init

op switch: clear update after switch (#37793 )
cereal: group inline deprecated fields (#37791 )
2026-07-14 04:42:07 +08:00 · 2026-04-11 08:32:19 -04:00 · 2026-04-09 20:02:17 -07:00 · 2026-04-09 10:41:04 -07:00 · 2026-04-09 10:03:22 -07:00 · 2026-04-09 01:41:40 -07:00
40 changed files with 1127 additions and 858 deletions
@@ -44,6 +44,7 @@ bin/
 config.json
 compile_commands.json
 compare_runtime*.html
+selfdrive/modeld/models/tg_compiled_flags.json

 # build artifacts
 selfdrive/pandad/pandad
@@ -52,6 +52,9 @@
      "type": "lldb",
      "request": "attach",
      "pid": "${command:pickMyProcess}",
+      "sourceMap": {
+        ".": "${workspaceFolder}/opendbc/safety"
+      },
      "initCommands": [
        "script import time; time.sleep(3)"
      ]
@@ -4,7 +4,7 @@ cereal_dir = Dir('.')
 gen_dir = Dir('gen')

 # Build cereal
-schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp']
+schema_files = ['log.capnp', 'car.capnp', 'deprecated.capnp', 'custom.capnp']
 env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
            schema_files,
            f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
@@ -3,7 +3,7 @@ $Cxx.namespace("cereal");

@0x80ef1ec4889c2a63;

-# legacy.capnp: a home for deprecated structs
+# deprecated.capnp: a home for deprecated structs

 struct LogRotate @0x9811e1f38f62f2d1 {
  segmentNum @0 :Int32;
@@ -571,4 +571,219 @@ struct LidarPts @0xe3d6685d4e9d8f7a {
  pkt @4 :Data;
 }

+struct LiveTracksDEPRECATED @0xb16f60103159415a {
+  trackId @0 :Int32;
+  dRel @1 :Float32;
+  yRel @2 :Float32;
+  vRel @3 :Float32;
+  aRel @4 :Float32;
+  timeStamp @5 :Float32;
+  status @6 :Float32;
+  currentTime @7 :Float32;
+  stationary @8 :Bool;
+  oncoming @9 :Bool;
+}

+struct LiveMpcData @0x92a5e332a85f32a0 {
+  x @0 :List(Float32);
+  y @1 :List(Float32);
+  psi @2 :List(Float32);
+  curvature @3 :List(Float32);
+  qpIterations @4 :UInt32;
+  calculationTime @5 :UInt64;
+  cost @6 :Float64;
+}
+
+struct LiveLongitudinalMpcData @0xe7e17c434f865ae2 {
+  xEgo @0 :List(Float32);
+  vEgo @1 :List(Float32);
+  aEgo @2 :List(Float32);
+  xLead @3 :List(Float32);
+  vLead @4 :List(Float32);
+  aLead @5 :List(Float32);
+  aLeadTau @6 :Float32;    # lead accel time constant
+  qpIterations @7 :UInt32;
+  mpcId @8 :UInt32;
+  calculationTime @9 :UInt64;
+  cost @10 :Float64;
+}
+
+struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 {
+  frameId @0 :UInt32;
+  modelExecutionTime @14 :Float32;
+  dspExecutionTime @16 :Float32;
+  rawPredictions @15 :Data;
+
+  faceOrientation @3 :List(Float32);
+  facePosition @4 :List(Float32);
+  faceProb @5 :Float32;
+  leftEyeProb @6 :Float32;
+  rightEyeProb @7 :Float32;
+  leftBlinkProb @8 :Float32;
+  rightBlinkProb @9 :Float32;
+  faceOrientationStd @11 :List(Float32);
+  facePositionStd @12 :List(Float32);
+  sunglassesProb @13 :Float32;
+  poorVision @17 :Float32;
+  partialFace @18 :Float32;
+  distractedPose @19 :Float32;
+  distractedEyes @20 :Float32;
+  eyesOnRoad @21 :Float32;
+  phoneUse @22 :Float32;
+  occludedProb @23 :Float32;
+
+  readyProb @24 :List(Float32);
+  notReadyProb @25 :List(Float32);
+
+  irPwrDEPRECATED @10 :Float32;
+  descriptorDEPRECATED @1 :List(Float32);
+  stdDEPRECATED @2 :Float32;
+}
+
+struct NavModelData @0xac3de5c437be057a {
+  frameId @0 :UInt32;
+  locationMonoTime @6 :UInt64;
+  modelExecutionTime @1 :Float32;
+  dspExecutionTime @2 :Float32;
+  features @3 :List(Float32);
+  # predicted future position
+  position @4 :XYData;
+  desirePrediction @5 :List(Float32);
+
+  # All SI units and in device frame
+  struct XYData @0xbe09e615b2507e26 {
+    x @0 :List(Float32);
+    y @1 :List(Float32);
+    xStd @2 :List(Float32);
+    yStd @3 :List(Float32);
+  }
+}
+
+struct AndroidBuildInfo @0xfe2919d5c21f426c {
+  board @0 :Text;
+  bootloader @1 :Text;
+  brand @2 :Text;
+  device @3 :Text;
+  display @4 :Text;
+  fingerprint @5 :Text;
+  hardware @6 :Text;
+  host @7 :Text;
+  id @8 :Text;
+  manufacturer @9 :Text;
+  model @10 :Text;
+  product @11 :Text;
+  radioVersion @12 :Text;
+  serial @13 :Text;
+  supportedAbis @14 :List(Text);
+  tags @15 :Text;
+  time @16 :Int64;
+  type @17 :Text;
+  user @18 :Text;
+
+  versionCodename @19 :Text;
+  versionRelease @20 :Text;
+  versionSdk @21 :Int32;
+  versionSecurityPatch @22 :Text;
+}
+
+struct AndroidSensor @0x9b513b93a887dbcd {
+  id @0 :Int32;
+  name @1 :Text;
+  vendor @2 :Text;
+  version @3 :Int32;
+  handle @4 :Int32;
+  type @5 :Int32;
+  maxRange @6 :Float32;
+  resolution @7 :Float32;
+  power @8 :Float32;
+  minDelay @9 :Int32;
+  fifoReservedEventCount @10 :UInt32;
+  fifoMaxEventCount @11 :UInt32;
+  stringType @12 :Text;
+  maxDelay @13 :Int32;
+}
+
+struct IosBuildInfo @0xd97e3b28239f5580 {
+  appVersion @0 :Text;
+  appBuild @1 :UInt32;
+  osVersion @2 :Text;
+  deviceModel @3 :Text;
+}
+
+enum FrameTypeDEPRECATED @0xa37f0d8558e193fd {
+  unknown @0;
+  neo @1;
+  chffrAndroid @2;
+  front @3;
+}
+
+struct AndroidCaptureResult @0xbcc3efbac41d2048 {
+  sensitivity @0 :Int32;
+  frameDuration @1 :Int64;
+  exposureTime @2 :Int64;
+  rollingShutterSkew @3 :UInt64;
+  colorCorrectionTransform @4 :List(Int32);
+  colorCorrectionGains @5 :List(Float32);
+  displayRotation @6 :Int8;
+}
+
+enum UsbPowerModeDEPRECATED @0xa8883583b32c9877 {
+  none @0;
+  client @1;
+  cdp @2;
+  dcp @3;
+}
+
+struct LateralINDIState @0x939463348632375e {
+  active @0 :Bool;
+  steeringAngleDeg @1 :Float32;
+  steeringRateDeg @2 :Float32;
+  steeringAccelDeg @3 :Float32;
+  rateSetPoint @4 :Float32;
+  accelSetPoint @5 :Float32;
+  accelError @6 :Float32;
+  delayedOutput @7 :Float32;
+  delta @8 :Float32;
+  output @9 :Float32;
+  saturated @10 :Bool;
+  steeringAngleDesiredDeg @11 :Float32;
+  steeringRateDesiredDeg @12 :Float32;
+}
+
+struct LateralLQRState @0x9024e2d790c82ade {
+  active @0 :Bool;
+  steeringAngleDeg @1 :Float32;
+  i @2 :Float32;
+  output @3 :Float32;
+  lqrOutput @4 :Float32;
+  saturated @5 :Bool;
+  steeringAngleDesiredDeg @6 :Float32;
+}
+
+struct LateralCurvatureState @0xad9d8095c06f7c61 {
+  active @0 :Bool;
+  actualCurvature @1 :Float32;
+  desiredCurvature @2 :Float32;
+  error @3 :Float32;
+  p @4 :Float32;
+  i @5 :Float32;
+  f @6 :Float32;
+  output @7 :Float32;
+  saturated @8 :Bool;
+}
+
+struct LateralPlannerSolution @0x84caeca5a6b4acfe {
+  x @0 :List(Float32);
+  y @1 :List(Float32);
+  yaw @2 :List(Float32);
+  yawRate @3 :List(Float32);
+  xStd @4 :List(Float32);
+  yStd @5 :List(Float32);
+  yawStd @6 :List(Float32);
+  yawRateStd @7 :List(Float32);
+}
+
+struct GpsTrajectory @0x8cfeb072f5301000 {
+  x @0 :List(Float32);
+  y @1 :List(Float32);
+}
@@ -39,8 +39,8 @@ _services: dict[str, tuple] = {
  "roadEncodeIdx": (False, 20., 1),
  "liveTracks": (True, 20.),
  "sendcan": (True, 100., 139, QueueSize.MEDIUM),
-  "logMessage": (True, 0.),
-  "errorLogMessage": (True, 0., 1),
+  "logMessage": (True, 0., None, QueueSize.BIG),
+  "errorLogMessage": (True, 0., 1, QueueSize.BIG),
  "liveCalibration": (True, 4., 4),
  "liveTorqueParameters": (True, 4., 1),
  "liveDelay": (True, 4., 1),
@@ -16,6 +16,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"AthenadUploadQueue", {PERSISTENT, JSON}},
    {"AthenadRecentlyViewedRoutes", {PERSISTENT, STRING}},
    {"BootCount", {PERSISTENT, INT}},
+    {"BusDetectionChanged", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
+    {"BusDetectionEnabled", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
    {"CalibrationParams", {PERSISTENT, BYTES}},
    {"CameraDebugExpGain", {CLEAR_ON_MANAGER_START, STRING}},
    {"CameraDebugExpTime", {CLEAR_ON_MANAGER_START, STRING}},
@@ -131,11 +131,11 @@ def get_upload_stream(filepath: str, should_compress: bool) -> tuple[io.Buffered
    return compressed_stream, compressed_size


-# remove all keys that end in DEPRECATED
+# remove all keys that end in DEPRECATED, plus any "deprecated" group
 def strip_deprecated_keys(d):
  for k in list(d.keys()):
    if isinstance(k, str):
-      if k.endswith('DEPRECATED'):
+      if k.endswith('DEPRECATED') or k == 'deprecated':
        d.pop(k)
      elif isinstance(d[k], dict):
        strip_deprecated_keys(d[k])
@@ -4,12 +4,13 @@

 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.

-# 329 Supported Cars
+# 333 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|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.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=Acura ILX 2016-18">Buy Here</a></sub></details>|||
 |Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.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=Acura ILX 2019">Buy Here</a></sub></details>|||
+|Acura|MDX 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-full.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=Acura MDX 2022-24">Buy Here</a></sub></details>|||
 |Acura|MDX 2025-26|All except Type S|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C 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=Acura MDX 2025-26">Buy Here</a></sub></details>|||
 |Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 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=Acura RDX 2016-18">Buy Here</a></sub></details>|||
 |Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 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=Acura RDX 2019-21">Buy Here</a></sub></details>|||
@@ -103,6 +104,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|N-Box 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.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 N-Box 2018">Buy Here</a></sub></details>|||
 |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.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 Odyssey 2018-20">Buy Here</a></sub></details>|||
 |Honda|Odyssey 2021-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 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 Odyssey 2021-26">Buy Here</a></sub></details>|||
+|Honda|Odyssey (Singapore) 2021|Honda Sensing|openpilot|19 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.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 Odyssey (Singapore) 2021">Buy Here</a></sub></details>|||
 |Honda|Odyssey (Taiwan) 2018-19|Honda Sensing|openpilot|19 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.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 Odyssey (Taiwan) 2018-19">Buy Here</a></sub></details>|||
 |Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 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 Passport 2019-25">Buy Here</a></sub></details>|||
 |Honda|Passport 2026|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C 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 Passport 2026">Buy Here</a></sub></details>|||
@@ -230,7 +232,9 @@ A supported vehicle is one that just works when you install a comma device. All
 |Nissan[<sup>5</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<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=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram 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=Ram 1500 2019-24">Buy Here</a></sub></details>|||
 |Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A 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 R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Rivian|R1S 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 R1S 2025">Buy Here</a></sub></details>|||
 |Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A 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 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|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>11</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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>11</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|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 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>|||
@@ -15,7 +15,7 @@ from opendbc.car import DT_CTRL, structs
 from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
 from opendbc.car.carlog import carlog
 from opendbc.car.fw_versions import ObdCallback
-from opendbc.car.car_helpers import get_car, interfaces
+from opendbc.car.car_helpers import get_car, interfaces, BusDetectionCallback
 from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car.cruise import VCruiseHelper
@@ -39,6 +39,17 @@ def obd_callback(params: Params) -> ObdCallback:
  return set_obd_multiplexing


+def bus_detection_callback(params: Params) -> BusDetectionCallback:
+  def set_bus_detection(enabled: bool):
+    if params.get_bool("BusDetectionEnabled") != enabled:
+      cloudlog.warning(f"Setting bus detection mode to {enabled}")
+      params.remove("BusDetectionChanged")
+      params.put_bool("BusDetectionEnabled", enabled)
+      params.get_bool("BusDetectionChanged", block=True)
+      cloudlog.warning("Bus detection mode set successfully")
+  return set_bus_detection
+
+
 def can_comm_callbacks(logcan: messaging.SubSocket, sendcan: messaging.PubSocket) -> tuple[CanRecvCallable, CanSendCallable]:
  def can_recv(wait_for_one: bool = False) -> list[list[CanData]]:
    """
@@ -97,7 +108,8 @@ class Car:
        with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
          cached_params = _cached_params

-      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, cached_params)
+      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, cached_params,
+                        set_bus_detection=bus_detection_callback(self.params))
      self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP)
      self.CP = self.CI.CP

@@ -39,19 +39,17 @@ def clip_curvature(v_ego, prev_curvature, new_curvature, roll) -> tuple[float, b
  return float(new_curvature), limited_accel or limited_max_curv


-def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.05):
+def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.3):
  if len(speeds) == len(t_idxs):
    v_now = speeds[0]
    a_now = accels[0]
    v_target = np.interp(action_t, t_idxs, speeds)
    a_target = 2 * (v_target - v_now) / (action_t) - a_now
-    v_target_1sec = np.interp(action_t + 1.0, t_idxs, speeds)
  else:
+    v_now = 0.0
    v_target = 0.0
-    v_target_1sec = 0.0
    a_target = 0.0
-  should_stop = (v_target < vEgoStopping and
-                 v_target_1sec < vEgoStopping)
+  should_stop = (v_now < vEgoStopping and a_target < 0.1)
  return a_target, should_stop

 def curv_from_psis(psi_target, psi_rate, vego, action_t):
@@ -30,9 +30,9 @@ def cycle_alerts(duration=200, is_metric=False):
    (EventName.accFaulted, ET.IMMEDIATE_DISABLE),

    # DM sequence
-    (EventName.preDriverDistracted, ET.WARNING),
-    (EventName.promptDriverDistracted, ET.WARNING),
-    (EventName.driverDistracted, ET.WARNING),
+    (EventName.driverDistracted1, ET.WARNING),
+    (EventName.driverDistracted2, ET.WARNING),
+    (EventName.driverDistracted3, ET.WARNING),
  ]

  # debug alerts
@@ -1,6 +1,9 @@
-import os
 import glob
+import json
+import os
+from SCons.Script import Value
 from openpilot.common.file_chunker import chunk_file, get_chunk_paths
+from tinygrad import Device

 Import('env', 'arch')
 chunker_file = File("#common/file_chunker.py")
@@ -13,31 +16,51 @@ tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "
 def estimate_pickle_max_size(onnx_size):
  return 1.2 * onnx_size  + 10 * 1024 * 1024  # 20% + 10MB is plenty

-# compile warp
 # THREADS=0 is need to prevent bug: https://github.com/tinygrad/tinygrad/issues/14689
-tg_flags = {
-    'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0',
-    'Darwin': f'DEV=CPU THREADS=0 HOME={os.path.expanduser("~")}', # tinygrad calls brew which needs a $HOME in the env
-}.get(arch, 'DEV=CPU:LLVM THREADS=0')
+# get fastest TG config
+available = set(Device.get_available_devices())
+if 'CUDA' in available:
+  tg_backend = 'CUDA'
+  tg_flags = f'DEV={tg_backend}'
+elif 'QCOM' in available:
+  tg_backend = 'QCOM'
+  tg_flags = f'DEV={tg_backend} FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0'
+else:
+  tg_backend = 'CPU' if arch == 'Darwin' else 'CPU:LLVM'
+  tg_flags = f'DEV={tg_backend} THREADS=0'
+
+def write_tg_compiled_flags(target, source, env):
+  with open(str(target[0]), "w") as f:
+    json.dump({"DEV": tg_backend}, f)
+    f.write("\n")
+
+compiled_flags_node = lenv.Command(
+  File("models/tg_compiled_flags.json").abspath,
+  tinygrad_files + [Value(tg_backend)],
+  write_tg_compiled_flags,
+)
+
+# tinygrad calls brew which needs a $HOME in the env
+mac_brew_string = f'HOME={os.path.expanduser("~")}' if arch == 'Darwin' else ''

 # Get model metadata
 for model_name in ['driving_vision', 'driving_off_policy', 'driving_on_policy', 'dmonitoring_model']:
  fn = File(f"models/{model_name}").abspath
  script_files = [File(Dir("#selfdrive/modeld").File("get_model_metadata.py").abspath)]
-  cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
-  lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files, cmd)
+  cmd = f'{tg_flags} {mac_brew_string} python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
+  lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files + [compiled_flags_node], cmd)

 image_flag = {
     'larch64': 'IMAGE=2',
 }.get(arch, 'IMAGE=0')
 script_files = [File(Dir("#selfdrive/modeld").File("compile_warp.py").abspath)]
-compile_warp_cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/compile_warp.py '
+compile_warp_cmd = f'{tg_flags} {mac_brew_string} python3 {Dir("#selfdrive/modeld").abspath}/compile_warp.py '
 from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
 warp_targets = []
 for cam in [_ar_ox_fisheye, _os_fisheye]:
  w, h = cam.width, cam.height
  warp_targets += [File(f"models/warp_{w}x{h}_tinygrad.pkl").abspath, File(f"models/dm_warp_{w}x{h}_tinygrad.pkl").abspath]
-lenv.Command(warp_targets, tinygrad_files + script_files, compile_warp_cmd)
+lenv.Command(warp_targets, tinygrad_files + script_files + [compiled_flags_node], compile_warp_cmd)

 def tg_compile(flags, model_name):
  pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
@@ -47,7 +70,7 @@ def tg_compile(flags, model_name):
  chunk_targets = get_chunk_paths(pkl, estimate_pickle_max_size(os.path.getsize(onnx_path)))
  compile_node = lenv.Command(
    pkl,
-    [onnx_path] + tinygrad_files + [chunker_file],
+    [onnx_path] + tinygrad_files + [chunker_file, compiled_flags_node],
    f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}',
  )
  def do_chunk(target, source, env):
@@ -1,12 +1,12 @@
 #!/usr/bin/env python3
 import os
-from openpilot.system.hardware import TICI
-os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
+from openpilot.selfdrive.modeld.tinygrad_helpers import MODELS_DIR, set_tinygrad_backend_from_compiled_flags
+set_tinygrad_backend_from_compiled_flags()
+
 from tinygrad.tensor import Tensor
 import time
 import pickle
 import numpy as np
-from pathlib import Path

 from cereal import messaging
 from cereal.messaging import PubMaster, SubMaster
@@ -21,9 +21,8 @@ from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid, safe_exp

 PROCESS_NAME = "selfdrive.modeld.dmonitoringmodeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
-MODEL_PKL_PATH = Path(__file__).parent / 'models/dmonitoring_model_tinygrad.pkl'
-METADATA_PATH = Path(__file__).parent / 'models/dmonitoring_model_metadata.pkl'
-MODELS_DIR = Path(__file__).parent / 'models'
+MODEL_PKL_PATH = MODELS_DIR / 'dmonitoring_model_tinygrad.pkl'
+METADATA_PATH = MODELS_DIR / 'dmonitoring_model_metadata.pkl'

 class ModelState:
  inputs: dict[str, np.ndarray]
@@ -1,7 +1,8 @@
 #!/usr/bin/env python3
 import os
-from openpilot.system.hardware import TICI
-os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
+from openpilot.selfdrive.modeld.tinygrad_helpers import MODELS_DIR, set_tinygrad_backend_from_compiled_flags
+set_tinygrad_backend_from_compiled_flags()
+
 USBGPU = "USBGPU" in os.environ
 if USBGPU:
  os.environ['DEV'] = 'AMD'
@@ -12,7 +13,6 @@ import pickle
 import numpy as np
 import cereal.messaging as messaging
 from cereal import car, log
-from pathlib import Path
 from cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from opendbc.car.car_helpers import get_demo_car_params
@@ -34,7 +34,6 @@ from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
 PROCESS_NAME = "selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')

-MODELS_DIR = Path(__file__).parent / 'models'
 VISION_PKL_PATH = MODELS_DIR / 'driving_vision_tinygrad.pkl'
 VISION_METADATA_PATH = MODELS_DIR / 'driving_vision_metadata.pkl'
 ON_POLICY_PKL_PATH = MODELS_DIR / 'driving_on_policy_tinygrad.pkl'
@@ -405,7 +404,9 @@ def main(demo=False):
      drivingdata_send = messaging.new_message('drivingModelData')
      posenet_send = messaging.new_message('cameraOdometry')

-      action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
+      frame_delay = DT_MDL # compensate for time passed since the frame was captured: current_time - timestamp_eof is 50ms on average
+      action_delay = DT_MDL / 2 # middle of the interval between model output (current state) and next frame (expected state)
+      action = get_action_from_model(model_output, prev_action, lat_delay + frame_delay + action_delay, long_delay + frame_delay + action_delay, v_ego)
      prev_action = action
      fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                     publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
@@ -0,0 +1,11 @@
+import json
+import os
+from pathlib import Path
+
+MODELS_DIR = Path(__file__).parent / 'models'
+COMPILED_FLAGS_PATH = MODELS_DIR / 'tg_compiled_flags.json'
+
+
+def set_tinygrad_backend_from_compiled_flags() -> None:
+  with open(COMPILED_FLAGS_PATH) as f:
+    os.environ['DEV'] = str(json.load(f)['DEV'])
@@ -345,10 +345,14 @@ class DriverMonitoring:
      self._reset_awareness()
      return

-    driver_attentive = self.driver_distraction_filter.x < 0.37
    awareness_prev = self.awareness
+    _reaching_pre = self.awareness - self.step_change <= self.threshold_pre
+    _reaching_terminal = self.awareness - self.step_change <= 0
+    standstill_orange_exemption = standstill and _reaching_pre
+    always_on_red_exemption = always_on_valid and not op_engaged and _reaching_terminal

-    if (driver_attentive and self.face_detected and self.pose.low_std and self.awareness > 0):
+    if self.awareness > 0 and \
+       ((self.driver_distraction_filter.x < 0.37 and self.face_detected and self.pose.low_std) or standstill_orange_exemption):
      if driver_engaged:
        self._reset_awareness()
        return
@@ -361,34 +365,28 @@ class DriverMonitoring:
      if self.awareness > self.threshold_prompt:
        return

-    _reaching_pre = self.awareness - self.step_change <= self.threshold_pre
-    _reaching_audible = self.awareness - self.step_change <= self.threshold_prompt
-    _reaching_terminal = self.awareness - self.step_change <= 0
-    standstill_exemption = standstill and _reaching_pre
-    always_on_red_exemption = always_on_valid and not op_engaged and _reaching_terminal
-
    certainly_distracted = self.driver_distraction_filter.x > 0.63 and self.driver_distracted and self.face_detected
    maybe_distracted = self.hi_stds > self.settings._HI_STD_FALLBACK_TIME or not self.face_detected

    if certainly_distracted or maybe_distracted:
      # should always be counting if distracted unless at standstill and reaching green
      # also will not be reaching 0 if DM is active when not engaged
-      if not (standstill_exemption or always_on_red_exemption):
+      if not (standstill_orange_exemption or always_on_red_exemption):
        self.awareness = max(self.awareness - self.step_change, -0.1)

    alert = None
    if self.awareness <= 0.:
      # terminal red alert: disengagement required
-      alert = EventName.driverDistracted if self.active_monitoring_mode else EventName.driverUnresponsive
+      alert = EventName.driverDistracted3 if self.active_monitoring_mode else EventName.driverUnresponsive3
      self.terminal_time += 1
      if awareness_prev > 0.:
        self.terminal_alert_cnt += 1
    elif self.awareness <= self.threshold_prompt:
      # prompt orange alert
-      alert = EventName.promptDriverDistracted if self.active_monitoring_mode else EventName.promptDriverUnresponsive
+      alert = EventName.driverDistracted2 if self.active_monitoring_mode else EventName.driverUnresponsive2
    elif self.awareness <= self.threshold_pre:
      # pre green alert
-      alert = EventName.preDriverDistracted if self.active_monitoring_mode else EventName.preDriverUnresponsive
+      alert = EventName.driverDistracted1 if self.active_monitoring_mode else EventName.driverUnresponsive1

    if alert is not None:
      self.current_events.add(alert)
@@ -75,11 +75,11 @@ class TestMonitoring:
    assert len(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0
    assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL + \
                    ((d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == \
-                    EventName.preDriverDistracted
+                    EventName.driverDistracted1
    assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL + \
-                    ((d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.promptDriverDistracted
+                    ((d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.driverDistracted2
    assert events[int((d_status.settings._DISTRACTED_TIME + \
-                    ((TEST_TIMESPAN-10-d_status.settings._DISTRACTED_TIME)/2))/DT_DMON)].names[0] == EventName.driverDistracted
+                    ((TEST_TIMESPAN-10-d_status.settings._DISTRACTED_TIME)/2))/DT_DMON)].names[0] == EventName.driverDistracted3
    assert isinstance(d_status.awareness, float)

  # engaged, no face detected the whole time, no action
@@ -88,11 +88,11 @@ class TestMonitoring:
    assert len(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0
    assert events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL + \
                      ((d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == \
-                      EventName.preDriverUnresponsive
+                      EventName.driverUnresponsive1
    assert events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL + \
-                      ((d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.promptDriverUnresponsive
+                      ((d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.driverUnresponsive2
    assert events[int((d_status.settings._AWARENESS_TIME + \
-                      ((TEST_TIMESPAN-10-d_status.settings._AWARENESS_TIME)/2))/DT_DMON)].names[0] == EventName.driverUnresponsive
+                      ((TEST_TIMESPAN-10-d_status.settings._AWARENESS_TIME)/2))/DT_DMON)].names[0] == EventName.driverUnresponsive3

  # engaged, down to orange, driver pays attention, back to normal; then down to orange, driver touches wheel
  #  - should have short orange recovery time and no green afterwards; wheel touch only recovers when paying attention
@@ -105,10 +105,10 @@ class TestMonitoring:
                         [car_interaction_DETECTED] * (int(TEST_TIMESPAN/DT_DMON)-int(DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON))
    events, _ = self._run_seq(ds_vector, interaction_vector, always_true, always_false)
    assert len(events[int(DISTRACTED_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0
-    assert events[int((DISTRACTED_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.promptDriverDistracted
+    assert events[int((DISTRACTED_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.driverDistracted2
    assert len(events[int(DISTRACTED_SECONDS_TO_ORANGE*1.5/DT_DMON)]) == 0
-    assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3-0.1)/DT_DMON)].names[0] == EventName.promptDriverDistracted
-    assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3+0.1)/DT_DMON)].names[0] == EventName.promptDriverDistracted
+    assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3-0.1)/DT_DMON)].names[0] == EventName.driverDistracted2
+    assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3+0.1)/DT_DMON)].names[0] == EventName.driverDistracted2
    assert len(events[int((DISTRACTED_SECONDS_TO_ORANGE*3+2.5)/DT_DMON)]) == 0

  # engaged, down to orange, driver dodges camera, then comes back still distracted, down to red, \
@@ -128,9 +128,9 @@ class TestMonitoring:
    op_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+2.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3)/DT_DMON)] \
                                                        = [False] * int(0.5/DT_DMON)
    events, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false)
-    assert events[int((DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)].names[0] == EventName.promptDriverDistracted
-    assert events[int((DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)].names[0] == EventName.driverDistracted
-    assert events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)].names[0] == EventName.driverDistracted
+    assert events[int((DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)].names[0] == EventName.driverDistracted2
+    assert events[int((DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)].names[0] == EventName.driverDistracted3
+    assert events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)].names[0] == EventName.driverDistracted3
    assert len(events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3.5)/DT_DMON)]) == 0

  # engaged, invisible driver, down to orange, driver touches wheel; then down to orange again, driver appears
@@ -144,13 +144,13 @@ class TestMonitoring:
    interaction_vector[int((INVISIBLE_SECONDS_TO_ORANGE)/DT_DMON):int((INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON)] = [True] * int(1/DT_DMON)
    events, _ = self._run_seq(ds_vector, interaction_vector, 2*always_true, 2*always_false)
    assert len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0
-    assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive
+    assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive2
    assert len(events[int((INVISIBLE_SECONDS_TO_ORANGE+0.1)/DT_DMON)]) == 0
    if _visible_time == 0.5:
-      assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive
-      assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)].names[0] == EventName.preDriverUnresponsive
+      assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive2
+      assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)].names[0] == EventName.driverUnresponsive1
    elif _visible_time == 10:
-      assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive
+      assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive2
      assert len(events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)]) == 0

  # engaged, invisible driver, down to red, driver appears and then touches wheel, then disengages/reengages
@@ -165,10 +165,10 @@ class TestMonitoring:
    op_vector[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1)/DT_DMON):int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)] = [False] * int(0.5/DT_DMON)
    events, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false)
    assert len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0
-    assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive
-    assert events[int((INVISIBLE_SECONDS_TO_RED-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive
-    assert events[int((INVISIBLE_SECONDS_TO_RED+0.5*_visible_time)/DT_DMON)].names[0] == EventName.driverUnresponsive
-    assert events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)].names[0] == EventName.driverUnresponsive
+    assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive2
+    assert events[int((INVISIBLE_SECONDS_TO_RED-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive3
+    assert events[int((INVISIBLE_SECONDS_TO_RED+0.5*_visible_time)/DT_DMON)].names[0] == EventName.driverUnresponsive3
+    assert events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)].names[0] == EventName.driverUnresponsive3
    assert len(events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1+0.1)/DT_DMON)]) == 0

  # disengaged, always distracted driver
@@ -186,8 +186,19 @@ class TestMonitoring:
    events, d_status = self._run_seq(always_distracted, always_false, always_true, standstill_vector)
    assert len(events[int((_redlight_time-0.1)/DT_DMON)]) == 0
    _pre_to_prompt = d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL - d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL
-    assert events[int((_redlight_time+0.5)/DT_DMON)].names[0] == EventName.preDriverDistracted
-    assert events[int((_redlight_time+_pre_to_prompt+0.5)/DT_DMON)].names[0] == EventName.promptDriverDistracted
+    assert events[int((_redlight_time+0.5)/DT_DMON)].names[0] == EventName.driverDistracted1
+    assert events[int((_redlight_time+_pre_to_prompt+0.5)/DT_DMON)].names[0] == EventName.driverDistracted2
+
+  # engaged, distracted while moving, then car stops after reaching orange
+  #  - should reset timer to pre green at standstill
+  def test_distracted_then_stops(self):
+    _stop_time = DISTRACTED_SECONDS_TO_ORANGE + 1  # stop 1 second after reaching orange
+    standstill_vector = always_false[:]
+    standstill_vector[int(_stop_time/DT_DMON):] = [True] * int((TEST_TIMESPAN-_stop_time)/DT_DMON)
+    events, _ = self._run_seq(always_distracted, always_false, always_true, standstill_vector)
+    # just before and briefly after stopping: orange alert; goes away quickly after stopped
+    assert events[int((_stop_time+0.1)/DT_DMON)].names[0] == EventName.driverDistracted2
+    assert len(events[int((_stop_time+0.5)/DT_DMON)]) == 0

  # engaged, model is somehow uncertain and driver is distracted
  #  - should fall back to wheel touch after uncertain alert
@@ -195,10 +206,9 @@ class TestMonitoring:
    ds_vector = [msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN] * int(TEST_TIMESPAN/DT_DMON)
    interaction_vector = always_false[:]
    events, d_status = self._run_seq(ds_vector, interaction_vector, always_true, always_false)
-    assert EventName.preDriverUnresponsive in \
+    assert EventName.driverUnresponsive1 in \
                              events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME-0.1)/DT_DMON)].names
-    assert EventName.promptDriverUnresponsive in \
+    assert EventName.driverUnresponsive2 in \
                              events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names
-    assert EventName.driverUnresponsive in \
+    assert EventName.driverUnresponsive3 in \
                              events[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names
-
@@ -35,6 +35,18 @@ void PandaSafety::updateMultiplexingMode() {
    prev_obd_multiplexing_ = obd_multiplexing_requested;
    params_.putBool("ObdMultiplexingChanged", true);
  }
+
+  // Switch to noOutput passthrough for bus detection (relay engaged, forwarding enabled, no TX)
+  bool bus_detection_requested = params_.getBool("BusDetectionEnabled");
+  if (bus_detection_requested != prev_bus_detection_) {
+    if (bus_detection_requested) {
+      panda_->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT_PASSTHROUGH);
+    } else {
+      panda_->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U);
+    }
+    prev_bus_detection_ = bus_detection_requested;
+    params_.putBool("BusDetectionChanged", true);
+  }
 }

 std::string PandaSafety::fetchCarParams() {
@@ -21,6 +21,7 @@ private:
  bool log_once_ = false;
  bool safety_configured_ = false;
  bool prev_obd_multiplexing_ = false;
+  bool prev_bus_detection_ = false;
  Panda *panda_;
  Params params_;
 };
@@ -512,7 +512,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, 1.8),
  },

-  EventName.preDriverDistracted: {
+  EventName.driverDistracted1: {
    ET.PERMANENT: Alert(
      "Pay Attention",
      "",
@@ -520,7 +520,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
  },

-  EventName.promptDriverDistracted: {
+  EventName.driverDistracted2: {
    ET.PERMANENT: Alert(
      "Pay Attention",
      "Driver Distracted",
@@ -528,7 +528,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, .1),
  },

-  EventName.driverDistracted: {
+  EventName.driverDistracted3: {
    ET.PERMANENT: Alert(
      "DISENGAGE IMMEDIATELY",
      "Driver Distracted",
@@ -536,7 +536,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
      Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.warningImmediate, .1),
  },

-  EventName.preDriverUnresponsive: {
+  EventName.driverUnresponsive1: {
    ET.PERMANENT: Alert(
      "Touch Steering Wheel: No Face Detected",
      "",
@@ -544,7 +544,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .1),
  },

-  EventName.promptDriverUnresponsive: {
+  EventName.driverUnresponsive2: {
    ET.PERMANENT: Alert(
      "Touch Steering Wheel",
      "Driver Unresponsive",
@@ -552,7 +552,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, .1),
  },

-  EventName.driverUnresponsive: {
+  EventName.driverUnresponsive3: {
    ET.PERMANENT: Alert(
      "DISENGAGE IMMEDIATELY",
      "Driver Unresponsive",
@@ -1032,14 +1032,14 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {

 if HARDWARE.get_device_type() == 'mici':
  EVENTS.update({
-    EventName.preDriverDistracted: {
+    EventName.driverDistracted1: {
      ET.PERMANENT: Alert(
        "Pay Attention",
        "",
        AlertStatus.normal, AlertSize.small,
        Priority.LOW, VisualAlert.none, AudibleAlert.none, 2),
    },
-    EventName.promptDriverDistracted: {
+    EventName.driverDistracted2: {
      ET.PERMANENT: Alert(
        "Pay Attention",
        "Driver Distracted",
@@ -46,8 +46,8 @@ class FuzzyGenerator:

  def generate_struct(self, schema: capnp.lib.capnp._StructSchema, event: str | None = None) -> st.SearchStrategy[dict[str, Any]]:
    single_fill: tuple[str, ...] = (event,) if event else (self.draw(st.sampled_from(schema.union_fields)),) if schema.union_fields else ()
-    fields_to_generate = schema.non_union_fields + single_fill
-    return st.fixed_dictionaries({field: self.generate_field(schema.fields[field]) for field in fields_to_generate if not field.endswith('DEPRECATED')})
+    fields_to_generate = [f for f in schema.non_union_fields + single_fill if not f.endswith('DEPRECATED') and f != 'deprecated']
+    return st.fixed_dictionaries({field: self.generate_field(schema.fields[field]) for field in fields_to_generate})

  @staticmethod
  @cache
@@ -98,6 +98,17 @@ def migration(inputs: list[str], product: str|None=None):
  return decorator


+def migrate_onroad_event(event: capnp.lib.capnp._DynamicStructReader):
+  event_dict = event.to_dict()
+  try:
+    return log.OnroadEvent(**event_dict)
+  except capnp.lib.capnp.KjException as e:
+    # Ignore legacy events the current schema no longer defines.
+    if "enum has no such enumerant" in str(e):
+      return None
+    raise
+
+
@migration(inputs=["longitudinalPlan", "carParams"])
 def migrate_longitudinalPlan(msgs):
  ops = []
@@ -214,7 +225,7 @@ def migrate_controlsState(msgs):
    for field in ("enabled", "active", "state", "engageable", "alertText1", "alertText2",
                  "alertStatus", "alertSize", "alertType", "experimentalMode",
                  "personality"):
-      setattr(ss, field, getattr(msg.controlsState, field+"DEPRECATED"))
+      setattr(ss, field, getattr(msg.controlsState.deprecated, field))
    add_ops.append(m.as_reader())
  return [], add_ops, []

@@ -227,10 +238,10 @@ def migrate_carState(msgs):
    if msg.which() == 'controlsState':
      last_cs = msg
    elif msg.which() == 'carState' and last_cs is not None:
-      if last_cs.controlsState.vCruiseDEPRECATED - msg.carState.vCruise > 0.1:
+      if last_cs.controlsState.deprecated.vCruise - msg.carState.vCruise > 0.1:
        msg = msg.as_builder()
-        msg.carState.vCruise = last_cs.controlsState.vCruiseDEPRECATED
-        msg.carState.vCruiseCluster = last_cs.controlsState.vCruiseClusterDEPRECATED
+        msg.carState.vCruise = last_cs.controlsState.deprecated.vCruise
+        msg.carState.vCruiseCluster = last_cs.controlsState.deprecated.vCruiseCluster
        ops.append((index, msg.as_reader()))
  return ops, [], []

@@ -292,7 +303,7 @@ def migrate_pandaStates(msgs):
  safety_param_migration = {
    "TOYOTA_PRIUS": EPS_SCALE["TOYOTA_PRIUS"] | ToyotaSafetyFlags.STOCK_LONGITUDINAL,
    "TOYOTA_RAV4": EPS_SCALE["TOYOTA_RAV4"] | ToyotaSafetyFlags.ALT_BRAKE,
-    "KIA_EV6": HyundaiSafetyFlags.EV_GAS | HyundaiSafetyFlags.CANFD_LKA_STEERING,
+    "KIA_EV6": HyundaiSafetyFlags.EV_GAS | HyundaiSafetyFlags.CANFD_LKA_STEER_MSG,
    "CHEVROLET_VOLT": GMSafetyFlags.EV,
    "CHEVROLET_BOLT_EUV": GMSafetyFlags.EV | GMSafetyFlags.HW_CAM,
  }
@@ -456,12 +467,13 @@ def migrate_onroadEvents(msgs):
    for event in msg.onroadEventsDEPRECATED:
      try:
        if not str(event.name).endswith('DEPRECATED'):
-          # dict converts name enum into string representation
-          onroadEvents.append(log.OnroadEvent(**event.to_dict()))
+          migrated_event = migrate_onroad_event(event)
+          if migrated_event is not None:
+            onroadEvents.append(migrated_event)
      except RuntimeError:  # Member was null
        traceback.print_exc()

-    new_msg = messaging.new_message('onroadEvents', len(msg.onroadEventsDEPRECATED))
+    new_msg = messaging.new_message('onroadEvents', len(onroadEvents))
    new_msg.valid = msg.valid
    new_msg.logMonoTime = msg.logMonoTime
    new_msg.onroadEvents = onroadEvents
@@ -476,11 +488,12 @@ def migrate_driverMonitoringState(msgs):
  for index, msg in msgs:
    msg = msg.as_builder()
    events = []
-    for event in msg.driverMonitoringState.eventsDEPRECATED:
+    for event in msg.driverMonitoringState.deprecated.events:
      try:
        if not str(event.name).endswith('DEPRECATED'):
-          # dict converts name enum into string representation
-          events.append(log.OnroadEvent(**event.to_dict()))
+          migrated_event = migrate_onroad_event(event)
+          if migrated_event is not None:
+            events.append(migrated_event)
      except RuntimeError:  # Member was null
        traceback.print_exc()

@@ -153,7 +153,7 @@ class HudRenderer(Widget):

    v_cruise_cluster = car_state.vCruiseCluster
    set_speed = (
-      controls_state.vCruiseDEPRECATED if v_cruise_cluster == 0.0 else v_cruise_cluster
+      controls_state.deprecated.vCruise if v_cruise_cluster == 0.0 else v_cruise_cluster
    )
    engaged = sm['selfdriveState'].enabled
    if (set_speed != self.set_speed and engaged) or (engaged and not self._engaged):
@@ -86,7 +86,7 @@ class HudRenderer(Widget):

    v_cruise_cluster = car_state.vCruiseCluster
    self.set_speed = (
-      controls_state.vCruiseDEPRECATED if v_cruise_cluster == 0.0 else v_cruise_cluster
+      controls_state.deprecated.vCruise if v_cruise_cluster == 0.0 else v_cruise_cluster
    )
    self.is_cruise_set = 0 < self.set_speed < SET_SPEED_NA
    self.is_cruise_available = self.set_speed != -1
@@ -18,6 +18,7 @@ SAMPLE_RATE = 48000
 SAMPLE_BUFFER = 4096 # (approx 100ms)
 MAX_VOLUME = 1.0
 MIN_VOLUME = 0.1
+ALERT_RAMP_TIME = 4 # seconds to ramp to max volume for warningImmediate
 SELFDRIVE_STATE_TIMEOUT = 5 # 5 seconds
 FILTER_DT = 1. / (micd.SAMPLE_RATE / micd.FFT_SAMPLES)

@@ -69,6 +70,9 @@ class Soundd:
    self.current_volume = MIN_VOLUME
    self.current_sound_frame = 0

+    self.ramp_start_volume = MIN_VOLUME
+    self.ramp_start_time = 0.
+
    self.selfdrive_timeout_alert = False

    self.spl_filter_weighted = FirstOrderFilter(0, 2.5, FILTER_DT, initialized=False)
@@ -117,6 +121,9 @@ class Soundd:
  def update_alert(self, new_alert):
    current_alert_played_once = self.current_alert == AudibleAlert.none or self.current_sound_frame > len(self.loaded_sounds[self.current_alert])
    if self.current_alert != new_alert and (new_alert != AudibleAlert.none or current_alert_played_once):
+      if new_alert == AudibleAlert.warningImmediate:
+        self.ramp_start_volume = self.current_volume
+        self.ramp_start_time = time.monotonic()
      self.current_alert = new_alert
      self.current_sound_frame = 0

@@ -155,12 +162,19 @@ class Soundd:
      while True:
        sm.update(0)

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

        self.get_audible_alert(sm)

+        # Ramp up immediate warning sound over 4s
+        if self.current_alert == AudibleAlert.warningImmediate:
+          elapsed = time.monotonic() - self.ramp_start_time
+          ramp_vol = float(np.interp(elapsed, [0, ALERT_RAMP_TIME], [self.ramp_start_volume, MAX_VOLUME]))
+          self.current_volume = max(self.current_volume, ramp_vol)
+
        rk.keep_time()

        assert stream.active
@@ -1,7 +1,6 @@
 #!/usr/bin/env python3

 import argparse
-import time
 from openpilot.system.hardware import HARDWARE


@@ -13,16 +12,13 @@ if __name__ == '__main__':
  parser.add_argument('--nickname', nargs=2, metavar=('iccid', 'name'), help='update the nickname for a profile')
  args = parser.parse_args()

-  mutated = False
  lpa = HARDWARE.get_sim_lpa()
  if args.switch:
    lpa.switch_profile(args.switch)
-    mutated = True
  elif args.delete:
    confirm = input('are you sure you want to delete this profile? (y/N) ')
    if confirm == 'y':
      lpa.delete_profile(args.delete)
-      mutated = True
    else:
      print('cancelled')
      exit(0)
@@ -33,11 +29,6 @@ if __name__ == '__main__':
  else:
    parser.print_help()

-  if mutated:
-    HARDWARE.reboot_modem()
-    # eUICC needs a small delay post-reboot before querying profiles
-    time.sleep(.5)
-
  profiles = lpa.list_profiles()
  print(f'\n{len(profiles)} profile{"s" if len(profiles) > 1 else ""}:')
  for p in profiles:
@@ -2,17 +2,23 @@

 import atexit
 import base64
+import fcntl
 import math
 import os
 import serial
+import subprocess
 import sys
+import termios
+import time

-from collections.abc import Generator
+from collections.abc import Callable, Generator
+from contextlib import contextmanager
+from typing import Any

-from openpilot.system.hardware.base import LPABase, Profile
+from openpilot.system.hardware.base import LPABase, LPAError, Profile


-DEFAULT_DEVICE = "/dev/ttyUSB2"
+DEFAULT_DEVICE = "/dev/modem_at0"
 DEFAULT_BAUD = 9600
 DEFAULT_TIMEOUT = 5.0
 # https://euicc-manual.osmocom.org/docs/lpa/applet-id/
@@ -20,44 +26,63 @@ ISDR_AID = "A0000005591010FFFFFFFF8900000100"
 MM = "org.freedesktop.ModemManager1"
 MM_MODEM = MM + ".Modem"
 ES10X_MSS = 120
+OPEN_ISDR_RETRIES = 10
+OPEN_ISDR_RETRY_DELAY_S = 0.25
+OPEN_ISDR_RESET_ATTEMPT = 5
+SEND_APDU_RETRIES = 3
+LOCK_FILE = '/dev/shm/modem_lpa.lock'
 DEBUG = os.environ.get("DEBUG") == "1"

 # TLV Tags
 TAG_ICCID = 0x5A
+TAG_STATUS = 0x80
 TAG_PROFILE_INFO_LIST = 0xBF2D
+TAG_SET_NICKNAME = 0xBF29
+TAG_OK = 0xA0

 STATE_LABELS = {0: "disabled", 1: "enabled", 255: "unknown"}
 ICON_LABELS = {0: "jpeg", 1: "png", 255: "unknown"}
 CLASS_LABELS = {0: "test", 1: "provisioning", 2: "operational", 255: "unknown"}

+# TLV tag -> (field_name, decoder)
+FieldMap = dict[int, tuple[str, Callable[[bytes], Any]]]
+

 def b64e(data: bytes) -> str:
  return base64.b64encode(data).decode("ascii")


+def base64_trim(s: str) -> str:
+  return "".join(c for c in s if c not in "\n\r \t")
+
+
+def b64d(s: str) -> bytes:
+  return base64.b64decode(base64_trim(s))
+
+
 class AtClient:
-  def __init__(self, device: str, baud: int, timeout: float, debug: bool) -> None:
-    self.debug = debug
+  def __init__(self, device: str, baud: int, timeout: float) -> None:
    self.channel: str | None = None
+    self._device = device
+    self._baud = baud
    self._timeout = timeout
    self._serial: serial.Serial | None = None
-    try:
-      self._serial = serial.Serial(device, baudrate=baud, timeout=timeout)
-      self._serial.reset_input_buffer()
-    except (serial.SerialException, PermissionError, OSError):
-      pass
+    self._use_dbus = not os.path.exists(device)

  def close(self) -> None:
    try:
      if self.channel:
-        self.query(f"AT+CCHC={self.channel}")
+        try:
+          self.query(f"AT+CCHC={self.channel}")
+        except (RuntimeError, TimeoutError):
+          pass
        self.channel = None
    finally:
      if self._serial:
        self._serial.close()

  def _send(self, cmd: str) -> None:
-    if self.debug:
+    if DEBUG:
      print(f"SER >> {cmd}", file=sys.stderr)
    self._serial.write((cmd + "\r").encode("ascii"))

@@ -70,7 +95,7 @@ class AtClient:
      line = raw.decode(errors="ignore").strip()
      if not line:
        continue
-      if self.debug:
+      if DEBUG:
        print(f"SER << {line}", file=sys.stderr)
      if line == "OK":
        return lines
@@ -78,6 +103,18 @@ class AtClient:
        raise RuntimeError(f"AT command failed: {line}")
      lines.append(line)

+  def _ensure_serial(self, reconnect: bool = False) -> None:
+    if reconnect:
+      self.channel = None
+      try:
+        if self._serial:
+          self._serial.close()
+      except Exception:
+        pass
+      self._serial = None
+    if self._serial is None:
+      self._serial = serial.Serial(self._device, baudrate=self._baud, timeout=self._timeout)
+
  def _get_modem(self):
    import dbus
    bus = dbus.SystemBus()
@@ -87,48 +124,81 @@ class AtClient:
    return bus.get_object(MM, modem_path)

  def _dbus_query(self, cmd: str) -> list[str]:
-    if self.debug:
+    if DEBUG:
      print(f"DBUS >> {cmd}", file=sys.stderr)
    try:
      result = str(self._get_modem().Command(cmd, math.ceil(self._timeout), dbus_interface=MM_MODEM, timeout=self._timeout))
    except Exception as e:
      raise RuntimeError(f"AT command failed: {e}") from e
    lines = [line.strip() for line in result.splitlines() if line.strip()]
-    if self.debug:
+    if DEBUG:
      for line in lines:
        print(f"DBUS << {line}", file=sys.stderr)
    return lines

  def query(self, cmd: str) -> list[str]:
-    if self._serial:
+    if self._use_dbus:
+      return self._dbus_query(cmd)
+    self._ensure_serial()
+    try:
+      self._send(cmd)
+      return self._expect()
+    except serial.SerialException:
+      self._ensure_serial(reconnect=True)
      self._send(cmd)
      return self._expect()
-    return self._dbus_query(cmd)

-  def open_isdr(self) -> None:
-    # close any stale logical channel from a previous crashed session
-    try:
-      self.query("AT+CCHC=1")
-    except RuntimeError:
-      pass
+  def _open_isdr_once(self) -> None:
+    if self.channel:
+      try:
+        self.query(f"AT+CCHC={self.channel}")
+      except RuntimeError:
+        pass
+      self.channel = None
+    # drain any unsolicited responses before opening
+    if self._serial and not self._use_dbus:
+      try:
+        self._serial.reset_input_buffer()
+      except (OSError, serial.SerialException, termios.error):
+        self._ensure_serial(reconnect=True)
    for line in self.query(f'AT+CCHO="{ISDR_AID}"'):
      if line.startswith("+CCHO:") and (ch := line.split(":", 1)[1].strip()):
        self.channel = ch
        return
    raise RuntimeError("Failed to open ISD-R application")

+  def open_isdr(self) -> None:
+    for attempt in range(OPEN_ISDR_RETRIES):
+      try:
+        self._open_isdr_once()
+        return
+      except (RuntimeError, TimeoutError, termios.error, serial.SerialException):
+        time.sleep(OPEN_ISDR_RETRY_DELAY_S)
+        if attempt == OPEN_ISDR_RESET_ATTEMPT:
+          # reset modem via lte.sh
+          subprocess.run(['/usr/comma/lte/lte.sh', 'start'], capture_output=True)
+          self._serial = None  # serial port will be re-opened on next attempt
+    raise RuntimeError("Failed to open ISD-R after retries")
+
  def send_apdu(self, apdu: bytes) -> tuple[bytes, int, int]:
-    if not self.channel:
-      raise RuntimeError("Logical channel is not open")
-    hex_payload = apdu.hex().upper()
-    for line in self.query(f'AT+CGLA={self.channel},{len(hex_payload)},"{hex_payload}"'):
-      if line.startswith("+CGLA:"):
-        parts = line.split(":", 1)[1].split(",", 1)
-        if len(parts) == 2:
-          data = bytes.fromhex(parts[1].strip().strip('"'))
-          if len(data) >= 2:
-            return data[:-2], data[-2], data[-1]
-    raise RuntimeError("Missing +CGLA response")
+    for attempt in range(SEND_APDU_RETRIES):
+      try:
+        if not self.channel:
+          self.open_isdr()
+        hex_payload = apdu.hex().upper()
+        for line in self.query(f'AT+CGLA={self.channel},{len(hex_payload)},"{hex_payload}"'):
+          if line.startswith("+CGLA:"):
+            parts = line.split(":", 1)[1].split(",", 1)
+            if len(parts) == 2:
+              data = bytes.fromhex(parts[1].strip().strip('"'))
+              if len(data) >= 2:
+                return data[:-2], data[-2], data[-1]
+        raise RuntimeError("Missing +CGLA response")
+      except (RuntimeError, ValueError):
+        self.channel = None
+        if attempt == SEND_APDU_RETRIES - 1:
+          raise
+    raise RuntimeError("send_apdu failed")


 # --- TLV utilities ---
@@ -170,12 +240,37 @@ def find_tag(data: bytes, target: int) -> bytes | None:
  return next((v for t, v in iter_tlv(data) if t == target), None)


+def require_tag(data: bytes, target: int, label: str = "") -> bytes:
+  v = find_tag(data, target)
+  if v is None:
+    raise RuntimeError(f"Missing {label or f'tag 0x{target:X}'}")
+  return v
+
+
 def tbcd_to_string(raw: bytes) -> str:
  return "".join(str(n) for b in raw for n in (b & 0x0F, b >> 4) if n <= 9)


-# Profile field decoders: TLV tag -> (field_name, decoder)
-_PROFILE_FIELDS = {
+def string_to_tbcd(s: str) -> bytes:
+  digits = [int(c) for c in s if c.isdigit()]
+  return bytes(digits[i] | ((digits[i + 1] if i + 1 < len(digits) else 0xF) << 4) for i in range(0, len(digits), 2))
+
+
+def encode_tlv(tag: int, value: bytes) -> bytes:
+  tag_bytes = bytes([(tag >> 8) & 0xFF, tag & 0xFF]) if tag > 255 else bytes([tag])
+  vlen = len(value)
+  if vlen <= 127:
+    return tag_bytes + bytes([vlen]) + value
+  length_bytes = vlen.to_bytes((vlen.bit_length() + 7) // 8, "big")
+  return tag_bytes + bytes([0x80 | len(length_bytes)]) + length_bytes + value
+
+
+def int_bytes(n: int) -> bytes:
+  """Encode a positive integer as minimal big-endian bytes (at least 1 byte)."""
+  return n.to_bytes((n.bit_length() + 7) // 8 or 1, "big")
+
+
+PROFILE: FieldMap = {
  TAG_ICCID: ("iccid", tbcd_to_string),
  0x4F: ("isdpAid", lambda v: v.hex().upper()),
  0x9F70: ("profileState", lambda v: STATE_LABELS.get(v[0], "unknown")),
@@ -188,11 +283,11 @@ _PROFILE_FIELDS = {
 }


-def _decode_profile_fields(data: bytes) -> dict:
-  """Parse known profile metadata TLV fields into a dict."""
-  result = {}
+def decode_struct(data: bytes, field_map: FieldMap) -> dict[str, Any]:
+  """Parse TLV data using a {tag: (field_name, decoder)} map into a dict."""
+  result: dict[str, Any] = {name: None for name, _ in field_map.values()}
  for tag, value in iter_tlv(data):
-    if (field := _PROFILE_FIELDS.get(tag)):
+    if (field := field_map.get(tag)):
      result[field[0]] = field[1](value)
  return result

@@ -225,45 +320,66 @@ def es10x_command(client: AtClient, data: bytes) -> bytes:
 # --- Profile operations ---

 def decode_profiles(blob: bytes) -> list[dict]:
-  root = find_tag(blob, TAG_PROFILE_INFO_LIST)
-  if root is None:
-    raise RuntimeError("Missing ProfileInfoList")
-  list_ok = find_tag(root, 0xA0)
+  root = require_tag(blob, TAG_PROFILE_INFO_LIST, "ProfileInfoList")
+  list_ok = find_tag(root, TAG_OK)
  if list_ok is None:
    return []
-  defaults = {name: None for name, _ in _PROFILE_FIELDS.values()}
-  return [{**defaults, **_decode_profile_fields(value)} for tag, value in iter_tlv(list_ok) if tag == 0xE3]
+  return [decode_struct(value, PROFILE) for tag, value in iter_tlv(list_ok) if tag == 0xE3]


 def list_profiles(client: AtClient) -> list[dict]:
  return decode_profiles(es10x_command(client, TAG_PROFILE_INFO_LIST.to_bytes(2, "big") + b"\x00"))


+def set_profile_nickname(client: AtClient, iccid: str, nickname: str) -> None:
+  nickname_bytes = nickname.encode("utf-8")
+  if len(nickname_bytes) > 64:
+    raise ValueError("Profile nickname must be 64 bytes or less")
+  content = encode_tlv(TAG_ICCID, string_to_tbcd(iccid)) + encode_tlv(0x90, nickname_bytes)
+  response = es10x_command(client, encode_tlv(TAG_SET_NICKNAME, content))
+  root = require_tag(response, TAG_SET_NICKNAME, "SetNicknameResponse")
+  code = require_tag(root, TAG_STATUS, "status in SetNicknameResponse")[0]
+  if code == 0x01:
+    raise LPAError(f"profile {iccid} not found")
+  if code != 0x00:
+    raise RuntimeError(f"SetNickname failed with status 0x{code:02X}")
+
+
 class TiciLPA(LPABase):
-  _instance = None
-
-  def __new__(cls):
-    if cls._instance is None:
-      cls._instance = super().__new__(cls)
-    return cls._instance
-
  def __init__(self):
    if hasattr(self, '_client'):
      return
-    self._client = AtClient(DEFAULT_DEVICE, DEFAULT_BAUD, DEFAULT_TIMEOUT, debug=DEBUG)
-    self._client.open_isdr()
+    self._client = AtClient(DEFAULT_DEVICE, DEFAULT_BAUD, DEFAULT_TIMEOUT)
    atexit.register(self._client.close)

+  @contextmanager
+  def _acquire_channel(self):
+    fd = os.open(LOCK_FILE, os.O_CREAT | os.O_RDWR)
+    try:
+      fcntl.flock(fd, fcntl.LOCK_EX)
+      self._client.open_isdr()
+      yield
+    finally:
+      if self._client.channel:
+        try:
+          self._client.query(f"AT+CCHC={self._client.channel}")
+        except (RuntimeError, TimeoutError):
+          pass
+        self._client.channel = None
+      fcntl.flock(fd, fcntl.LOCK_UN)
+      os.close(fd)
+
  def list_profiles(self) -> list[Profile]:
-    return [
-      Profile(
-        iccid=p.get("iccid", ""),
-        nickname=p.get("profileNickname") or "",
-        enabled=p.get("profileState") == "enabled",
-        provider=p.get("serviceProviderName") or "",
-      )
-      for p in list_profiles(self._client)
-    ]
+    with self._acquire_channel():
+      return [
+        Profile(
+          iccid=p.get("iccid", ""),
+          nickname=p.get("profileNickname") or "",
+          enabled=p.get("profileState") == "enabled",
+          provider=p.get("serviceProviderName") or "",
+        )
+        for p in list_profiles(self._client)
+      ]

  def get_active_profile(self) -> Profile | None:
    return None
@@ -275,7 +391,8 @@ class TiciLPA(LPABase):
    return None

  def nickname_profile(self, iccid: str, nickname: str) -> None:
-    return None
+    with self._acquire_channel():
+      set_profile_nickname(self._client, iccid, nickname)

  def switch_profile(self, iccid: str) -> None:
    return None
@@ -365,7 +365,7 @@ class UbloxMsgParser:
    assert isinstance(s1, Glonass.String1)
    eph.p1 = int(s1.p1)
    tk = int(s1.t_k)
-    eph.tkDEPRECATED = tk
+    eph.deprecated.tk = tk
    eph.xVel = float(s1.x_vel) * math.pow(2, -20)
    eph.xAccel = float(s1.x_accel) * math.pow(2, -30)
    eph.x = float(s1.x) * math.pow(2, -11)
@@ -16,7 +16,7 @@ def generate_type(type_walker, schema_walker) -> str | list[Any] | dict[str, Any


 def generate_struct(schema: capnp.lib.capnp._StructSchema) -> dict[str, Any]:
-  return {field: generate_field(schema.fields[field]) for field in schema.fields if not field.endswith("DEPRECATED")}
+  return {field: generate_field(schema.fields[field]) for field in schema.fields if not field.endswith("DEPRECATED") and field != "deprecated"}


 def generate_field(field: capnp.lib.capnp._StructSchemaField) -> str | list[Any] | dict[str, Any]:
@@ -73,7 +73,7 @@ std::vector<BrowserNode> build_browser_tree(const std::vector<std::string> &path
 }

 bool is_deprecated_browser_path(const std::string &path) {
-  return path.find("DEPRECATED") != std::string::npos;
+  return path.find("DEPRECATED") != std::string::npos || path.find("/deprecated/") != std::string::npos;
 }

 std::vector<std::string> visible_browser_paths(const RouteData &route_data, bool show_deprecated_fields) {
@@ -1304,7 +1304,7 @@ void append_event_fast(cereal::Event::Which which,
        append_can_frame(can_service,
                         static_cast<uint8_t>(msg.getSrc()),
                         msg.getAddress(),
-                         msg.getBusTimeDEPRECATED(),
+                         msg.getDeprecated().getBusTime(),
                         msg.getDat(),
                         tm,
                         series);
@@ -1316,7 +1316,7 @@ void append_event_fast(cereal::Event::Which which,
        append_can_frame(can_service,
                         static_cast<uint8_t>(msg.getSrc()),
                         msg.getAddress(),
-                         msg.getBusTimeDEPRECATED(),
+                         msg.getDeprecated().getBusTime(),
                         msg.getDat(),
                         tm,
                         series);
@@ -383,6 +383,9 @@ function op_switch() {
  git submodule update --init --recursive
  git submodule foreach git reset --hard
  git submodule foreach git clean -df
+
+  # remove openpilot update flag if present
+  rm -f .overlay_init
 }

 function op_start() {
@@ -5,6 +5,7 @@ import numpy as np
 import pyray as rl

 from matplotlib.backends.backend_agg import FigureCanvasAgg
+from matplotlib.offsetbox import AnchoredOffsetbox, HPacker, TextArea

 from openpilot.common.transformations.camera import get_view_frame_from_calib_frame
 from openpilot.selfdrive.controls.radard import RADAR_TO_CAMERA
@@ -94,6 +95,7 @@ def draw_path(path, color, img, calibration, top_down, lid_color=None, z_off=0):

 def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_colors, plot_styles):
  color_palette = {"r": (1, 0, 0), "g": (0, 1, 0), "b": (0, 0, 1), "k": (0, 0, 0), "y": (1, 1, 0), "p": (0, 1, 1), "m": (1, 0, 1)}
+  label_palette = {**color_palette, "b": (43/255, 114/255, 1.0)}

  dpi = 90
  fig = plt.figure(figsize=(575 / dpi, 600 / dpi), dpi=dpi)
@@ -116,10 +118,18 @@ def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_co
      plots.append(plot)
      idxs.append(name_to_arr_idx[item])
      plot_select.append(i)
-    axs[i].set_title(", ".join(f"{nm} ({cl})" for (nm, cl) in zip(pl_list, plot_colors[i], strict=False)), fontsize=10)
+    # Build colored title: each label colored to match its plot line
+    title_texts = []
+    for j2, (nm, cl) in enumerate(zip(pl_list, plot_colors[i], strict=False)):
+      if j2 > 0:
+        title_texts.append(TextArea(", ", textprops=dict(color="white", fontsize=10)))
+      title_texts.append(TextArea(nm, textprops=dict(color=label_palette[cl], fontsize=10)))
+    packed = HPacker(children=title_texts, pad=0, sep=0)
+    ab = AnchoredOffsetbox(loc='lower center', child=packed, bbox_to_anchor=(0.5, 1.0),
+                           bbox_transform=axs[i].transAxes, frameon=False, pad=0)
+    axs[i].add_artist(ab)
    axs[i].tick_params(axis="x", colors="white")
    axs[i].tick_params(axis="y", colors="white")
-    axs[i].title.set_color("white")

    if i < len(plot_ylims) - 1:
      axs[i].set_xticks([])
@@ -142,18 +142,19 @@ void LogReader::migrateOldEvents() {
      new_evt.setLogMonoTime(old_evt.getLogMonoTime());
      auto new_state = new_evt.initSelfdriveState();

-      new_state.setActive(old_state.getActiveDEPRECATED());
-      new_state.setAlertSize(old_state.getAlertSizeDEPRECATED());
-      new_state.setAlertSound(old_state.getAlertSound2DEPRECATED());
-      new_state.setAlertStatus(old_state.getAlertStatusDEPRECATED());
-      new_state.setAlertText1(old_state.getAlertText1DEPRECATED());
-      new_state.setAlertText2(old_state.getAlertText2DEPRECATED());
-      new_state.setAlertType(old_state.getAlertTypeDEPRECATED());
-      new_state.setEnabled(old_state.getEnabledDEPRECATED());
-      new_state.setEngageable(old_state.getEngageableDEPRECATED());
-      new_state.setExperimentalMode(old_state.getExperimentalModeDEPRECATED());
-      new_state.setPersonality(old_state.getPersonalityDEPRECATED());
-      new_state.setState(old_state.getStateDEPRECATED());
+      auto old_dep = old_state.getDeprecated();
+      new_state.setActive(old_dep.getActive());
+      new_state.setAlertSize(old_dep.getAlertSize());
+      new_state.setAlertSound(old_dep.getAlertSound2());
+      new_state.setAlertStatus(old_dep.getAlertStatus());
+      new_state.setAlertText1(old_dep.getAlertText1());
+      new_state.setAlertText2(old_dep.getAlertText2());
+      new_state.setAlertType(old_dep.getAlertType());
+      new_state.setEnabled(old_dep.getEnabled());
+      new_state.setEngageable(old_dep.getEngageable());
+      new_state.setExperimentalMode(old_dep.getExperimentalMode());
+      new_state.setPersonality(old_dep.getPersonality());
+      new_state.setState(old_dep.getState());

      // Serialize the new event to the buffer
      auto buf_size = msg.getSerializedSize();
@@ -3,7 +3,6 @@ import argparse
 import os
 import sys

-import cv2
 import numpy as np
 import pyray as rl

@@ -22,7 +21,8 @@ from openpilot.tools.replay.lib.ui_helpers import (
  plot_lead,
  plot_model,
 )
-from msgq.visionipc import VisionIpcClient, VisionStreamType
+from msgq.visionipc import VisionStreamType
+from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView

 os.environ['BASEDIR'] = BASEDIR

@@ -30,8 +30,6 @@ ANGLE_SCALE = 5.0


 def ui_thread(addr):
-  cv2.setNumThreads(1)
-
  # Get monitor info before creating window
  rl.set_config_flags(rl.ConfigFlags.FLAG_MSAA_4X_HINT)
  rl.init_window(1, 1, "")
@@ -59,14 +57,15 @@ def ui_thread(addr):
  font_path = os.path.join(BASEDIR, "selfdrive/assets/fonts/JetBrainsMono-Medium.ttf")
  font = rl.load_font_ex(font_path, 32, None, 0)

-  # Create textures for camera and top-down view
-  camera_image = rl.gen_image_color(640, 480, rl.BLACK)
-  camera_texture = rl.load_texture_from_image(camera_image)
-  rl.unload_image(camera_image)
+  camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD)
+
+  # Overlay texture for model/lane line drawing
+  overlay_img = np.zeros((480, 640, 4), dtype='uint8')
+  overlay_image = rl.gen_image_color(640, 480, rl.BLANK)
+  overlay_texture = rl.load_texture_from_image(overlay_image)
+  rl.unload_image(overlay_image)

  # lid_overlay array is (lidar_x, lidar_y) = (384, 960)
-  # pygame treats first axis as width, so texture is 384 wide x 960 tall
-  # For raylib, we need to transpose to get (height, width) = (960, 384) for the RGBA array
  top_down_image = rl.gen_image_color(UP.lidar_x, UP.lidar_y, rl.BLACK)
  top_down_texture = rl.load_texture_from_image(top_down_image)
  rl.unload_image(top_down_image)
@@ -89,7 +88,6 @@ def ui_thread(addr):
  )

  img = np.zeros((480, 640, 3), dtype='uint8')
-  imgff = None
  num_px = 0
  calibration = None

@@ -116,7 +114,7 @@ def ui_thread(addr):
  plot_arr = np.zeros((100, len(name_to_arr_idx.values())))

  plot_xlims = [(0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0])]
-  plot_ylims = [(-0.1, 1.1), (-ANGLE_SCALE, ANGLE_SCALE), (0.0, 75.0), (-3.0, 2.0)]
+  plot_ylims = [(-0.1, 1.1), (-ANGLE_SCALE, ANGLE_SCALE), (0.0, 75.0), (-3.5, 2.0)]
  plot_names = [
    ["gas", "computer_gas", "user_brake", "computer_brake"],
    ["angle_steers", "angle_steers_des", "angle_steers_k", "steer_torque"],
@@ -138,20 +136,16 @@ def ui_thread(addr):
  palette[110] = [110, 110, 110, 255]  # car_color (gray)
  palette[255] = [255, 255, 255, 255]  # WHITE

-  vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True)
  while not rl.window_should_close():
-    # ***** frame *****
-    if not vipc_client.is_connected():
-      vipc_client.connect(False)
-
    rl.begin_drawing()
    rl.clear_background(rl.Color(64, 64, 64, 255))

-    yuv_img_raw = vipc_client.recv()
-    if yuv_img_raw is None or not yuv_img_raw.data.any():
-      rl.draw_text_ex(font, "waiting for frames", rl.Vector2(200, 200), 30, 0, rl.WHITE)
-      rl.end_drawing()
-      continue
+    # Render camera (NV12->RGB on GPU via shader)
+    if camera_view.frame:
+      cam_h = 640.0 * camera_view.frame.height / camera_view.frame.width
+    else:
+      cam_h = 480.0
+    camera_view.render(rl.Rectangle(0, 0, 640, cam_h))

    lid_overlay = lid_overlay_blank.copy()
    top_down = top_down_texture, lid_overlay
@@ -159,19 +153,10 @@ def ui_thread(addr):
    sm.update(0)

    camera = DEVICE_CAMERAS[("tici", str(sm['roadCameraState'].sensor))]
-
-    # Use received buffer dimensions (full HEVC can have stride != buffer_len/rows due to VENUS padding)
-    h, w, stride = yuv_img_raw.height, yuv_img_raw.width, yuv_img_raw.stride
-    nv12_size = h * 3 // 2 * stride
-    imgff = np.frombuffer(yuv_img_raw.data, dtype=np.uint8, count=nv12_size).reshape((h * 3 // 2, stride))
-    num_px = w * h
-    rgb = cv2.cvtColor(imgff[: h * 3 // 2, : w], cv2.COLOR_YUV2RGB_NV12)
-
-    qcam = "QCAM" in os.environ
-    bb_scale = (528 if qcam else camera.fcam.width) / 640.0
    calib_scale = camera.fcam.width / 640.0
-    zoom_matrix = np.asarray([[bb_scale, 0.0, 0.0], [0.0, bb_scale, 0.0], [0.0, 0.0, 1.0]])
-    cv2.warpAffine(rgb, zoom_matrix[:2], (img.shape[1], img.shape[0]), dst=img, flags=cv2.WARP_INVERSE_MAP)
+
+    if camera_view.frame:
+      num_px = camera_view.frame.width * camera_view.frame.height

    intrinsic_matrix = camera.fcam.intrinsics

@@ -183,7 +168,8 @@ def ui_thread(addr):
    else:
      angle_steers_k = np.inf

-    plot_arr[:-1] = plot_arr[1:]
+    if sm.updated['carState']:
+      plot_arr[:-1] = plot_arr[1:]
    plot_arr[-1, name_to_arr_idx['angle_steers']] = sm['carState'].steeringAngleDeg
    plot_arr[-1, name_to_arr_idx['angle_steers_des']] = sm['carControl'].actuators.steeringAngleDeg
    plot_arr[-1, name_to_arr_idx['angle_steers_k']] = angle_steers_k
@@ -198,9 +184,10 @@ def ui_thread(addr):
    plot_arr[-1, name_to_arr_idx['v_cruise']] = sm['carState'].cruiseState.speed
    plot_arr[-1, name_to_arr_idx['a_ego']] = sm['carState'].aEgo

-    if len(sm['longitudinalPlan'].accels):
-      plot_arr[-1, name_to_arr_idx['a_target']] = sm['longitudinalPlan'].accels[0]
+    plot_arr[-1, name_to_arr_idx['a_target']] = sm['longitudinalPlan'].aTarget

+    # Draw model overlays onto img, then blit as transparent overlay
+    img[:] = 0
    if sm.recv_frame['modelV2']:
      plot_model(sm['modelV2'], img, calibration, top_down)

@@ -214,11 +201,12 @@ def ui_thread(addr):
      rpyCalib = np.asarray(sm['liveCalibration'].rpyCalib)
      calibration = Calibration(num_px, rpyCalib, intrinsic_matrix, calib_scale)

-    # *** blits ***
-    # Update camera texture from numpy array
-    img_rgba = cv2.cvtColor(img, cv2.COLOR_RGB2RGBA)
-    rl.update_texture(camera_texture, rl.ffi.cast("void *", img_rgba.ctypes.data))
-    rl.draw_texture(camera_texture, 0, 0, rl.WHITE)  # noqa: TID251
+    # Update overlay texture (RGB img -> RGBA with non-black pixels visible)
+    mask = np.any(img > 0, axis=2)
+    overlay_img[:, :, :3] = img
+    overlay_img[:, :, 3] = mask * 255
+    rl.update_texture(overlay_texture, rl.ffi.cast("void *", overlay_img.ctypes.data))
+    rl.draw_texture(overlay_texture, 0, 0, rl.WHITE)  # noqa: TID251

    # display alerts
    rl.draw_text_ex(font, sm['selfdriveState'].alertText1, rl.Vector2(180, 150), 30, 0, rl.RED)
@@ -257,9 +245,10 @@ def ui_thread(addr):

    rl.end_drawing()

-  rl.unload_texture(camera_texture)
+  rl.unload_texture(overlay_texture)
  rl.unload_texture(top_down_texture)
  rl.unload_font(font)
+  camera_view.close()
  rl.close_window()


@@ -13,7 +13,7 @@ wheels = [

 [[package]]
 name = "aiohttp"
-version = "3.13.3"
+version = "3.13.5"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
    { name = "aiohappyeyeballs" },
@@ -24,25 +24,25 @@ dependencies = [
    { name = "propcache" },
    { name = "yarl" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/50/42/32cf8e7704ceb4481406eb87161349abb46a57fee3f008ba9cb610968646/aiohttp-3.13.3.tar.gz", hash = "sha256:a949eee43d3782f2daae4f4a2819b2cb9b0c5d3b7f7a927067cc84dafdbb9f88", size = 7844556, upload-time = "2026-01-03T17:33:05.204Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/77/9a/152096d4808df8e4268befa55fba462f440f14beab85e8ad9bf990516918/aiohttp-3.13.5.tar.gz", hash = "sha256:9d98cc980ecc96be6eb4c1994ce35d28d8b1f5e5208a23b421187d1209dbb7d1", size = 7858271, upload-time = "2026-03-31T22:01:03.343Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/a0/be/4fc11f202955a69e0db803a12a062b8379c970c7c84f4882b6da17337cc1/aiohttp-3.13.3-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:b903a4dfee7d347e2d87697d0713be59e0b87925be030c9178c5faa58ea58d5c", size = 739732, upload-time = "2026-01-03T17:30:14.23Z" },
-    { url = "https://files.pythonhosted.org/packages/97/2c/621d5b851f94fa0bb7430d6089b3aa970a9d9b75196bc93bb624b0db237a/aiohttp-3.13.3-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:a45530014d7a1e09f4a55f4f43097ba0fd155089372e105e4bff4ca76cb1b168", size = 494293, upload-time = "2026-01-03T17:30:15.96Z" },
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@@ -371,7 +371,7 @@ wheels = [
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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=eigen&rev=release-eigen#891c42d8029b2a633f3aca7f60cc7aa4b5305405" }

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@@ -385,7 +385,7 @@ wheels = [
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-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=release-ffmpeg#b9732165bcf5a3fab83b05994187802a0d115b6e" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=release-ffmpeg#8261317427e81a0fa1f53a7ef77f15004ec78889" }

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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=gcc-arm-none-eabi&rev=release-gcc-arm-none-eabi#fd995de677db114e2862cf4ed245ca9a17536668" }

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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=imgui&rev=release-imgui#f3d874be2f3aa44869ffd4775e0957e986a30a68" }

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+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libjpeg&rev=release-libjpeg#d90bc630661092de49428bfc3a82a371ee35a889" }

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Author	SHA1	Message	Date
Jason Wen	19eae6f318	init	2026-04-11 08:32:19 -04:00
Adeeb Shihadeh	6ce156ee16	op switch: clear update after switch (#37793 )	2026-04-09 20:02:17 -07:00
Adeeb Shihadeh	a89ed55b65	cereal: group inline deprecated fields (#37791 )	2026-04-09 10:41:04 -07:00
Adeeb Shihadeh	9dc4986e21	cereal: move deprecated structs to deprecated.capnp (#37786 ) * lil more * cleanup	2026-04-09 10:03:22 -07:00
Shane Smiskol	f17a0aac94	services: increase logMessage queue size (#37790 ) * services: increase logMessage queue size logMessage and errorLogMessage defaulted to SMALL (250KB) after `bcdeec3133`, but logmessaged allows messages up to 2MB. The msgq assert requires 3 messages to fit in the queue, so any log message over ~83KB crashes logmessaged. This happens on dirty devices when updated logs the full git diff output. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com> * use BIG queue size to fully cover 2MB cap Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com> --------- Co-authored-by: Claude Opus 4.6 (1M context) <noreply@anthropic.com>	2026-04-09 01:41:40 -07:00
Shane Smiskol	934fd5a5a8	soundd: ramp immediate alert volume (#37788 ) * raise volume * stuff * fix * 4s * revert * clean up * lean up	2026-04-09 00:13:27 -07:00
Shane Smiskol	b5576de97e	soundd: update volume while playing alert (#37789 ) lways	2026-04-08 23:56:24 -07:00
Adeeb Shihadeh	58090f5f7e	cereal: legacy -> deprecated (#37787 )	2026-04-08 18:07:59 -07:00
Harald Schäfer	09a55a7833	autodetect tg backend: use CPU:LLVM on Linux (#37785 ) autodetect tg backend: use CPU:LLVM on Linux, CPU on Darwin	2026-04-08 16:16:39 -07:00
commaci-public	8abfbc56a1	[bot] Update Python packages (#37749 ) Update Python packages Co-authored-by: Vehicle Researcher <user@comma.ai>	2026-04-08 14:34:23 -07:00
Adeeb Shihadeh	8b53f9158d	Rename DM alerts to numbered stages (#37783 ) * Rename DM alerts to numbered stages * Handle renamed DM events in replay migration * Remove replay migration test * Skip unknown replay event names	2026-04-08 14:29:32 -07:00
Harald Schäfer	21538e5a09	autodetect tg backend (#37778 ) * pick fastest * save config * fix * Ignore generated tg_compiled_flags file * helper * cleaner * whitespace not needed * no shebang * whitespace	2026-04-08 13:55:00 -07:00
Andi Radulescu	19d56f685b	DM: auto reset audible alert coming to a stop (#37071 ) * dm: suppress audible alert at standstill * test: driver distracted then stops at standstill * use recovery instead * add back * fix comment --------- Co-authored-by: ZwX1616 <zwx1616@gmail.com>	2026-04-07 22:11:00 -07:00
Harald Schäfer	508863e5a8	Long policy: less creepy (#37755 ) * fix * better	2026-04-07 21:49:31 -07:00
Trey Moen	f28d6fb6bc	esim: implement profile nickname (#37777 )	2026-04-07 19:17:09 -07:00
Trey Moen	54a2d31e97	esim: TLV helpers, acquire_channel, and TiciLPA rework (#37776 )	2026-04-07 18:14:45 -07:00
Shane Smiskol	b0b9079437	bump opendbc (#37775 ) fix opendbc	2026-04-07 17:57:44 -07:00
Trey Moen	c7382f8258	esim: harden AtClient with retry loops and reconnect (#37771 )	2026-04-07 14:33:49 -07:00
Kacper Rączy	08401a96c2	modeld: frame delay (#37731 ) * Frame delay * Multiply * If replay * For long too * DT_MDL / 2 * Shorten comment * Just 50ms * Remove REPLAY const	2026-04-06 21:15:38 +00:00
DevTekVE	f37fd3ea34	Fixes the debugging of safety after scons removal (#37769 ) Fixes the debugging after scons removal	2026-04-06 09:46:14 -07:00
Shane Smiskol	dc4dae6794	replay/ui: color lines, use aTarget (#37764 ) * color lines, use aTarget * only scroll when updated	2026-04-04 20:28:16 -07:00
Jason Wen	f170440f4a	safety: add reserved controls_allowed fields for forks (like MADS) (#37747 )	2026-04-04 15:30:34 -07:00
Shane Smiskol	310ba9d2c0	replay/ui: fix Qt threading issue (#37762 ) * fix ui * fix * clean up	2026-04-03 20:01:33 -07:00