_slices_list[0]
      self._has_on_policy = any('on' in k.lower() for k in policy_keys)
-      self._vision_input_names = [key for key in vision_metadata['input_shapes'] if 'img' in key]
-      first_policy_meta = metadata[policy_keys[0]]
-      frame_skip = derive_frame_skip(vision_metadata['input_shapes'], first_policy_meta['input_shapes'])
-      self.input_queues, self.numpy_inputs = make_split_input_queues(vision_metadata['input_shapes'],
-                                                                     first_policy_meta['input_shapes'],
-                                                                     frame_skip, device=self.QUEUE_DEV)
+      first_policy_metadata = metadata[policy_keys[0]]
+      vision_input_shapes = vision_metadata['input_shapes']
+      policy_input_shapes = first_policy_metadata['input_shapes']
+      self._vision_input_names = [k for k in vision_input_shapes if 'img' in k]
+      frame_skip = derive_frame_skip(vision_input_shapes, policy_input_shapes)
+      self.input_queues, self.numpy_inputs = make_split_input_queues(vision_input_shapes, policy_input_shapes,
+                                                                     frame_skip, device=self.QUEUE_DEV, use_packed=use_packed)

    self._desire_key = next(key for key in self.numpy_inputs if key.startswith('desire'))
    self._road_key = next(key for key in self._vision_input_names if 'big' not in key)
@@ -177,33 +186,10 @@ class ModelState(ModelStateBase):
    self.frame_buf_params = dict.fromkeys(self._vision_input_names, nv12_info)

    yuv_size = self.frame_buf_params[self._road_key][3]
-    frame_tensor = Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.WARP_DEV).contiguous().realize()
-    big_frame_tensor = Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.WARP_DEV).contiguous().realize()
-
-    if self.is_legacy_model: # Remove this conditional hack after recompile
-      self.warp(**self.input_queues, frame=frame_tensor, big_frame=big_frame_tensor)
-    else:
-      self.warp(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=frame_tensor, big_frame=big_frame_tensor)
-
-    if self.usbgpu:
-      self.warmup()
-
-  def warmup(self) -> None:
-    dummy_frames = {k: np.zeros(self.frame_buf_params[k][3], dtype=np.uint8) for k in self._vision_input_names}
-    transforms = {k: np.eye(3, dtype=np.float32) for k in [self._road_key, self._wide_key] if k}
-
-    dummy_inputs = {}
-    for k, v in self.numpy_inputs.items():
-      if k not in ['tfm', 'big_tfm', 'prev_feat']:
-        dummy_inputs[k] = np.zeros(v.shape, dtype=v.dtype)
-
-    self.run(dummy_frames, transforms, dummy_inputs, prepare_only=False)
-
-    for v in self.numpy_inputs.values():
-      v[:] = 0
-    self.prev_desire[:] = 0
-    self.full_frames.clear()
-    self._blob_cache.clear()
+    self._warp_enqueue(
+      **self.input_queues,
+      frame=Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.WARP_DEV).contiguous().realize(),
+      big_frame=Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.WARP_DEV).contiguous().realize())


  @property
@@ -241,17 +227,11 @@ class ModelState(ModelStateBase):
    self.numpy_inputs['tfm'][:, :] = transforms[road_key].reshape(3, 3)
    self.numpy_inputs['big_tfm'][:, :] = transforms[wide_key].reshape(3, 3)

-    if self.is_legacy_model:  # remove after next recompile
-      if prepare_only:
-        self.warp(**self.input_queues, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key])
-        return None
-      raw_outputs = self.run_policy(**self.input_queues, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key])
-    else:
-      if prepare_only:
-        self.warp(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key])
-        return None
-      warped = self.warp(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key])
-      raw_outputs = self.run_policy(**{k: self.input_queues[k] for k in POLICY_INPUTS if k in self.input_queues}, warped=warped)
+    if prepare_only:
+      self._warp_enqueue(**self.input_queues, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key])
+      return None
+
+    raw_outputs = self._run_policy(**self.input_queues, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key])

    if self._combined_model_type == 'supercombo':
      model_output = raw_outputs.numpy().flatten()
@@ -287,9 +267,10 @@ class ModelState(ModelStateBase):
      buf[0, :-1] = buf[0, 1:]
      buf[0, -1, :] = outputs['desired_curvature'][0, :] if not self.mlsim else 0

-    if self.usbgpu and not np.all(np.isfinite(outputs.get('plan', np.array([0.])))):
-      cloudlog.error("model output not finite, dropping frame")
-      return None
+    # TODO-SP: This is a hack to prevent GPU corruption by calculating in CPU space, it can be removed on next recompile
+    if 'prev_feat' not in self.numpy_inputs and 'feat_q' in self.input_queues:
+      feat_val = self.input_queues['feat_q'].numpy()
+      self.input_queues['feat_q'].assign(feat_val).realize()

    return outputs

@@ -297,8 +278,8 @@ class ModelState(ModelStateBase):
                            lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
    if 'action' not in model_output:
      plan = model_output['plan'][0]
-      desired_accel = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], self.constants.T_IDXS,
-                                          action_t=long_action_t)
+      desired_accel, should_stop = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], self.constants.T_IDXS,
+                                                       action_t=long_action_t)

      curvature_plan = (plan + (self.PLANPLUS_CONTROL - 1.0) * model_output['planplus'][0]
                        if 'planplus' in model_output and self.PLANPLUS_CONTROL != 1.0 else plan)
@@ -306,8 +287,8 @@ class ModelState(ModelStateBase):
    else:
      desired_accel = model_output['action'][0, 1]
      desired_curvature = model_output['action'][0, 0] / (max(1.0, v_ego))**2
+      should_stop = (v_ego < 0.3 and desired_accel < 0.1)

-    stop = v_ego < 0.3 and desired_accel < 0.1
    desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)

    if self.generation is not None and self.generation >= 10: # smooth curvature for post FOF models
@@ -316,7 +297,7 @@ class ModelState(ModelStateBase):
      else:
        desired_curvature = prev_action.desiredCurvature

-    return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature), desiredAcceleration=float(desired_accel), shouldStop=bool(stop))
+    return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature),desiredAcceleration=float(desired_accel), shouldStop=bool(should_stop))


 def main(demo=False):
@@ -327,14 +308,6 @@ def main(demo=False):
  setproctitle(PROCESS_NAME)
  config_realtime_process(7, 54)

-  USBGPU = usbgpu_present()
-  if USBGPU:
-    os.environ['HCQDEV_WAIT_TIMEOUT_MS'] = '3000'
-
-  params = Params()
-  params.put_bool("UsbGpuLoading", USBGPU)
-  params.remove("UsbGpuActive")
-
  # visionipc clients
  while True:
    available_streams = VisionIpcClient.available_streams("camerad", block=False)
@@ -359,34 +332,15 @@ def main(demo=False):
    cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")

  cloudlog.warning("loading model")
-  st = time.monotonic()
-
-  model = None
-  if USBGPU:
-    import threading
-    def load():
-      nonlocal model
-      model = ModelState(cam_w=vipc_client_main.width, cam_h=vipc_client_main.height, usbgpu=True)
-    t = threading.Thread(target=load, daemon=True)
-    t.start()
-    t.join(60)
-    if model is None:
-      params.put_bool("UsbGpuActive", False)
-      raise RuntimeError("eGPU model load failed or timed out (60s)")
-    params.put_bool("UsbGpuActive", True)
-  else:
-    model = ModelState(cam_w=vipc_client_main.width, cam_h=vipc_client_main.height, usbgpu=False)
-
-  params.put_bool("UsbGpuLoading", False)
-  cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting")
+  model = ModelState(cam_w=vipc_client_main.width, cam_h=vipc_client_main.height)
+  cloudlog.warning("models loaded, modeld starting")

  # messaging
-  pub_socks = ["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"] + (["chestnutState"] if USBGPU else [])
-  pm = PubMaster(pub_socks)
+  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"])
  sm = SubMaster(["deviceState", "carState", "narrowRoadCameraState", "extrinsicsCalibration", "driverMonitoringState", "carControl", "lateralDelay"])

  publish_state = PublishState()
-  chestnut_state = ChestnutState(pm, USBGPU) if USBGPU else None
+  params = Params()

  # setup filter to track dropped frames
  frame_dropped_filter = FirstOrderFilter(0., 10., 1. / model.constants.MODEL_FREQ)
@@ -524,7 +478,6 @@ def main(demo=False):
      fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                     publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
                     frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen, meta_constants)
-      modelv2_send.modelV2.big = model.usbgpu

      desire_state = modelv2_send.modelV2.meta.desireState
      l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
@@ -545,8 +498,6 @@ def main(demo=False):
      pm.send('modelDataV2SP', mdv2sp_send)
    last_vipc_frame_id = meta_main.frame_id

-    if chestnut_state is not None and run_count % round(model.constants.MODEL_FREQ / SERVICE_LIST['chestnutState'].frequency) == 0:
-      chestnut_state.send()

 if __name__ == "__main__":
  try:
@@ -6,6 +6,7 @@ See the LICENSE.md file in the root directory for more details.
 """

 import pathlib
+import pickle
 import tempfile

 import openpilot.sunnypilot.models.helpers as helpers
@@ -163,16 +164,14 @@ ARCHETYPES = {
 def make_pkl_data(archetype):
  return {
    'metadata': archetype.metadata_structure,
-    'run_policy': _noop_jit,
-    (CAM_W, CAM_H): _noop_jit,
+    (CAM_W, CAM_H): {'run_policy': _noop_jit, 'warp_enqueue': _noop_jit},
  }


 def write_pkl(tmp_path, archetype):
-  from openpilot.selfdrive.modeld.helpers import dump_oob
  pkl_path = tmp_path / 'driving_test_tinygrad.pkl'
  with open(pkl_path, 'wb') as f:
-    dump_oob(make_pkl_data(archetype), f)
+    pickle.dump(make_pkl_data(archetype), f)
  return pkl_path


@@ -33,7 +33,7 @@ class TestRecoveryPower(OpenpilotTestCase):

    def mock_accel(plan_vel, plan_accel, t_idxs, action_t=0.0):
      recorded_vel.append(plan_vel.copy())
-      return 0.0
+      return 0.0, False

    def mock_curvature(output, plan, vego, lat_action_t, mlsim):
      recorded_curv_plans.append(plan.copy())
@@ -13,7 +13,6 @@ from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.hardware.hw import Paths
 from openpilot.sunnypilot.models.helpers import is_bundle_version_compatible
-from openpilot.selfdrive.modeld.helpers import usbgpu_present

 from openpilot.cereal import custom

@@ -104,11 +103,11 @@ class ModelParser:
 class ModelCache:
  """Handles caching of model data to avoid frequent remote fetches"""

-  def __init__(self, params: Params, cache_timeout: int = int(3600 * 1e9), suffix: str = ""):
+  def __init__(self, params: Params, cache_timeout: int = int(3600 * 1e9)):
    self.params = params
    self.cache_timeout = cache_timeout
-    self._LAST_SYNC_KEY = f"ModelManager_LastSyncTime{suffix}"
-    self._CACHE_KEY = f"ModelManager_ModelsCache{suffix}"
+    self._LAST_SYNC_KEY = "ModelManager_LastSyncTime"
+    self._CACHE_KEY = "ModelManager_ModelsCache"

  def _is_expired(self) -> bool:
    """Checks if the cache has expired"""
@@ -140,37 +139,24 @@ class ModelCache:

 class ModelFetcher:
  """Handles fetching and caching of model data from remote source"""
-  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v19.json"
-  MODEL_URL_USBGPU = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_usbgpu_v19.json"
+  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v18.json"

  def __init__(self, params: Params):
    self.params = params
-    self.model_parser = ModelParser()
-    self._is_usbgpu: bool | None = None
    self.model_cache = ModelCache(params)
-    self.model_url = self.MODEL_URL
-    self._update_model_source()
-
-  def _update_model_source(self) -> None:
-    """Updates what json to use based on usbgpu availability"""
-    is_usbgpu = usbgpu_present()
-    if is_usbgpu != self._is_usbgpu:
-      self._is_usbgpu = is_usbgpu
-      self.model_cache = ModelCache(self.params, suffix="_USBGPU" if is_usbgpu else "")
-      self.model_url = self.MODEL_URL_USBGPU if is_usbgpu else self.MODEL_URL
-      self.params.put("ModelManager_ActiveJson", self.model_url, block=True)
+    self.model_parser = ModelParser()

  def _fetch_and_cache_models(self) -> list[custom.ModelManagerSP.ModelBundle] | None:
    """Fetches fresh model data from remote and updates cache.
    Returns None on transport errors. Raises on 404 and other fatal HTTP errors.
    """
    try:
-      response = requests.get(self.model_url, timeout=10)
+      response = requests.get(self.MODEL_URL, timeout=10)

      # Explicitly handle 404 differently
      if response.status_code == 404:
-        cloudlog.error(f"Models URL returned 404 Not Found: {self.model_url}")
-        raise HTTPError(f"404 Not Found: {self.model_url}", response=response)
+        cloudlog.error(f"Models URL returned 404 Not Found: {self.MODEL_URL}")
+        raise HTTPError(f"404 Not Found: {self.MODEL_URL}", response=response)

      # Raise for any other 4xx/5xx
      response.raise_for_status()
@@ -193,7 +179,6 @@ class ModelFetcher:

  def get_available_bundles(self) -> list[custom.ModelManagerSP.ModelBundle]:
    """Gets the list of available models, with smart cache handling"""
-    self._update_model_source()
    cached_data, is_expired = self.model_cache.get()

    if cached_data and not is_expired:
@@ -217,7 +202,10 @@ if __name__ == "__main__":
  for bundle in bundles:
    for model in bundle.models:
      model_overrides = {override.key: override.value for override in bundle.overrides}
+      # Print model details
      print(f"Bundle: {bundle.internalName}, Type: {model.type}, Status: {bundle.status}, Overrides: {model_overrides}")
+      # Print artifact details
      print(f"Artifact: {model.artifact.fileName}, Download URI: {model.artifact.downloadUri.uri}")
+      # Print metadata details
      if model.artifact.chunks:
        print(f"Contains {len(model.artifact.chunks)} chunks.")
@@ -18,7 +18,7 @@ from openpilot.sunnypilot.models.constants import Meta, MetaSimPose, MetaTombRai
 from openpilot.common.hardware.hw import Paths

 # SET ME TO THE EXACT JSON VERSION WE SET IN SUNNYPILOT_MODELS REPO
-REQUIRED_JSON_VERSION = 17
+REQUIRED_JSON_VERSION = 16

 CUSTOM_MODEL_PATH = Paths.model_root()
 METADATA_PATH = Path(__file__).parent / '../models/supercombo_metadata.pkl'
@@ -1,13 +1,12 @@
 import requests

-from openpilot.common.params import Params
 from openpilot.sunnypilot.models.tinygrad_ref import get_tinygrad_ref
 from openpilot.sunnypilot.models.fetcher import ModelFetcher
 from openpilot.common.test import OpenpilotTestCase

+
 def fetch_tinygrad_ref():
-  fetcher = ModelFetcher(Params())
-  response = requests.get(fetcher.model_url, timeout=10)
+  response = requests.get(ModelFetcher.MODEL_URL, timeout=10)
  response.raise_for_status()
  json_data = response.json()
  return json_data.get("tinygrad_ref")
@@ -33,7 +33,6 @@ USBDEVFS_SETCONFIGURATION = 0x80045505
 USBDEVFS_CLAIMINTERFACE = 0x8004550F
 USBDEVFS_RESET = 0x5514
 USBDEVFS_CLEAR_HALT = 0x80045515
-MAX_REGISTER_READ_SIZE = 255

 _deadline = float("inf")

@@ -147,7 +146,6 @@ def claim_interface(path, setup=False):
 class Flash:
  def __init__(self):
    self.fd = -1
-    self.max_register_read_size = MAX_REGISTER_READ_SIZE

  def close(self):
    if self.fd >= 0:
@@ -162,9 +160,6 @@ class Flash:
      if in_rom_bootloader(vid_pid, product):
        raise RomFallback("chestnut fell back to the ROM bootloader")
      if path is not None:
-        speed = int(open(path + "/speed").read())
-        # USB2 firmware truncates larger reads to one full packet without a terminating ZLP.
-        self.max_register_read_size = 64 if speed < 5000 else MAX_REGISTER_READ_SIZE
        self.fd = claim_interface(path)
        return
      time.sleep(0.1)
@@ -236,8 +231,8 @@ class Flash:
    while len(out) < length:
      n = min(4096, length - len(out))
      self.transaction(0x03, addr + len(out), max(4096, n))
-      for off in range(0, n, self.max_register_read_size):
-        out += self.reg_read(0x7000 + off, min(self.max_register_read_size, n - off))
+      for off in range(0, n, 255):
+        out += self.reg_read(0x7000 + off, min(255, n - off))
    return bytes(out)

  def erase_sector(self, addr):
@@ -238,8 +238,6 @@ def hardware_thread(end_event, hw_queue) -> None:

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

  while not end_event.is_set():
    sm.update(PANDA_STATES_TIMEOUT)
@@ -301,7 +299,6 @@ def hardware_thread(end_event, hw_queue) -> None:

    set_usb_state(msg.deviceState, last_hw_state.usb_state)
    chestnut.update(started_ts is None, last_hw_state.usb_state)
-    set_offroad_alert_if_changed("Offroad_ChestnutBranch", msg.deviceState.chestnutPresent and not big_model_available)

    # this subset is only used for offroad
    temp_sources = [
@@ -14,7 +14,7 @@
 #include "sunnypilot/common/version.h"

 // ***** log metadata *****
-kj::Array<capnp::word> logger_build_init_data(bool route_log) {
+kj::Array<capnp::word> logger_build_init_data() {
  uint64_t wall_time = nanos_since_epoch();

  MessageBuilder msg;
@@ -72,7 +72,7 @@ kj::Array<capnp::word> logger_build_init_data(bool route_log) {
    "df -h",  // usage for all filesystems
  };

-  auto hw_logs = Hardware::get_init_logs(route_log);
+  auto hw_logs = Hardware::get_init_logs();

  auto commands = init.initCommands().initEntries(log_commands.size() + hw_logs.size());
  for (int i = 0; i < log_commands.size(); i++) {
@@ -166,7 +166,7 @@ static void log_sentinel(LoggerState *log, SentinelType type, int exit_signal =
 LoggerState::LoggerState(const std::string &log_root) {
  route_name = logger_get_identifier("RouteCount");
  route_path = log_root + "/" + route_name;
-  init_data = logger_build_init_data(true);
+  init_data = logger_build_init_data();
 }

 LoggerState::~LoggerState() {
@@ -32,6 +32,6 @@ protected:
  std::unique_ptr<ZstdFileWriter> rlog, qlog;
 };

-kj::Array<capnp::word> logger_build_init_data(bool route_log = false);
+kj::Array<capnp::word> logger_build_init_data();
 std::string logger_get_identifier(std::string key);
 std::string zstd_decompress(const std::string &in);
@@ -3,12 +3,11 @@ import sys
 import time
 import signal
 import struct
-import threading
 import requests
 import urllib.parse
 from datetime import datetime, UTC

-from openpilot.cereal import log, messaging
+from openpilot.cereal import messaging
 from openpilot.common.api import Api
 from openpilot.common.time_helpers import system_time_valid
 from openpilot.common.params import Params
@@ -47,6 +46,7 @@ def get_assistnow_messages() -> list[bytes]:
  params = Params()
  if token := params.get('AssistNowToken'):
    cloudlog.warning("Downloading AssistNow data directly from u-blox")
+    # TODO: implement adding the last known location
    r = requests.get("https://online-live2.services.u-blox.com/GetOnlineData.ashx", params=urllib.parse.urlencode({
      'token': token,
      'gnss': 'gps,glo',
@@ -240,6 +240,14 @@ def init_pigeon(pigeon: TTYPigeon) -> bool:
        ))
        pigeon.send_with_ack(msg, ack=UBLOX_ASSIST_ACK)

+      # A configured u-blox token takes precedence over comma's AGPS proxy.
+      try:
+        for msg in get_assistnow_messages():
+          pigeon.send_with_ack(msg, ack=UBLOX_ASSIST_ACK)
+        cloudlog.warning("AssistNow messages sent")
+      except Exception:
+        cloudlog.warning("failed to get AssistNow messages")
+
      cloudlog.warning("Pigeon GPS on!")
      break
    except TimeoutError:
@@ -279,38 +287,12 @@ def run_receiving(duration: int = 0):

  start_time = time.monotonic()
  last_almanac_save = time.monotonic()
-  assist_attempted = False
-  assist_messages = None
-
-  def download_assistnow() -> None:
-    nonlocal assist_messages
-    sm = messaging.SubMaster(['deviceState'])
-    while assist_messages is None:
-      sm.update(1000)
-      if system_time_valid() and sm['deviceState'].networkType != log.DeviceState.NetworkType.none:
-        try:
-          assist_messages = get_assistnow_messages()
-        except Exception:
-          cloudlog.warning("failed to get AssistNow messages")
-      time.sleep(10.)
-  threading.Thread(target=download_assistnow, daemon=True).start()
-
  while (duration == 0) or (time.monotonic() - start_time < duration):
-    if assist_messages is not None and not assist_attempted:
-      assist_attempted = True
-      try:
-        for msg in assist_messages:
-          pigeon.send_with_ack(msg, ack=UBLOX_ASSIST_ACK)
-        cloudlog.warning("AssistNow messages sent")
-      except Exception:
-        cloudlog.warning("failed to send AssistNow messages")
-
    dat = pigeon.receive()
    if len(dat) > 0:
      if dat[0] == 0x00:
        cloudlog.warning("received invalid data from ublox, re-initing!")
        init(pigeon)
-        assist_attempted = False
        continue

      # send out to socket
@@ -45,9 +45,8 @@ class ScrollState(Enum):


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

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

-    self._clamp_offset(bounds_size, content_size)
-
  def _handle_mouse_event(self, mouse_event: MouseEvent, bounds: rl.Rectangle, bounds_size: float,
                          content_size: float) -> None:
    max_offset, min_offset = self._get_offset_bounds(bounds_size, content_size)
@@ -75,6 +75,7 @@ class _Scroller(Widget):
    self._items: list[Widget] = []
    self._horizontal = horizontal
    self._snap_items = snap_items
+    assert not self._snap_items or self._horizontal, "Snapping is only supported for horizontal scrolling"
    self._spacing = spacing
    self._pad = pad

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

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

-  def _item_center_pos(self, item: Widget) -> float:
-    if self._horizontal:
-      return item.rect.x + item.rect.width / 2
-    return item.rect.y + item.rect.height / 2
-
  @property
  def moving_items(self) -> bool:
    return len(self._move_animations) > 0 or len(self._move_lift) > 0
@@ -207,10 +207,13 @@ def handle_agnos_update() -> None:
  set_consistent_flag(False)

  cloudlog.info(f"Beginning background installation for AGNOS {updated_version}")
+  set_offroad_alert("Offroad_NeosUpdate", True)

  manifest_path = os.path.join(OVERLAY_MERGED, "openpilot/system/hardware/comma/agnos.json")
  target_slot_number = get_target_slot_number()
  flash_agnos_update(manifest_path, target_slot_number, cloudlog)
+  set_offroad_alert("Offroad_NeosUpdate", False)
+


 class Updater:
@@ -48,11 +48,6 @@ def create_short_name(full_name: str) -> str:
  return result[:8]


-def create_pkl_name(full_name: str) -> str:
-  pkl = re.sub(r'[^a-zA-Z0-9]+', '_', full_name).strip('_').lower()
-  return pkl
-
-
 def _read_pkl_bytes(pkl_path: Path) -> bytes:
  manifest = Path(f"{pkl_path}.chunkmanifest")
  if manifest.exists():
@@ -159,15 +154,14 @@ if __name__ == "__main__":
  _output_dir = Path(args.output_dir)
  _output_dir.mkdir(exist_ok=True, parents=True)
  _short_name = create_short_name(args.custom_name) if args.custom_name else None
-  _pkl = create_pkl_name(args.custom_name) if args.custom_name else None

  _driving_pkl = _find_driving_pkl(_output_dir)
  if not _driving_pkl:
    print(f"No driving_tinygrad.pkl found in {_output_dir}", file=sys.stderr)
    sys.exit(1)

-  if _pkl:
-    new_pkl = _output_dir / f"driving_{_pkl}_tinygrad.pkl"
+  if _short_name:
+    new_pkl = _output_dir / f"driving_{_short_name.lower()}_tinygrad.pkl"
    if not new_pkl.exists():
      _driving_pkl = _rename_pkl_with_chunks(_driving_pkl, new_pkl)
    else:
@@ -2,14 +2,15 @@
 set -e
 set -x

+# git diff --name-status origin/release3-staging | grep "^A" | less
+
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+
 cd $DIR

 BUILD_DIR=/data/openpilot
 SOURCE_DIR="$(git rev-parse --show-toplevel)"

-export PYTHONPATH="$BUILD_DIR:$BUILD_DIR/msgq_repo:$BUILD_DIR/opendbc_repo:$BUILD_DIR/rednose_repo:$BUILD_DIR/teleoprtc_repo:$BUILD_DIR/tinygrad_repo"
-
 if [ -z "$RELEASE_BRANCH" ]; then
  echo "RELEASE_BRANCH is not set"
  exit 1
@@ -22,36 +23,33 @@ BUILD_BRANCH=release-mici-staging
 source $DIR/identity.sh

 echo "[-] Setting up repo T=$SECONDS"
-if ! git -C "$SOURCE_DIR" worktree remove --force "$BUILD_DIR" 2>/dev/null; then
-  rm -rf $BUILD_DIR
-fi
-git -C "$SOURCE_DIR" worktree prune
-git -C "$SOURCE_DIR" worktree add --detach --no-checkout "$BUILD_DIR"
+rm -rf $BUILD_DIR
+mkdir -p $BUILD_DIR
 cd $BUILD_DIR
-git update-ref -d "refs/heads/$BUILD_BRANCH"
-git symbolic-ref HEAD "refs/heads/$BUILD_BRANCH"
-git read-tree --empty
+git init
+git remote add origin git@github.com:commaai/openpilot.git
+git checkout --orphan $BUILD_BRANCH

 # do the files copy
 echo "[-] copying files T=$SECONDS"
 cd $SOURCE_DIR
-./tools/release/release_files.py | xargs -0 cp -pR --parents -t "$BUILD_DIR" --
+cp -pR --parents $(./tools/release/release_files.py) $BUILD_DIR/

 # in the directory
 cd $BUILD_DIR

-# use the full CPU available for speeding up the build.
-# openpilot resets the CPU frequencies when test_onroad.py runs below.
-for policy in /sys/devices/system/cpu/cpufreq/policy*; do
-  [ -d "$policy" ] || continue
-  hardware_max="$(cat "$policy/cpuinfo_max_freq")"
-  echo "$hardware_max" | sudo tee "$policy/scaling_max_freq" >/dev/null
-done
+rm -f panda/board/obj/panda.bin.signed
+rm -f panda/board/obj/panda_h7.bin.signed

+VERSION=$(cat openpilot/sunnypilot/common/version.h | awk -F[\"-]  '{print $2}')
+echo "[-] committing version $VERSION T=$SECONDS"
+git add -f .
+git commit -a -m "openpilot v$VERSION release"
+
+# Build and test before launch_chffrplus.sh creates the on-device package
+# symlinks. SConstruct uses the same package roots for build subprocesses.
+export PYTHONPATH="$BUILD_DIR:$BUILD_DIR/msgq_repo:$BUILD_DIR/opendbc_repo:$BUILD_DIR/rednose_repo:$BUILD_DIR/teleoprtc_repo:$BUILD_DIR/tinygrad_repo"
 scons
-if [ -n "$INCLUDE_BIG_MODEL" ]; then
-  test -f openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl.chunkmanifest
-fi

 if [ -z "$PANDA_DEBUG_BUILD" ]; then
  # release panda fw
@@ -74,6 +72,7 @@ find . -name '*.a' -delete
 find . -name '*.o' -delete
 find . -name '*.os' -delete
 find . -name '*.pyc' -delete
+find . -name 'moc_*' -delete
 find . -name '__pycache__' -delete
 rm -rf .sconsign.dblite Jenkinsfile tools/release/
 rm -f openpilot/selfdrive/modeld/models/*.onnx*
@@ -89,11 +88,9 @@ git checkout openpilot/third_party/
 # Mark as prebuilt release
 touch prebuilt

-VERSION=$(cat openpilot/sunnypilot/common/version.h | awk -F[\"-]  '{print $2}')
 # Add built files to git
-# writing larger objects is faster than compressing them on-device
-git -c core.compression=0 add -f .
-git -c core.compression=0 -c gc.auto=0 commit -m "openpilot v$VERSION"
+git add -f .
+git commit --amend -m "openpilot v$VERSION"

 # Run tests
 cd $BUILD_DIR
@@ -105,7 +102,6 @@ REFS=()
 for branch in ${RELEASE_BRANCH//,/ }; do
  REFS+=("$BUILD_BRANCH:$branch")
 done
-# uploading the larger pack is faster than spending CPU to optimize it
-git -c pack.window=0 -c pack.depth=0 -c pack.compression=0 push -f origin "${REFS[@]}"
+git push -f origin "${REFS[@]}"

 echo "[-] done T=$SECONDS"
@@ -30,14 +30,20 @@ git submodule deinit -f --all
 git rm -rf --cached .
 find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \;

+# cleanup before the copy
+cd $SOURCE_DIR
+git clean -xdff
+git submodule foreach --recursive git clean -xdff
+
 # do the files copy
 echo "[-] copying files T=$SECONDS"
 cd $SOURCE_DIR
-./tools/release/release_files.py | xargs -0 cp -pR --parents -t "$TARGET_DIR" --
+./tools/release/release_files.py | xargs -d '\n' cp -pR --parents -t "$TARGET_DIR"

 # in the directory
 cd $TARGET_DIR
 rm -rf .git/modules/
+rm -f panda/board/obj/panda.bin.signed

 find openpilot/selfdrive/modeld/models -name '*.onnx' -size +95M -exec ./openpilot/common/file_chunker.py {} \;

@@ -51,10 +57,9 @@ echo -n "$GIT_HASH" > git_src_commit
 echo -n "$GIT_COMMIT_DATE" > git_src_commit_date

 echo "[-] committing version $VERSION T=$SECONDS"
-# writing larger objects is faster than compressing them on-device
-git -c core.compression=0 add -f .
+git add -f .
 git status
-git -c core.compression=0 commit -a -m "sunnypilot v$VERSION release
+git commit -a -m "sunnypilot v$VERSION release

 date: $DATETIME
 master commit: $GIT_HASH
@@ -78,8 +83,7 @@ fi

 if [ ! -z "$BRANCH" ]; then
  echo "[-] Pushing to $BRANCH T=$SECONDS"
-  # uploading the larger pack is faster than spending CPU to optimize it
-  git -c pack.window=0 -c pack.depth=0 -c pack.compression=0 push -f origin tmp:$BRANCH
+  git push -f origin tmp:$BRANCH
 fi

 echo "[-] done T=$SECONDS, ready at $TARGET_DIR"
@@ -1,19 +1,20 @@
 #!/usr/bin/env python3
 import os
 import re
-import subprocess
-import sys
+from pathlib import Path

 HERE = os.path.abspath(os.path.dirname(__file__))
 ROOT = os.path.abspath(os.path.join(HERE, "../.."))

 blacklist = [
  ".git/",
-  ".venv/",
  ".github/workflows/",

  "matlab.*.md",

+  # skip big model for now
+  "openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx",
+
  # no LFS or submodules in release
  ".lfsconfig",
  ".gitattributes",
@@ -29,17 +30,14 @@ whitelist: list[str] = [


 if __name__ == "__main__":
-  tracked_files = subprocess.check_output(["git", "ls-files", "-z", "--recurse-submodules"], cwd=ROOT).split(b"\0")
-  for tracked_file in tracked_files:
-    if not tracked_file:
+  for f in Path(ROOT).rglob("**/*"):
+    if not (f.is_file() or f.is_symlink()):
      continue

-    rf = os.fsdecode(tracked_file)
-    if not os.getenv("INCLUDE_BIG_MODEL") and rf.startswith("openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx"):
-      continue
+    rf = str(f.relative_to(ROOT))
    blacklisted = any(re.search(p, rf) for p in blacklist)
    whitelisted = any(re.search(p, rf) for p in whitelist)
    if blacklisted and not whitelisted:
      continue

-    sys.stdout.buffer.write(tracked_file + b"\0")
+    print(rf)
@@ -52,43 +52,24 @@ wheels = [

 [[package]]
 name = "charset-normalizer"
-version = "3.5.1"
+version = "3.4.9"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/e5/3f/143b048436775b0f76ac3eec145c019e8173ccc2885c8f20319b996d5e83/charset_normalizer-3.5.1.tar.gz", hash = "sha256:6117b84ea48435e5356dc737f5121485c30920ba43375fa7b434fd753df0eac3", size = 171764, upload-time = "2026-08-15T08:20:44.807Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/bd/2a/23f34ec9d04624958e137efdc394888716353190e75f25dd22c7a2c7a8aa/charset_normalizer-3.4.9.tar.gz", hash = "sha256:673611bbd43f0810bec0b0f028ddeaaa501190339cac411f347ac76917c3ae7b", size = 152439, upload-time = "2026-07-07T14:34:58.454Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/30/27/78873dc8b6a56357517b74b6bb9568b80450e7bb4f6ef7e3fa9d22aa0bd7/charset_normalizer-3.5.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:5b6d1386bf0096d26d3a863dc0a487a5b4eb9aa93cf5ba69683d29dde6b9d60f", size = 344456, upload-time = "2026-08-15T08:17:10.072Z" },
-    { url = "https://files.pythonhosted.org/packages/9a/4c/be49ada26b1f0232d57aa89bbebf997a5cc2332a5616b6eca26ff680044d/charset_normalizer-3.5.1-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:4582c27e8c889d64811987b5967fbd3ae0c823fe1fd933b543d55ac20bb475fa", size = 238530, upload-time = "2026-08-15T08:17:11.563Z" },
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 [[package]]
Author	SHA1	Message	Date
royjr	e0e2db4179	Update opendbc_repo	2026-08-17 09:41:13 -04:00
royjr	8d5f74b84a	Update opendbc_repo	2026-08-16 15:30:31 -04:00