[TICI] ci: point to master-tici for certain submodules (#1350 )

* ci: point to master-tici for certain submodules * new * new * minimal * check * revert * try this out * more
[TICI] relock after inplace metadrive update (#1321 ) (#1348 )
2026-06-19 16:52:06 +08:00 · 2025-10-09 20:33:28 -04:00 · 2025-10-09 19:11:59 -04:00 · 2025-09-14 20:29:26 +02:00 · 2025-09-14 12:18:59 +02:00 · 2025-09-06 18:46:19 -04:00
197 changed files with 7154 additions and 5974 deletions
@@ -29,21 +29,21 @@ jobs:
      env:
        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
      with:
-        target: /^(?!master$).*/
+        target: /^(?!master-tici$).*/
        exclude: /sunnypilot:.*/
        change-to: ${{ github.base_ref }}
        already-exists-action: close_this
-        already-exists-comment: "Your PR should be made against the `master` branch"
+        already-exists-comment: "Your PR should be made against the `master-tici` branch"

  update-pr-labels:
    name: Update fork's PR Labels
    runs-on: ubuntu-latest
    if: (github.event.pull_request.head.repo.fork && (contains(github.event_name, 'pull_request') && github.event.action == 'synchronize'))
    env:
-      PR_LABEL: 'dev'
+      PR_LABEL: 'dev-c3'
      TRUST_FORK_PR_LABEL: 'trust-fork-pr'
    steps:
-      - name: Check if PR has dev label
+      - name: Check if PR has dev-c3 label
        id: check-labels
        uses: actions/github-script@v7
        with:
@@ -62,11 +62,11 @@ jobs:
            console.log(`PR #${prNumber} has ${process.env.PR_LABEL} label: ${hasDevC3Label}`);
            console.log(`PR #${prNumber} has ${process.env.TRUST_FORK_PR_LABEL} label: ${hasTrustLabel}`);
            
-            core.setOutput('has-dev', hasDevC3Label ? 'true' : 'false');
+            core.setOutput('has-dev-c3', hasDevC3Label ? 'true' : 'false');
            core.setOutput('has-trust', hasTrustLabel ? 'true' : 'false');

      - name: Remove trust-fork-pr label if present
-        if: steps.check-labels.outputs.has-dev == 'true' && steps.check-labels.outputs.has-trust == 'true'
+        if: steps.check-labels.outputs.has-dev-c3 == 'true' && steps.check-labels.outputs.has-trust == 'true'
        uses: actions/github-script@v7
        with:
          github-token: ${{ secrets.GITHUB_TOKEN }}
@@ -5,7 +5,7 @@ on:
  workflow_dispatch:

 env:
-  BASE_IMAGE: sunnypilot-base
+  BASE_IMAGE: sunnypilot-tici-base
  DOCKER_REGISTRY: ghcr.io/sunnypilot
  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c

@@ -3,7 +3,7 @@ name: cereal validation
 on:
  push:
    branches:
-      - master
+      - master-tici
  pull_request:
    paths:
      - 'cereal/**'
@@ -16,7 +16,7 @@ on:
        type: string

 concurrency:
-  group: cereal-validation-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: cereal-validation-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
  cancel-in-progress: true

 env:
@@ -31,7 +31,7 @@ jobs:
    strategy:
      fail-fast: false
      matrix: ${{fromJSON(needs.setup.outputs.ci_runs)}}
-    uses: sunnypilot/sunnypilot/.github/workflows/ci_weekly_run.yaml@master
+    uses: sunnypilot/sunnypilot/.github/workflows/ci_weekly_run.yaml@master-tici
    with:
      run_number: ${{ matrix.run_number }}

@@ -12,6 +12,6 @@ concurrency:

 jobs:
  selfdrive_tests:
-    uses: sunnypilot/sunnypilot/.github/workflows/selfdrive_tests.yaml@master
+    uses: sunnypilot/sunnypilot/.github/workflows/selfdrive_tests.yaml@master-tici
    with:
      run_number: ${{ inputs.run_number }}
@@ -15,7 +15,7 @@ runs:
                          scons -j$(nproc) --cache-populate"
    - name: Save scons cache
      uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
+      if: github.ref == 'refs/heads/master-tici'
      with:
        path: .ci_cache/scons_cache
        key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
@@ -3,7 +3,7 @@ name: docs
 on:
  push:
    branches:
-      - master
+      - master-tici
  pull_request:
  workflow_call:
    inputs:
@@ -12,7 +12,7 @@ on:
        required: true
        type: string
 concurrency:
-  group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
  cancel-in-progress: true

 jobs:
@@ -35,13 +35,13 @@ jobs:

    # Push to docs.comma.ai
    - uses: actions/checkout@v4
-      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
+      if: github.ref == 'refs/heads/master-tici' && github.repository == 'sunnypilot/sunnypilot'
      with:
        path: openpilot-docs
        ssh-key: ${{ secrets.OPENPILOT_DOCS_KEY }}
        repository: sunnypilot/sunnypilot-docs
    - name: Push
-      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
+      if: github.ref == 'refs/heads/master-tici' && github.repository == 'sunnypilot/sunnypilot'
      run: |
        set -x

@@ -24,11 +24,11 @@ jobs:
      if: ${{ github.event_name != 'workflow_dispatch' }}
      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
      with:
-        ref: master
+        ref: master-tici
        wait-interval: 30
        running-workflow-name: 'build prebuilt'
        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        check-regexp: ^((?!.*(build master-ci).*).)*$
+        check-regexp: ^((?!.*(build __nightly).*).)*$
    - uses: actions/checkout@v4
      with:
        submodules: true
@@ -19,6 +19,7 @@ jobs:
      contents: write
      pull-requests: write
    runs-on: ubuntu-latest
+    if: False
    steps:
      - uses: release-drafter/release-drafter@v6
        with:
@@ -10,7 +10,7 @@ jobs:
    env:
      ImageOS: ubuntu24
    container:
-      image: ghcr.io/sunnypilot/sunnypilot-base:latest
+      image: ghcr.io/sunnypilot/sunnypilot-tici-base:latest
    runs-on: ubuntu-latest
    if: github.repository == 'sunnypilot/sunnypilot'
    permissions:
@@ -25,7 +25,7 @@ jobs:
      if: ${{ github.event_name == 'schedule' }}
      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
      with:
-        ref: master
+        ref: master-tici
        wait-interval: 30
        running-workflow-name: 'build __nightly'
        repo-token: ${{ secrets.GITHUB_TOKEN }}
@@ -6,7 +6,7 @@ on:
  workflow_dispatch:

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

@@ -28,7 +28,7 @@ jobs:
          title: "[bot] Update translations"
          body: "Automatic PR from repo-maintenance -> update_translations"
          branch: "update-translations"
-          base: "master"
+          base: "master-tici"
          delete-branch: true
          labels: bot

@@ -36,7 +36,7 @@ jobs:
    name: package_updates
    runs-on: ubuntu-latest
    container:
-      image: ghcr.io/sunnypilot/sunnypilot-base:latest
+      image: ghcr.io/sunnypilot/sunnypilot-tici-base:latest
    if: github.repository == 'sunnypilot/sunnypilot'
    steps:
    - uses: actions/checkout@v4
@@ -68,7 +68,7 @@ jobs:
        commit-message: Update Python packages
        title: '[bot] Update Python packages'
        branch: auto-package-updates
-        base: master
+        base: master-tici
        delete-branch: true
        body: 'Automatic PR from repo-maintenance -> package_updates'
        labels: bot
@@ -3,7 +3,7 @@ name: selfdrive
 on:
  push:
    branches:
-      - master
+      - master-tici
  pull_request:
  workflow_dispatch:
  workflow_call:
@@ -14,12 +14,12 @@ on:
        type: string

 concurrency:
-  group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
  cancel-in-progress: true

 env:
  PYTHONWARNINGS: error
-  BASE_IMAGE: sunnypilot-base
+  BASE_IMAGE: sunnypilot-tici-base
  AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}

  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
@@ -68,10 +68,10 @@ jobs:
      if: github.repository == 'sunnypilot/sunnypilot'
      timeout-minutes: 3
      run: |
-        if [ "${{ github.ref }}" != "refs/heads/master" ]; then
-          git fetch  origin master:refs/remotes/origin/master
+        if [ "${{ github.ref }}" != "refs/heads/master-tici" ]; then
+          git fetch  origin master-tici:refs/remotes/origin/master-tici

-          SUBMODULE_PATHS=$(git diff origin/master HEAD --name-only | grep -E '^[^/]+$' | while read path; do
+          SUBMODULE_PATHS=$(git diff origin/master-tici HEAD --name-only | grep -E '^[^/]+$' | while read path; do
            if git ls-files --stage "$path" | grep -q "^160000"; then
              echo "$path"
            fi
@@ -97,7 +97,7 @@ jobs:
      with:
        submodules: true
    - name: Setup docker push
-      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'sunnypilot/sunnypilot'
+      if: github.ref == 'refs/heads/master-tici' && github.event_name != 'pull_request' && github.repository == 'sunnypilot/sunnypilot'
      run: |
        echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
        $DOCKER_LOGIN
@@ -107,6 +107,7 @@ jobs:

  build_mac:
    name: build macOS
+    if: false  # temp disable since homebrew install is getting stuck
    runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
    steps:
    - uses: actions/checkout@v4
@@ -124,11 +125,11 @@ jobs:
    - name: Install dependencies
      run: ./tools/mac_setup.sh
      env:
-        PYTHONWARNINGS: default  # package install has DeprecationWarnings
-        HOMEBREW_DISPLAY_INSTALL_TIMES: 1
+        # package install has DeprecationWarnings
+        PYTHONWARNINGS: default
    - name: Save Homebrew cache
      uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
+      if: github.ref == 'refs/heads/master-tici'
      with:
        path: ~/Library/Caches/Homebrew
        key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
@@ -145,7 +146,7 @@ jobs:
      run: . .venv/bin/activate && scons -j$(nproc)
    - name: Save scons cache
      uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
+      if: github.ref == 'refs/heads/master-tici'
      with:
        path: /tmp/scons_cache
        key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
@@ -304,5 +305,5 @@ jobs:
      - name: Upload Test Report
        uses: actions/upload-artifact@v4
        with:
-          name: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
+          name: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && 'master-tici' || github.event.number }}
          path: selfdrive/ui/tests/test_ui/report_1/screenshots
@@ -14,7 +14,7 @@ on:
      upstream_branch:
        description: 'Upstream branch to build from'
        required: true
-        default: 'master'
+        default: 'master-tici'
        type: string
      custom_name:
        description: 'Custom name for the model (no date, only name)'
@@ -35,7 +35,7 @@ on:
      upstream_branch:
        description: 'Upstream branch to build from'
        required: true
-        default: 'master'
+        default: 'master-tici'
        type: string
      custom_name:
        description: 'Custom name for the model (no date, only name)'
@@ -8,14 +8,14 @@ env:
  PUBLIC_REPO_URL: "https://github.com/sunnypilot/sunnypilot"
  
  # Branch configurations
-  STAGING_SOURCE_BRANCH: 'master'
+  STAGING_C3_SOURCE_BRANCH: 'master-tici' # vars.STAGING_C3_SOURCE_BRANCH could be used, set on repo settings.
  
  # Runtime configuration
  SOURCE_BRANCH: "${{ github.head_ref || github.ref_name }}"

 on:
  push:
-    branches: [ master, master-dev ]
+    branches: [ master-tici ]
    tags: [ 'release/*' ]
  pull_request_target:
    types: [ labeled ]
@@ -138,7 +138,7 @@ jobs:
          #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
          restore-keys: |
            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.STAGING_SOURCE_BRANCH }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.STAGING_C3_SOURCE_BRANCH }}
            scons-${{ runner.os }}-${{ runner.arch }}

      - name: Set environment variables
@@ -1,31 +1,31 @@
-name: Build dev
+name: Build dev-c3-new

 env:
-  DEFAULT_SOURCE_BRANCH: "master"
-  DEFAULT_TARGET_BRANCH: "master-dev"
-  PR_LABEL: "dev"
+  DEFAULT_SOURCE_BRANCH: "master-tici"
+  DEFAULT_TARGET_BRANCH: "master-dev-c3-new"
+  PR_LABEL: "dev-c3"
  LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
  LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git'

 on:
  push:
    branches:
-      - master
+      - master-tici
  pull_request_target:
    types: [ labeled ]
    branches:
-      - 'master'
+      - 'master-tici'
  workflow_dispatch:
    inputs:
      source_branch:
        description: 'Source branch to reset from'
        required: true
-        default: 'master'
+        default: 'master-tici'
        type: string
      target_branch:
        description: 'Target branch to reset and squash into'
        required: true
-        default: 'master-dev'
+        default: 'master-dev-c3-new'
        type: string
      cancel_in_progress:
        description: 'Cancel any in-progress runs of this workflow'
@@ -40,11 +40,7 @@ concurrency:
 jobs:
  reset-and-squash:
    runs-on: ubuntu-latest
-    if: (
-      (github.event_name == 'workflow_dispatch')
-      || (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-      || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev'))))
-      )
+    if: False
    steps:
      - uses: actions/checkout@v4
        with:
@@ -55,7 +51,7 @@ jobs:
        uses: ./.github/workflows/wait-for-action # Path to where you place the action
        if: (
          (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-          || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev'))))
+          || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
          )
        with:
          workflow: selfdrive_tests.yaml # The workflow file to monitor
@@ -2,19 +2,19 @@ name: "ui preview"
 on:
  push:
    branches:
-      - master
+      - master-tici
  pull_request_target:
    types: [assigned, opened, synchronize, reopened, edited]
    branches:
-      - 'master'
+      - 'master-tici'
    paths:
      - 'selfdrive/ui/**'
  workflow_dispatch:

 env:
  UI_JOB_NAME: "Create UI Report"
-  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
+  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && 'master-tici' || github.event.number }}
+  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && github.sha || github.event.pull_request.head.sha }}
  BRANCH_NAME: "openpilot/pr-${{ github.event.number }}"

 jobs:
@@ -55,7 +55,7 @@ jobs:
          name: report-1-${{ env.REPORT_NAME }}
          path: ${{ github.workspace }}/pr_ui

-      - name: Getting master ui
+      - name: Getting master-tici ui
        uses: actions/checkout@v4
        with:
          repository: sunnypilot/ci-artifacts
@@ -63,8 +63,8 @@ jobs:
          path: ${{ github.workspace }}/master_ui
          ref: openpilot_master_ui

-      - name: Saving new master ui
-        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
+      - name: Saving new master-tici ui
+        if: github.ref == 'refs/heads/master-tici' && github.event_name == 'push'
        working-directory: ${{ github.workspace }}/master_ui
        run: |
          git checkout --orphan=new_master_ui
@@ -93,9 +93,9 @@ jobs:

          for ((i=0; i<${#A[*]}; i=i+1));
          do
-            # Check if the master file exists
+            # Check if the master-tici file exists
            if [ ! -f "${{ github.workspace }}/master_ui/${A[$i]}.png" ]; then
-              # This is a new file in PR UI that doesn't exist in master
+              # This is a new file in PR UI that doesn't exist in master-tici
              DIFF="${DIFF}<details open>"
              DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{cyan}\\text{NEW}}\$\$</summary>"
              DIFF="${DIFF}<table>"
@@ -118,7 +118,7 @@ jobs:
              DIFF="${DIFF}<table>"

              DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> master <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
+              DIFF="${DIFF}  <td> master-tici <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
              DIFF="${DIFF}  <td> proposed <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
              DIFF="${DIFF}</tr>"

@@ -50,6 +50,7 @@ cereal/services.h
 cereal/gen
 cereal/messaging/bridge
 selfdrive/mapd/default_speeds_by_region.json
+system/proclogd/proclogd
 selfdrive/ui/translations/tmp
 selfdrive/test/longitudinal_maneuvers/out
 selfdrive/car/tests/cars_dump
@@ -23,11 +23,6 @@
      "id": "args",
      "description": "Arguments to pass to the process",
      "type": "promptString"
-    },
-    {
-      "id": "replayArg",
-      "type": "promptString",
-      "description": "Enter route or segment to replay."
    }
  ],
  "configurations": [
@@ -45,41 +40,7 @@
      "type": "cppdbg",
      "request": "launch",
      "program": "${workspaceFolder}/${input:cpp_process}",
-      "cwd": "${workspaceFolder}"
-    },
-    {
-      "name": "Attach LLDB to Replay drive",
-      "type": "lldb",
-      "request": "attach",
-      "pid": "${command:pickMyProcess}",
-      "initCommands": [
-        "script import time; time.sleep(3)"
-      ]
-    },
-    {
-      "name": "Replay drive",
-      "type": "debugpy",
-      "request": "launch",
-      "program": "${workspaceFolder}/opendbc/safety/tests/safety_replay/replay_drive.py",
-      "args": [
-        "${input:replayArg}"
-      ],
-      "console": "integratedTerminal",
-      "justMyCode": false,
-      "env": {
-        "PYTHONPATH": "${workspaceFolder}"
-      },
-      "subProcess": true,
-      "stopOnEntry": false
-    }
-  ],
-  "compounds": [
-    {
-      "name": "Replay drive + Safety LLDB",
-      "configurations": [
-        "Replay drive",
-        "Attach LLDB to Replay drive"
-      ]
+      "cwd": "${workspaceFolder}",
    }
  ]
 }
@@ -1,4 +1,4 @@
-FROM ghcr.io/sunnypilot/sunnypilot-base:latest
+FROM ghcr.io/sunnypilot/sunnypilot-tici-base:latest

 ENV PYTHONUNBUFFERED=1

@@ -178,7 +178,7 @@ node {

  try {
    if (env.BRANCH_NAME == 'devel-staging') {
-      deviceStage("build release3-staging", "tizi-needs-can", [], [
+      deviceStage("build release3-staging", "tici-needs-can", [], [
        step("build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"),
      ])
    }
@@ -186,12 +186,12 @@ node {
    if (env.BRANCH_NAME == '__nightly') {
      parallel (
        'nightly': {
-          deviceStage("build nightly", "tizi-needs-can", [], [
+          deviceStage("build nightly", "tici-needs-can", [], [
            step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"),
          ])
        },
        'nightly-dev': {
-          deviceStage("build nightly-dev", "tizi-needs-can", [], [
+          deviceStage("build nightly-dev", "tici-needs-can", [], [
            step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"),
          ])
        },
@@ -200,30 +200,39 @@ node {

    if (!env.BRANCH_NAME.matches(excludeRegex)) {
    parallel (
+      // tici tests
      'onroad tests': {
-        deviceStage("onroad", "tizi-needs-can", ["UNSAFE=1"], [
+        deviceStage("onroad", "tici-needs-can", ["UNSAFE=1"], [
          step("build openpilot", "cd system/manager && ./build.py"),
          step("check dirty", "release/check-dirty.sh"),
          step("onroad tests", "pytest selfdrive/test/test_onroad.py -s", [timeout: 60]),
        ])
      },
      'HW + Unit Tests': {
-        deviceStage("tizi-hardware", "tizi-common", ["UNSAFE=1"], [
+        deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
          step("build", "cd system/manager && ./build.py"),
          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
          step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
          step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
+          step("test pigeond", "pytest system/ubloxd/tests/test_pigeond.py", [diffPaths: ["system/ubloxd/"]]),
          step("test manager", "pytest system/manager/test/test_manager.py"),
        ])
      },
      'loopback': {
-        deviceStage("loopback", "tizi-loopback", ["UNSAFE=1"], [
+        deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
          step("build openpilot", "cd system/manager && ./build.py"),
          step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
        ])
      },
+      'camerad AR0231': {
+        deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
+          step("build", "cd system/manager && ./build.py"),
+          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
+          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
+        ])
+      },
      'camerad OX03C10': {
-        deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [
+        deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
          step("build", "cd system/manager && ./build.py"),
          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
@@ -237,13 +246,17 @@ node {
        ])
      },
      'sensord': {
-        deviceStage("LSM + MMC", "tizi-lsmc", ["UNSAFE=1"], [
+        deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
+          step("build", "cd system/manager && ./build.py"),
+          step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
+        ])
+        deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
          step("build", "cd system/manager && ./build.py"),
          step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
        ])
      },
      'replay': {
-        deviceStage("model-replay", "tizi-replay", ["UNSAFE=1"], [
+        deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
          step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
          step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
        ])
@@ -253,6 +266,7 @@ node {
          step("build openpilot", "cd system/manager && ./build.py"),
          step("test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
          step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
+          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
          step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
          // TODO: enable once new AGNOS is available
          // step("test esim", "pytest system/hardware/tici/tests/test_esim.py"),
@@ -22,7 +22,7 @@ https://docs.sunnypilot.ai/ is your one stop shop for everything from features t
 Detailed instructions for [how to mount the device in a car](https://comma.ai/setup).

 ## Installation
-Please refer to [Recommended Branches](#-recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `staging-c3-new` branch.
+Please refer to [Recommended Branches](#-recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `staging-tici` branch.

 ### If you want to use our newest branches (our rewrite)
 > [!TIP]
@@ -31,25 +31,24 @@ Please refer to [Recommended Branches](#-recommended-branches) to find your pref
 * sunnypilot not installed or you installed a version before 0.8.17?
  1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
  2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option.
-  3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```https://staging-c3-new.sunnypilot.ai```.
+  3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```https://staging-tici.sunnypilot.ai```.
  4. Complete the rest of the installation following the onscreen instructions.

 * sunnypilot already installed and you installed a version after 0.8.17?
  1. On the comma three, go to `Settings` ▶️ `Software`.
  2. At the `Download` option, press `CHECK`. This will fetch the list of latest branches from sunnypilot.
  3. At the `Target Branch` option, press `SELECT` to open the Target Branch selector.
-  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `staging-c3-new`
+  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `staging-tici`


-|      Branch      |                 Installation URL              |
-|:----------------:|:---------------------------------------------:|
-| `staging-c3-new` | `https://staging-c3-new.sunnypilot.ai`        |
-|   `dev-c3-new`   | `https://dev-c3-new.sunnypilot.ai`            |
-| `custom-branch`  | `https://install.sunnypilot.ai/{branch_name}` |
-| `release-c3-new` |            **Not yet available**.             |
+|     Branch      |               Installation URL                |
+|:---------------:|:---------------------------------------------:|
+| `staging-tici`  |     `https://staging-tici.sunnypilot.ai`      |
+| `custom-branch` | `https://install.sunnypilot.ai/{branch_name}` |
+| `release-tici`  |            **Not yet available**.             |

 > [!TIP]
-> You can use sunnypilot/targetbranch as an install URL. Example: 'sunnypilot/staging-c3-new'.
+> You can use sunnypilot/targetbranch as an install URL. Example: 'sunnypilot/staging-tici'.

 > [!NOTE]
 > Do you require further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.
@@ -1,13 +1,7 @@
 Version 0.10.1 (2025-09-08)
 ========================
-* New driving model
-  * World Model: removed global localization inputs
-  * World Model: 2x the number of parameters
-  * World Model: trained on 4x the number of segments
-  * Driving Vision Model: trained on 4x the number of segments
-* Honda City 2023 support thanks to vanillagorillaa and drFritz!
-* Honda N-Box 2018 support thanks to miettal!
-* Honda Odyssey 2021-25 support thanks to csouers and MVL!
+* Record driving feedback using LKAS button
+* Honda City 2023 support thanks to drFritz!

 Version 0.10.0 (2025-08-05)
 ========================
@@ -359,6 +359,11 @@ SConscript([
  'system/ubloxd/SConscript',
  'system/loggerd/SConscript',
 ])
+if arch != "Darwin":
+  SConscript([
+    'system/logcatd/SConscript',
+    'system/proclogd/SConscript',
+  ])

 if arch == "larch64":
  SConscript(['system/camerad/SConscript'])
@@ -25,26 +25,6 @@ struct ModularAssistiveDrivingSystem {
  }
 }

-struct IntelligentCruiseButtonManagement {
-  state @0 :IntelligentCruiseButtonManagementState;
-  sendButton @1 :SendButtonState;
-  vTarget @2 :Float32;
-
-  enum IntelligentCruiseButtonManagementState {
-    inactive @0;      # No button press or default state
-    preActive @1;     # Pre-active state before transitioning to increasing or decreasing
-    increasing @2;    # Increasing speed
-    decreasing @3;    # Decreasing speed
-    holding @4;       # Holding steady speed
-  }
-
-  enum SendButtonState {
-    none @0;
-    increase @1;
-    decrease @2;
-  }
-}
-
 # Same struct as Log.RadarState.LeadData
 struct LeadData {
  dRel @0 :Float32;
@@ -68,7 +48,6 @@ struct LeadData {

 struct SelfdriveStateSP @0x81c2f05a394cf4af {
  mads @0 :ModularAssistiveDrivingSystem;
-  intelligentCruiseButtonManagement @1 :IntelligentCruiseButtonManagement;
 }

 struct ModelManagerSP @0xaedffd8f31e7b55d {
@@ -143,8 +122,6 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {

 struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
  dec @0 :DynamicExperimentalControl;
-  longitudinalPlanSource @1 :LongitudinalPlanSource;
-  smartCruiseControl @2 :SmartCruiseControl;

  struct DynamicExperimentalControl {
    state @0 :DynamicExperimentalControlState;
@@ -156,34 +133,6 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
      blended @1;
    }
  }
-
-  struct SmartCruiseControl {
-    vision @0 :Vision;
-
-    struct Vision {
-      state @0 :VisionState;
-      vTarget @1 :Float32;
-      aTarget @2 :Float32;
-      currentLateralAccel @3 :Float32;
-      maxPredictedLateralAccel @4 :Float32;
-      enabled @5 :Bool;
-      active @6 :Bool;
-    }
-
-    enum VisionState {
-      disabled @0; # System disabled or inactive.
-      enabled @1; # No predicted substantial turn on vision range.
-      entering @2; # A substantial turn is predicted ahead, adapting speed to turn comfort levels.
-      turning @3; # Actively turning. Managing acceleration to provide a roll on turn feeling.
-      leaving @4; # Road ahead straightens. Start to allow positive acceleration.
-      overriding @5; # System overriding with manual control.
-    }
-  }
-
-  enum LongitudinalPlanSource {
-    cruise @0;
-    sccVision @1;
-  }
 }

 struct OnroadEventSP @0xda96579883444c35 {
@@ -231,8 +180,6 @@ struct OnroadEventSP @0xda96579883444c35 {
 struct CarParamsSP @0x80ae746ee2596b11 {
  flags @0 :UInt32;        # flags for car specific quirks in sunnypilot
  safetyParam @1 : Int16;  # flags for sunnypilot's custom safety flags
-  pcmCruiseSpeed @3 :Bool = true;
-  intelligentCruiseButtonManagementAvailable @4 :Bool;

  neuralNetworkLateralControl @2 :NeuralNetworkLateralControl;

@@ -252,7 +199,6 @@ struct CarControlSP @0xa5cd762cd951a455 {
  params @1 :List(Param);
  leadOne @2 :LeadData;
  leadTwo @3 :LeadData;
-  intelligentCruiseButtonManagement @4 :IntelligentCruiseButtonManagement;

  struct Param {
    key @0 :Text;
@@ -585,6 +585,7 @@ struct PandaState @0xa7649e2575e4591e {
  heartbeatLost @22 :Bool;
  interruptLoad @25 :Float32;
  fanPower @28 :UInt8;
+  fanStallCount @34 :UInt8;

  spiErrorCount @33 :UInt16;

@@ -713,7 +714,6 @@ struct PandaState @0xa7649e2575e4591e {
  usbPowerModeDEPRECATED @12 :PeripheralState.UsbPowerModeDEPRECATED;
  safetyParamDEPRECATED @20 :Int16;
  safetyParam2DEPRECATED @26 :UInt32;
-  fanStallCountDEPRECATED @34 :UInt8;
 }

 struct PeripheralState {
@@ -33,7 +33,7 @@ MessageContext message_context;
 struct SubMaster::SubMessage {
  std::string name;
  SubSocket *socket = nullptr;
-  float freq = 0.0f;
+  int freq = 0;
  bool updated = false, alive = false, valid = false, ignore_alive;
  uint64_t rcv_time = 0, rcv_frame = 0;
  void *allocated_msg_reader = nullptr;
@@ -121,12 +121,12 @@ def build_header():
  h += "#include <map>\n"
  h += "#include <string>\n"

-  h += "struct service { std::string name; bool should_log; float frequency; int decimation; };\n"
+  h += "struct service { std::string name; bool should_log; int frequency; int decimation; };\n"
  h += "static std::map<std::string, service> services = {\n"
  for k, v in SERVICE_LIST.items():
    should_log = "true" if v.should_log else "false"
    decimation = -1 if v.decimation is None else v.decimation
-    h += '  { "%s", {"%s", %s, %f, %d}},\n' % \
+    h += '  { "%s", {"%s", %s, %d, %d}},\n' % \
         (k, k, should_log, v.frequency, decimation)
  h += "};\n"

@@ -1 +1 @@
-#define DEFAULT_MODEL "Firehose (Default)"
+#define DEFAULT_MODEL "Steam Powered (Default)"
@@ -94,6 +94,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"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_StorageMissing", {CLEAR_ON_MANAGER_START, JSON}},
    {"Offroad_TemperatureTooHigh", {CLEAR_ON_MANAGER_START, JSON}},
    {"Offroad_UnregisteredHardware", {CLEAR_ON_MANAGER_START, JSON}},
    {"Offroad_UpdateFailed", {CLEAR_ON_MANAGER_START, JSON}},
@@ -149,7 +150,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"EnableCopyparty", {PERSISTENT | BACKUP, BOOL}},
    {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
    {"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},
-    {"IntelligentCruiseButtonManagement", {PERSISTENT | BACKUP , BOOL}},
    {"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
    {"IsDevelopmentBranch", {CLEAR_ON_MANAGER_START, BOOL}},
    {"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},
@@ -160,8 +160,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"SmartCruiseControlVision", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},

    // MADS params
    {"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
@@ -203,7 +201,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"LagdToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
    {"LagdToggleDelay", {PERSISTENT | BACKUP, FLOAT, "0.2"}},
    {"LagdValueCache", {PERSISTENT, FLOAT, "0.2"}},
-    {"LaneTurnDesire", {PERSISTENT | BACKUP, INT, "0"}},
+    {"LaneTurnDesire", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"LaneTurnValue", {PERSISTENT | BACKUP, FLOAT, "19.0"}},

    // mapd
@@ -39,7 +39,7 @@ All of these are examples of good PRs:
 ### First contribution

 [Projects / openpilot bounties](https://github.com/orgs/commaai/projects/26/views/1?pane=info) is the best place to get started and goes in-depth on what's expected when working on a bounty.
-There's lot of bounties that don't require a comma 3X or a car.
+There's lot of bounties that don't require a comma 3/3X or a car.

 ## Pull Requests

@@ -1,30 +0,0 @@
-# Debugging Panda Safety with Replay Drive + LLDB
-
-## 1. Start the debugger in VS Code
-
-* Select **Replay drive + Safety LLDB**.
-* Enter the route or segment when prompted.
-[<img src="https://github.com/user-attachments/assets/b0cc320a-083e-46a7-a9f8-ca775bbe5604">](https://github.com/user-attachments/assets/b0cc320a-083e-46a7-a9f8-ca775bbe5604)
-
-## 2. Attach LLDB
-
-* When prompted, pick the running **`replay_drive` process**.
-* ⚠️ Attach quickly, or `replay_drive` will start consuming messages.
-
-> [!TIP]
-> Add a Python breakpoint at the start of `replay_drive.py` to pause execution and give yourself time to attach LLDB.
-
-## 3. Set breakpoints in VS Code
-Breakpoints can be set directly in `modes/xxx.h` (or any C file).
-No extra LLDB commands are required — just place breakpoints in the editor.
-
-## 4. Resume execution
-Once attached, you can step through both Python (on the replay) and C safety code as CAN logs are replayed.
-
-> [!NOTE]
-> * Use short routes for quicker iteration.
-> * Pause `replay_drive` early to avoid wasting log messages.
-
-## Video
-
-View a demo of this workflow on the PR that added it: https://github.com/commaai/openpilot/pull/36055#issue-3352911578
@@ -16,7 +16,7 @@ industry standards of safety for Level 2 Driver Assistance Systems. In particula
 ISO26262 guidelines, including those from [pertinent documents](https://www.nhtsa.gov/sites/nhtsa.dot.gov/files/documents/13498a_812_573_alcsystemreport.pdf)
 released by NHTSA. In addition, we impose strict coding guidelines (like [MISRA C : 2012](https://www.misra.org.uk/what-is-misra/))
 on parts of openpilot that are safety relevant. We also perform software-in-the-loop,
-hardware-in-the-loop, and in-vehicle tests before each software release.
+hardware-in-the-loop and in-vehicle tests before each software release.

 Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot
 ensuring two main safety requirements.
@@ -29,18 +29,8 @@ ensuring two main safety requirements.

 For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [opendbc/safety/safety](https://github.com/commaai/opendbc/tree/master/opendbc/safety/safety).

-[^1]: For these actuator limits we observe ISO11270 and ISO15622. Lateral limits described there translate to 0.9 seconds of maximum actuation to achieve a 1m lateral deviation.
+**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
+  not fully meeting the above requirements.

---
+[^1]: For these actuator limits we observe ISO11270 and ISO15622. Lateral limits described there translate to 0.9 seconds of maximum actuation to achieve a 1m lateral deviation. 

-### Forks of openpilot
-
-* Do not disable or nerf [driver monitoring](https://github.com/commaai/openpilot/tree/master/selfdrive/monitoring)
-* Do not disable or nerf [excessive actuation checks](https://github.com/commaai/openpilot/tree/master/selfdrive/selfdrived/helpers.py)
-* If your fork modifies any of the code in `opendbc/safety/`:
-   * your fork cannot use the openpilot trademark
-   * your fork must preserve the full [safety test suite](https://github.com/commaai/opendbc/tree/master/opendbc/safety/tests) and all tests must pass, including any new coverage required by the fork's changes
-
-Failure to comply with these standards will get you and your users banned from comma.ai servers.
-
-**comma.ai strongly discourages the use of openpilot forks with safety code either missing or not fully meeting the above requirements.**
@@ -1,11 +1,11 @@
-# connect to a comma 3X
+# connect to a comma 3/3X

-A comma 3X is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
+A comma 3/3X is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).

 ## Serial Console

 On both the comma three and 3X, the serial console is accessible from the main OBD-C port.
-Connect the comma 3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
+Connect the comma 3/3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.

 On the comma three, the serial console is exposed through a UART-to-USB chip, and `tools/scripts/serial.sh` can be used to connect.

@@ -45,7 +45,7 @@ In order to use ADB on your device, you'll need to perform the following steps u
    * Here's an example command for connecting to your device using its tethered connection: `adb connect 192.168.43.1:5555`

 > [!NOTE]
-> The default port for ADB is 5555 on the comma 3X.
+> The default port for ADB is 5555 on the comma 3/3X.

 For more info on ADB, see the [Android Debug Bridge (ADB) documentation](https://developer.android.com/tools/adb).

@@ -8,7 +8,7 @@ Replaying is a critical tool for openpilot development and debugging.
 Just run `tools/replay/replay --demo`.

 ## Replaying CAN data
-*Hardware required: jungle and comma 3X*
+*Hardware required: jungle and comma 3/3X*

 1. Connect your PC to a jungle.
 2.
@@ -3,7 +3,7 @@

 In 30 minutes, we'll get an openpilot development environment set up on your computer and make some changes to openpilot's UI.

-And if you have a comma 3X, we'll deploy the change to your device for testing.
+And if you have a comma 3/3X, we'll deploy the change to your device for testing.

 ## 1. Set up your development environment

@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1

 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="13.1"
+  export AGNOS_VERSION="12.8"
 fi

 export STAGING_ROOT="/data/safe_staging"
@@ -21,7 +21,7 @@ nav:
    - What is openpilot?: getting-started/what-is-openpilot.md
  - How-to:
    - Turn the speed blue: how-to/turn-the-speed-blue.md
-    - Connect to a comma 3X: how-to/connect-to-comma.md
+    - Connect to a comma 3/3X: how-to/connect-to-comma.md
    # - Make your first pull request: how-to/make-first-pr.md
    #- Replay a drive: how-to/replay-a-drive.md
  - Concepts:
@@ -36,9 +36,6 @@ dependencies = [
  "pyopenssl < 24.3.0",
  "pyaudio",

-  # ubloxd (TODO: just use struct)
-  "kaitaistruct",
-
  # panda
  "libusb1",
  "spidev; platform_system == 'Linux'",
@@ -104,9 +101,8 @@ dev = [
  "av",
  "azure-identity",
  "azure-storage-blob",
-  "dbus-next", # TODO: remove once we moved everything to jeepney
+  "dbus-next",
  "dictdiffer",
-  "jeepney",
  "matplotlib",
  "opencv-python-headless",
  "parameterized >=0.8, <0.9",
@@ -124,7 +120,6 @@ dev = [

 tools = [
  "metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl ; (platform_machine != 'aarch64')",
-  "dearpygui>=2.1.0",
 ]

 [project.urls]
@@ -162,6 +157,7 @@ testpaths = [
  "system/camerad",
  "system/hardware",
  "system/loggerd",
+  "system/proclogd",
  "system/tests",
  "system/ubloxd",
  "system/webrtc",
@@ -177,7 +173,7 @@ quiet-level = 3
 # if you've got a short variable name that's getting flagged, add it here
 ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl,lite"
 builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
-skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.ts, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*"
+skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.ts, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*"

 [tool.mypy]
 python_version = "3.11"
@@ -251,7 +247,6 @@ exclude = [
  "teleoprtc_repo",
  "third_party",
  "*.ipynb",
-  "generated",
 ]
 lint.flake8-implicit-str-concat.allow-multiline = false

@@ -31,13 +31,25 @@ while read hash submodule ref; do
      exit 1
    fi
  else
-    git -C $submodule fetch --depth 100 origin master
-    git -C $submodule branch -r --contains $hash | grep "origin/master"
-    if [ "$?" -eq 0 ]; then
-      echo "$submodule ok"
+    # Check against master-tici for specific submodules, master for others
+    if [ "$submodule" = "opendbc_repo" ] || [ "$submodule" = "panda" ]; then
+      git -C $submodule fetch --depth 100 origin master-tici
+      remote_hash=$(git -C $submodule rev-parse FETCH_HEAD)
+      if git -C $submodule merge-base --is-ancestor $hash $remote_hash; then
+        echo "$submodule ok"
+      else
+        echo "$submodule: $hash is not on master-tici"
+        exit 1
+      fi
    else
-      echo "$submodule: $hash is not on master"
-      exit 1
+      git -C $submodule fetch --depth 100 origin master
+      git -C $submodule branch -r --contains $hash | grep "origin/master"
+      if [ "$?" -eq 0 ]; then
+        echo "$submodule ok"
+      else
+        echo "$submodule: $hash is not on master"
+        exit 1
+      fi
    fi
  fi
 done <<< $(git submodule status --recursive)
@@ -1,8 +1,8 @@
 if [ "$1" = "base" ]; then
-  export DOCKER_IMAGE=sunnypilot-base
+  export DOCKER_IMAGE=sunnypilot-tici-base
  export DOCKER_FILE=Dockerfile.sunnypilot_base
 elif [ "$1" = "prebuilt" ]; then
-  export DOCKER_IMAGE=sunnypilot-prebuilt
+  export DOCKER_IMAGE=sunnypilot-tici-prebuilt
  export DOCKER_FILE=Dockerfile.sunnypilot
 else
  echo "Invalid docker build image: '$1'"
@@ -14,7 +14,7 @@ def setup_argument_parser():
  parser.add_argument('--pr-data', type=str, help='PR data in JSON format')
  parser.add_argument('--source-branch', type=str, default='master',
                      help='Source branch for merging')
-  parser.add_argument('--target-branch', type=str, default='master-dev-test',
+  parser.add_argument('--target-branch', type=str, default='master-dev-c3-new-test',
                      help='Target branch for merging')
  parser.add_argument('--squash-script-path', type=str, required=True,
                      help='Path to the squash_and_merge.py script')
@@ -179,7 +179,7 @@ class Car:
    self.params.put_nonblocking("CarParamsSPPersistent", cp_sp_bytes)

    self.mock_carstate = MockCarState()
-    self.v_cruise_helper = VCruiseHelper(self.CP, self.CP_SP)
+    self.v_cruise_helper = VCruiseHelper(self.CP)

    self.is_metric = self.params.get_bool("IsMetric")
    self.experimental_mode = self.params.get_bool("ExperimentalMode")
@@ -30,8 +30,8 @@ CRUISE_INTERVAL_SIGN = {


 class VCruiseHelper(VCruiseHelperSP):
-  def __init__(self, CP, CP_SP):
-    VCruiseHelperSP.__init__(self, CP, CP_SP)
+  def __init__(self, CP):
+    VCruiseHelperSP.__init__(self)
    self.CP = CP
    self.v_cruise_kph = V_CRUISE_UNSET
    self.v_cruise_cluster_kph = V_CRUISE_UNSET
@@ -46,13 +46,10 @@ class VCruiseHelper(VCruiseHelperSP):
  def update_v_cruise(self, CS, enabled, is_metric):
    self.v_cruise_kph_last = self.v_cruise_kph

-    self.get_minimum_set_speed(is_metric)
-
    if CS.cruiseState.available:
-      _enabled = self.update_enabled_state(CS, enabled)
-      if not self.CP.pcmCruise or (not self.CP_SP.pcmCruiseSpeed and _enabled):
+      if not self.CP.pcmCruise:
        # if stock cruise is completely disabled, then we can use our own set speed logic
-        self._update_v_cruise_non_pcm(CS, _enabled, is_metric)
+        self._update_v_cruise_non_pcm(CS, enabled, is_metric)
        self.v_cruise_cluster_kph = self.v_cruise_kph
        self.update_button_timers(CS, enabled)
      else:
@@ -114,7 +111,7 @@ class VCruiseHelper(VCruiseHelperSP):
    if CS.gasPressed and button_type in (ButtonType.decelCruise, ButtonType.setCruise):
      self.v_cruise_kph = max(self.v_cruise_kph, CS.vEgo * CV.MS_TO_KPH)

-    self.v_cruise_kph = np.clip(round(self.v_cruise_kph, 1), self.v_cruise_min, V_CRUISE_MAX)
+    self.v_cruise_kph = np.clip(round(self.v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX)

  def update_button_timers(self, CS, enabled):
    # increment timer for buttons still pressed
@@ -60,8 +60,5 @@ def convert_carControlSP(struct: capnp.lib.capnp._DynamicStructReader) -> struct
  struct_dataclass.params = [structs.CarControlSP.Param(**remove_deprecated(p)) for p in struct_dict.get('params', [])]
  struct_dataclass.leadOne = structs.LeadData(**remove_deprecated(struct_dict.get('leadOne', {})))
  struct_dataclass.leadTwo = structs.LeadData(**remove_deprecated(struct_dict.get('leadTwo', {})))
-  struct_dataclass.intelligentCruiseButtonManagement = structs.IntelligentCruiseButtonManagement(
-    **remove_deprecated(struct_dict.get('intelligentCruiseButtonManagement', {}))
-  )

  return struct_dataclass
@@ -1,12 +1,15 @@
 import os
+import math
 import hypothesis.strategies as st
 from hypothesis import Phase, given, settings
 from parameterized import parameterized

 from cereal import car, custom
 from opendbc.car import DT_CTRL
+from opendbc.car.car_helpers import interfaces
 from opendbc.car.structs import CarParams
-from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface
+from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface_args
+from opendbc.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS
 from opendbc.car.mock.values import CAR as MOCK
 from opendbc.car.values import PLATFORMS
 from openpilot.selfdrive.car.helpers import convert_carControlSP
@@ -18,6 +21,11 @@ from openpilot.selfdrive.test.fuzzy_generation import FuzzyGenerator

 from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces

+ALL_ECUS = {ecu for ecus in FW_VERSIONS.values() for ecu in ecus.keys()}
+ALL_ECUS |= {ecu for config in FW_QUERY_CONFIGS.values() for ecu in config.extra_ecus}
+
+ALL_REQUESTS = {tuple(r.request) for config in FW_QUERY_CONFIGS.values() for r in config.requests}
+
 MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '60'))


@@ -29,10 +37,43 @@ class TestCarInterfaces:
            phases=(Phase.reuse, Phase.generate, Phase.shrink))
  @given(data=st.data())
  def test_car_interfaces(self, car_name, data):
-    car_interface = get_fuzzy_car_interface(car_name, data.draw)
-    car_params = car_interface.CP.as_reader()
-    car_params_sp = car_interface.CP_SP
+    CarInterface = interfaces[car_name]
+
+    args = get_fuzzy_car_interface_args(data.draw)
+
+    car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
+                                         alpha_long=args['alpha_long'], is_release=False, docs=False)
+    car_params_sp = CarInterface.get_params_sp(car_params, car_name, args['fingerprints'], args['car_fw'],
+                                               alpha_long=args['alpha_long'], docs=False)
+    car_params = car_params.as_reader()
+    car_interface = CarInterface(car_params, car_params_sp)
    sunnypilot_interfaces.setup_interfaces(car_interface)
+    assert car_params
+    assert car_params_sp
+    assert car_interface
+
+    assert car_params.mass > 1
+    assert car_params.wheelbase > 0
+    # centerToFront is center of gravity to front wheels, assert a reasonable range
+    assert car_params.wheelbase * 0.3 < car_params.centerToFront < car_params.wheelbase * 0.7
+    assert car_params.maxLateralAccel > 0
+
+    # Longitudinal sanity checks
+    assert len(car_params.longitudinalTuning.kpV) == len(car_params.longitudinalTuning.kpBP)
+    assert len(car_params.longitudinalTuning.kiV) == len(car_params.longitudinalTuning.kiBP)
+
+    # Lateral sanity checks
+    if car_params.steerControlType != CarParams.SteerControlType.angle:
+      tune = car_params.lateralTuning
+      if tune.which() == 'pid':
+        if car_name != MOCK.MOCK:
+          assert not math.isnan(tune.pid.kf) and tune.pid.kf > 0
+          assert len(tune.pid.kpV) > 0 and len(tune.pid.kpV) == len(tune.pid.kpBP)
+          assert len(tune.pid.kiV) > 0 and len(tune.pid.kiV) == len(tune.pid.kiBP)
+
+      elif tune.which() == 'torque':
+        assert not math.isnan(tune.torque.kf) and tune.torque.kf > 0
+        assert not math.isnan(tune.torque.friction) and tune.torque.friction > 0

    cc_msg = FuzzyGenerator.get_random_msg(data.draw, car.CarControl, real_floats=True)
    cc_sp_msg = FuzzyGenerator.get_random_msg(data.draw, custom.CarControlSP, real_floats=True)
@@ -5,7 +5,7 @@ import numpy as np
 from parameterized import parameterized_class
 from cereal import log
 from openpilot.selfdrive.car.cruise import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_INITIAL, IMPERIAL_INCREMENT
-from cereal import car, custom
+from cereal import car
 from openpilot.common.constants import CV
 from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver

@@ -49,8 +49,7 @@ class TestCruiseSpeed:
 class TestVCruiseHelper:
  def setup_method(self):
    self.CP = car.CarParams(pcmCruise=self.pcm_cruise)
-    self.CP_SP = custom.CarParamsSP()
-    self.v_cruise_helper = VCruiseHelper(self.CP, self.CP_SP)
+    self.v_cruise_helper = VCruiseHelper(self.CP)
    self.reset_cruise_speed_state()

  def reset_cruise_speed_state(self):
@@ -116,8 +116,7 @@ class Controls(ControlsExt, ModelStateBase):

    CC.latActive = _lat_active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
                   (not standstill or self.CP.steerAtStandstill)
-    CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and \
-                    (self.CP.openpilotLongitudinalControl or not self.CP_SP.pcmCruiseSpeed)
+    CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and self.CP.openpilotLongitudinalControl

    actuators = CC.actuators
    actuators.longControlState = self.LoC.long_control_state
@@ -169,7 +168,7 @@ class Controls(ControlsExt, ModelStateBase):
      CC.orientationNED = self.calibrated_pose.orientation.xyz.tolist()
      CC.angularVelocity = self.calibrated_pose.angular_velocity.xyz.tolist()

-    CC.cruiseControl.override = CC.enabled and not CC.longActive and (self.CP.openpilotLongitudinalControl or not self.CP_SP.pcmCruiseSpeed)
+    CC.cruiseControl.override = CC.enabled and not CC.longActive and self.CP.openpilotLongitudinalControl
    CC.cruiseControl.cancel = CS.cruiseState.enabled and (not CC.enabled or not self.CP.pcmCruise)
    CC.cruiseControl.resume = CC.enabled and CS.cruiseState.standstill and not self.sm['longitudinalPlan'].shouldStop

@@ -1,4 +1,4 @@
-from cereal import log
+from cereal import log, custom
 from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_MDL
 from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController, AutoLaneChangeMode
@@ -31,6 +31,12 @@ DESIRES = {
  },
 }

+TURN_DESIRES = {
+  custom.TurnDirection.none: log.Desire.none,
+  custom.TurnDirection.turnLeft: log.Desire.turnLeft,
+  custom.TurnDirection.turnRight: log.Desire.turnRight,
+}
+

 class DesireHelper:
  def __init__(self):
@@ -42,18 +48,21 @@ class DesireHelper:
    self.prev_one_blinker = False
    self.desire = log.Desire.none
    self.alc = AutoLaneChangeController(self)
-    self.lane_turn_controller = LaneTurnController()
-
-  @staticmethod
-  def get_lane_change_direction(CS):
-    return LaneChangeDirection.left if CS.leftBlinker else LaneChangeDirection.right
+    self.lane_turn_controller = LaneTurnController(self)
+    self.lane_turn_direction = custom.TurnDirection.none

  def update(self, carstate, lateral_active, lane_change_prob):
    self.alc.update_params()
+    self.lane_turn_controller.update_params()
    v_ego = carstate.vEgo
    one_blinker = carstate.leftBlinker != carstate.rightBlinker
    below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN

+    # Lane turn controller update
+    self.lane_turn_controller.update_lane_turn(blindspot_left=carstate.leftBlindspot, blindspot_right=carstate.rightBlindspot,
+                                               left_blinker=carstate.leftBlinker, right_blinker=carstate.rightBlinker, v_ego=v_ego)
+    self.lane_turn_direction = self.lane_turn_controller.get_turn_direction()
+
    if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX or self.alc.lane_change_set_timer == AutoLaneChangeMode.OFF:
      self.lane_change_state = LaneChangeState.off
      self.lane_change_direction = LaneChangeDirection.none
@@ -62,13 +71,12 @@ class DesireHelper:
      if self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker and not below_lane_change_speed:
        self.lane_change_state = LaneChangeState.preLaneChange
        self.lane_change_ll_prob = 1.0
-        # Initialize lane change direction to prevent UI alert flicker
-        self.lane_change_direction = self.get_lane_change_direction(carstate)

      # LaneChangeState.preLaneChange
      elif self.lane_change_state == LaneChangeState.preLaneChange:
-        # Update lane change direction
-        self.lane_change_direction = self.get_lane_change_direction(carstate)
+        # Set lane change direction
+        self.lane_change_direction = LaneChangeDirection.left if \
+          carstate.leftBlinker else LaneChangeDirection.right

        torque_applied = carstate.steeringPressed and \
                         ((carstate.steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or
@@ -113,13 +121,10 @@ class DesireHelper:

    self.prev_one_blinker = one_blinker

-    self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
-
-    # Lane turn controller update
-    turn_desire = self.lane_turn_controller.update(carstate.leftBlindspot, carstate.rightBlindspot, carstate.leftBlinker, carstate.rightBlinker,
-                                                   carstate.vEgo, carstate.steeringPressed, carstate.steeringTorque)
-    if turn_desire != log.Desire.none:
-      self.desire = turn_desire
+    if self.lane_turn_direction != custom.TurnDirection.none:
+      self.desire = TURN_DESIRES[self.lane_turn_direction]
+    else:
+      self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]

    # Send keep pulse once per second during LaneChangeStart.preLaneChange
    if self.lane_change_state in (LaneChangeState.off, LaneChangeState.laneChangeStarting):
@@ -56,8 +56,10 @@ class LatControlTorque(LatControl):
      actual_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
      roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY
      curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
-
      desired_lateral_accel = desired_curvature * CS.vEgo ** 2
+
+      # desired rate is the desired rate of change in the setpoint, not the absolute desired curvature
+      # desired_lateral_jerk = desired_curvature_rate * CS.vEgo ** 2
      actual_lateral_accel = actual_curvature * CS.vEgo ** 2
      lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2

@@ -69,8 +71,6 @@ class LatControlTorque(LatControl):
      # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
      pid_log.error = float(setpoint - measurement)
      ff = gravity_adjusted_lateral_accel
-      # latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll
-      ff -= self.torque_params.latAccelOffset
      ff += get_friction(desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)

      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
@@ -146,9 +146,6 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
      clipped_accel_coast_interp = np.interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_clip[1], clipped_accel_coast])
      accel_clip[1] = min(accel_clip[1], clipped_accel_coast_interp)

-    # Get new v_cruise and a_desired from Smart Cruise Control
-    v_cruise, self.a_desired = LongitudinalPlannerSP.update_targets(self, sm, self.v_desired_filter.x, self.a_desired, v_cruise)
-
    if force_slow_decel:
      v_cruise = 0.0

@@ -1,70 +0,0 @@
-import numpy as np
-from cereal import car, messaging
-from opendbc.car import ACCELERATION_DUE_TO_GRAVITY
-from opendbc.car import structs
-from opendbc.car.lateral import get_friction, FRICTION_THRESHOLD
-from openpilot.common.realtime import DT_MDL
-from openpilot.selfdrive.locationd.torqued import TorqueEstimator, MIN_BUCKET_POINTS, POINTS_PER_BUCKET, STEER_BUCKET_BOUNDS
-
-np.random.seed(0)
-
-LA_ERR_STD = 1.0
-INPUT_NOISE_STD = 0.08
-V_EGO = 30.0
-
-WARMUP_BUCKET_POINTS = (1.5*MIN_BUCKET_POINTS).astype(int)
-STRAIGHT_ROAD_LA_BOUNDS = (0.02, 0.03)
-
-ROLL_BIAS_DEG = 2.0
-ROLL_COMPENSATION_BIAS = ACCELERATION_DUE_TO_GRAVITY*float(np.sin(np.deg2rad(ROLL_BIAS_DEG)))
-TORQUE_TUNE = structs.CarParams.LateralTorqueTuning(latAccelFactor=2.0, latAccelOffset=0.0, friction=0.2)
-TORQUE_TUNE_BIASED = structs.CarParams.LateralTorqueTuning(latAccelFactor=2.0, latAccelOffset=-ROLL_COMPENSATION_BIAS, friction=0.2)
-
-def generate_inputs(torque_tune, la_err_std, input_noise_std=None):
-  rng = np.random.default_rng(0)
-  steer_torques = np.concat([rng.uniform(bnd[0], bnd[1], pts) for bnd, pts in zip(STEER_BUCKET_BOUNDS, WARMUP_BUCKET_POINTS, strict=True)])
-  la_errs = rng.normal(scale=la_err_std, size=steer_torques.size)
-  frictions = np.array([get_friction(la_err, 0.0, FRICTION_THRESHOLD, torque_tune) for la_err in la_errs])
-  lat_accels = torque_tune.latAccelFactor*steer_torques + torque_tune.latAccelOffset + frictions
-  if input_noise_std is not None:
-    steer_torques += rng.normal(scale=input_noise_std, size=steer_torques.size)
-    lat_accels += rng.normal(scale=input_noise_std, size=steer_torques.size)
-  return steer_torques, lat_accels
-
-def get_warmed_up_estimator(steer_torques, lat_accels):
-  est = TorqueEstimator(car.CarParams())
-  for steer_torque, lat_accel in zip(steer_torques, lat_accels, strict=True):
-    est.filtered_points.add_point(steer_torque, lat_accel)
-  return est
-
-def simulate_straight_road_msgs(est):
-  carControl = messaging.new_message('carControl').carControl
-  carOutput = messaging.new_message('carOutput').carOutput
-  carState = messaging.new_message('carState').carState
-  livePose = messaging.new_message('livePose').livePose
-  carControl.latActive = True
-  carState.vEgo = V_EGO
-  carState.steeringPressed = False
-  ts = DT_MDL*np.arange(2*POINTS_PER_BUCKET)
-  steer_torques = np.concat((np.linspace(-0.03, -0.02, POINTS_PER_BUCKET), np.linspace(0.02, 0.03, POINTS_PER_BUCKET)))
-  lat_accels = TORQUE_TUNE.latAccelFactor * steer_torques
-  for t, steer_torque, lat_accel in zip(ts, steer_torques, lat_accels, strict=True):
-    carOutput.actuatorsOutput.torque = float(-steer_torque)
-    livePose.orientationNED.x = float(np.deg2rad(ROLL_BIAS_DEG))
-    livePose.angularVelocityDevice.z = float(lat_accel / V_EGO)
-    for which, msg in (('carControl', carControl), ('carOutput', carOutput), ('carState', carState), ('livePose', livePose)):
-      est.handle_log(t, which, msg)
-
-def test_estimated_offset():
-  steer_torques, lat_accels = generate_inputs(TORQUE_TUNE_BIASED, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD)
-  est = get_warmed_up_estimator(steer_torques, lat_accels)
-  msg = est.get_msg()
-  # TODO add lataccelfactor and friction check when we have more accurate estimates
-  assert abs(msg.liveTorqueParameters.latAccelOffsetRaw - TORQUE_TUNE_BIASED.latAccelOffset) < 0.1
-
-def test_straight_road_roll_bias():
-  steer_torques, lat_accels = generate_inputs(TORQUE_TUNE, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD)
-  est = get_warmed_up_estimator(steer_torques, lat_accels)
-  simulate_straight_road_msgs(est)
-  msg = est.get_msg()
-  assert (msg.liveTorqueParameters.latAccelOffsetRaw < -0.05) and np.isfinite(msg.liveTorqueParameters.latAccelOffsetRaw)
@@ -13,9 +13,12 @@ class ModelConstants:
  META_T_IDXS = [2., 4., 6., 8., 10.]

  # model inputs constants
-  N_FRAMES = 2
-  MODEL_RUN_FREQ = 20
-  MODEL_CONTEXT_FREQ = 5 # "model_trained_fps"
+  MODEL_FREQ = 20
+  HISTORY_FREQ = 5
+  HISTORY_LEN_SECONDS = 5
+  TEMPORAL_SKIP = MODEL_FREQ // HISTORY_FREQ
+  FULL_HISTORY_BUFFER_LEN = MODEL_FREQ * HISTORY_LEN_SECONDS
+  INPUT_HISTORY_BUFFER_LEN = HISTORY_FREQ * HISTORY_LEN_SECONDS

  FEATURE_LEN = 512

@@ -3,7 +3,6 @@ import capnp
 import numpy as np
 from cereal import log
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan, Meta
-from openpilot.sunnypilot.models.helpers import plan_x_idxs_helper

 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')

@@ -96,8 +95,8 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
  # action
  modelV2.action = action

-  # times at X_IDXS of edges and lines
-  LINE_T_IDXS: list[float] = plan_x_idxs_helper(ModelConstants, Plan, net_output_data)
+  # times at X_IDXS of edges and lines aren't used
+  LINE_T_IDXS: list[float] = []

  # lane lines
  modelV2.init('laneLines', 4)
@@ -150,7 +149,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
  meta.hardBrakePredicted = hard_brake_predicted.item()

  # confidence
-  if vipc_frame_id % (2*ModelConstants.MODEL_RUN_FREQ) == 0:
+  if vipc_frame_id % (2*ModelConstants.MODEL_FREQ) == 0:
    # any disengage prob
    brake_disengage_probs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE]
    gas_disengage_probs = net_output_data['meta'][0,Meta.GAS_DISENGAGE]
@@ -80,64 +80,6 @@ class FrameMeta:
    if vipc is not None:
      self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof

-class InputQueues:
-  def __init__ (self, model_fps, env_fps, n_frames_input):
-    assert env_fps % model_fps == 0
-    assert env_fps >= model_fps
-    self.model_fps = model_fps
-    self.env_fps = env_fps
-    self.n_frames_input = n_frames_input
-
-    self.dtypes = {}
-    self.shapes = {}
-    self.q = {}
-
-  def update_dtypes_and_shapes(self, input_dtypes, input_shapes) -> None:
-    self.dtypes.update(input_dtypes)
-    if self.env_fps == self.model_fps:
-      self.shapes.update(input_shapes)
-    else:
-      for k in input_shapes:
-        shape = list(input_shapes[k])
-        if 'img' in k:
-          n_channels = shape[1] // self.n_frames_input
-          shape[1] = (self.env_fps // self.model_fps + (self.n_frames_input - 1)) * n_channels
-        else:
-          shape[1] = (self.env_fps // self.model_fps) * shape[1]
-        self.shapes[k] = tuple(shape)
-
-  def reset(self) -> None:
-    self.q = {k: np.zeros(self.shapes[k], dtype=self.dtypes[k]) for k in self.dtypes.keys()}
-
-  def enqueue(self, inputs:dict[str, np.ndarray]) -> None:
-    for k in inputs.keys():
-      if inputs[k].dtype != self.dtypes[k]:
-        raise ValueError(f'supplied input <{k}({inputs[k].dtype})> has wrong dtype, expected {self.dtypes[k]}')
-      input_shape = list(self.shapes[k])
-      input_shape[1] = -1
-      single_input = inputs[k].reshape(tuple(input_shape))
-      sz = single_input.shape[1]
-      self.q[k][:,:-sz] = self.q[k][:,sz:]
-      self.q[k][:,-sz:] = single_input
-
-  def get(self, *names) -> dict[str, np.ndarray]:
-    if self.env_fps == self.model_fps:
-      return {k: self.q[k] for k in names}
-    else:
-      out = {}
-      for k in names:
-        shape = self.shapes[k]
-        if 'img' in k:
-          n_channels = shape[1] // (self.env_fps // self.model_fps + (self.n_frames_input - 1))
-          out[k] = np.concatenate([self.q[k][:, s:s+n_channels] for s in np.linspace(0, shape[1] - n_channels, self.n_frames_input, dtype=int)], axis=1)
-        elif 'pulse' in k:
-          # any pulse within interval counts
-          out[k] = self.q[k].reshape((shape[0], shape[1] * self.model_fps // self.env_fps, self.env_fps // self.model_fps, -1)).max(axis=2)
-        else:
-          idxs = np.arange(-1, -shape[1], -self.env_fps // self.model_fps)[::-1]
-          out[k] = self.q[k][:, idxs]
-      return out
-
 class ModelState(ModelStateBase):
  frames: dict[str, DrivingModelFrame]
  inputs: dict[str, np.ndarray]
@@ -160,15 +102,19 @@ class ModelState(ModelStateBase):
      self.policy_output_slices = policy_metadata['output_slices']
      policy_output_size = policy_metadata['output_shapes']['outputs'][1]

-    self.frames = {name: DrivingModelFrame(context, ModelConstants.MODEL_RUN_FREQ//ModelConstants.MODEL_CONTEXT_FREQ) for name in self.vision_input_names}
+    self.frames = {name: DrivingModelFrame(context, ModelConstants.TEMPORAL_SKIP) for name in self.vision_input_names}
    self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)

+    self.full_features_buffer = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32)
+    self.full_desire = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32)
+    self.temporal_idxs = slice(-1-(ModelConstants.TEMPORAL_SKIP*(ModelConstants.INPUT_HISTORY_BUFFER_LEN-1)), None, ModelConstants.TEMPORAL_SKIP)
+
    # policy inputs
-    self.numpy_inputs = {k: np.zeros(self.policy_input_shapes[k], dtype=np.float32) for k in self.policy_input_shapes}
-    self.full_input_queues = InputQueues(ModelConstants.MODEL_CONTEXT_FREQ, ModelConstants.MODEL_RUN_FREQ, ModelConstants.N_FRAMES)
-    for k in ['desire_pulse', 'features_buffer']:
-      self.full_input_queues.update_dtypes_and_shapes({k: self.numpy_inputs[k].dtype}, {k: self.numpy_inputs[k].shape})
-    self.full_input_queues.reset()
+    self.numpy_inputs = {
+      'desire': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32),
+      'traffic_convention': np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32),
+      'features_buffer': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32),
+    }

    # img buffers are managed in openCL transform code
    self.vision_inputs: dict[str, Tensor] = {}
@@ -190,10 +136,15 @@ class ModelState(ModelStateBase):
  def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
                inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
    # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
-    inputs['desire_pulse'][0] = 0
-    new_desire = np.where(inputs['desire_pulse'] - self.prev_desire > .99, inputs['desire_pulse'], 0)
-    self.prev_desire[:] = inputs['desire_pulse']
+    inputs['desire'][0] = 0
+    new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
+    self.prev_desire[:] = inputs['desire']

+    self.full_desire[0,:-1] = self.full_desire[0,1:]
+    self.full_desire[0,-1] = new_desire
+    self.numpy_inputs['desire'][:] = self.full_desire.reshape((1,ModelConstants.INPUT_HISTORY_BUFFER_LEN,ModelConstants.TEMPORAL_SKIP,-1)).max(axis=2)
+
+    self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
    imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.vision_input_names}

    if TICI and not USBGPU:
@@ -212,10 +163,9 @@ class ModelState(ModelStateBase):
    self.vision_output = self.vision_run(**self.vision_inputs).contiguous().realize().uop.base.buffer.numpy()
    vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(self.vision_output, self.vision_output_slices))

-    self.full_input_queues.enqueue({'features_buffer': vision_outputs_dict['hidden_state'], 'desire_pulse': new_desire})
-    for k in ['desire_pulse', 'features_buffer']:
-      self.numpy_inputs[k][:] = self.full_input_queues.get(k)[k]
-    self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
+    self.full_features_buffer[0,:-1] = self.full_features_buffer[0,1:]
+    self.full_features_buffer[0,-1] = vision_outputs_dict['hidden_state'][0, :]
+    self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[0, self.temporal_idxs]

    self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy()
    policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices))
@@ -273,7 +223,7 @@ def main(demo=False):
  params = Params()

  # setup filter to track dropped frames
-  frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_RUN_FREQ)
+  frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_FREQ)
  frame_id = 0
  last_vipc_frame_id = 0
  run_count = 0
@@ -370,7 +320,7 @@ def main(demo=False):
    bufs = {name: buf_extra if 'big' in name else buf_main for name in model.vision_input_names}
    transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.vision_input_names}
    inputs:dict[str, np.ndarray] = {
-      'desire_pulse': vec_desire,
+      'desire': vec_desire,
      'traffic_convention': traffic_convention,
    }

@@ -398,7 +348,7 @@ def main(demo=False):
      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
      modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
      modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
-      mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_controller.turn_direction
+      mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
      drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
      drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ebb38a934d6472c061cc6010f46d9720ca132d631a47e585a893bdd41ade2419
-size 12343535
+oid sha256:04b763fb71efe57a8a4c4168a8043ecd58939015026ded0dc755ded6905ac251
+size 12343523
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:befac016a247b7ad5dc5b55d339d127774ed7bd2b848f1583f72aa4caee37781
+oid sha256:e66bb8d53eced3786ed71a59b55ffc6810944cb217f0518621cc76303260a1ef
 size 46271991
@@ -84,10 +84,12 @@ Panda *connect(std::string serial="", uint32_t index=0) {
    panda->set_can_fd_auto(i, true);
  }

-  bool is_supported_panda = std::find(SUPPORTED_PANDA_TYPES.begin(), SUPPORTED_PANDA_TYPES.end(), panda->hw_type) != SUPPORTED_PANDA_TYPES.end();
+  bool is_deprecated_panda = std::find(DEPRECATED_PANDA_TYPES.begin(),
+                                       DEPRECATED_PANDA_TYPES.end(),
+                                       panda->hw_type) != DEPRECATED_PANDA_TYPES.end();

-  if (!is_supported_panda) {
-    LOGW("panda %s is not supported (hw_type: %i), skipping firmware check...", panda->hw_serial().c_str(), static_cast<uint16_t>(panda->hw_type));
+  if (is_deprecated_panda) {
+    LOGW("panda %s is deprecated (hw_type: %i), skipping firmware check...", panda->hw_serial().c_str(), static_cast<uint16_t>(panda->hw_type));
    return panda.release();
  }

@@ -173,6 +175,7 @@ void fill_panda_state(cereal::PandaState::Builder &ps, cereal::PandaState::Panda
  ps.setHarnessStatus(cereal::PandaState::HarnessStatus(health.car_harness_status_pkt));
  ps.setInterruptLoad(health.interrupt_load_pkt);
  ps.setFanPower(health.fan_power);
+  ps.setFanStallCount(health.fan_stall_count);
  ps.setSafetyRxChecksInvalid((bool)(health.safety_rx_checks_invalid_pkt));
  ps.setSpiErrorCount(health.spi_error_count_pkt);
  ps.setSbu1Voltage(health.sbu1_voltage_mV / 1000.0f);
@@ -9,10 +9,13 @@
 void pandad_main_thread(std::vector<std::string> serials);

 // deprecated devices
-static const std::vector<cereal::PandaState::PandaType> SUPPORTED_PANDA_TYPES = {
-  cereal::PandaState::PandaType::RED_PANDA,
-  cereal::PandaState::PandaType::TRES,
-  cereal::PandaState::PandaType::CUATRO,
+static const std::vector<cereal::PandaState::PandaType> DEPRECATED_PANDA_TYPES = {
+  cereal::PandaState::PandaType::WHITE_PANDA,
+  cereal::PandaState::PandaType::GREY_PANDA,
+  cereal::PandaState::PandaType::BLACK_PANDA,
+  cereal::PandaState::PandaType::PEDAL,
+  cereal::PandaState::PandaType::UNO,
+  cereal::PandaState::PandaType::RED_PANDA_V2
 };


@@ -29,12 +29,6 @@ def flash_panda(panda_serial: str) -> Panda:
    HARDWARE.recover_internal_panda()
    raise

-  # skip flashing if the detected panda is not supported
-  supported_panda = check_panda_support(panda)
-  if not supported_panda:
-    cloudlog.warning(f"Panda {panda_serial} is not supported (hw_type: {panda.get_type()}), skipping flash...")
-    return panda
-
  fw_signature = get_expected_signature(panda)
  internal_panda = panda.is_internal()

@@ -42,6 +36,12 @@ def flash_panda(panda_serial: str) -> Panda:
  panda_signature = b"" if panda.bootstub else panda.get_signature()
  cloudlog.warning(f"Panda {panda_serial} connected, version: {panda_version}, signature {panda_signature.hex()[:16]}, expected {fw_signature.hex()[:16]}")

+  # skip flashing if the detected device is deprecated from upstream
+  hw_type = panda.get_type()
+  if hw_type in Panda.DEPRECATED_DEVICES:
+    cloudlog.warning(f"Panda {panda_serial} is deprecated (hw_type: {hw_type}), skipping flash...")
+    return panda
+
  if panda.bootstub or panda_signature != fw_signature:
    cloudlog.info("Panda firmware out of date, update required")
    panda.flash()
@@ -67,14 +67,6 @@ def flash_panda(panda_serial: str) -> Panda:
  return panda


-def check_panda_support(panda) -> bool:
-  hw_type = panda.get_type()
-  if hw_type in Panda.SUPPORTED_DEVICES:
-    return True
-
-  return False
-
-
 def main() -> None:
  # signal pandad to close the relay and exit
  def signal_handler(signum, frame):
@@ -99,6 +91,11 @@ def main() -> None:
      cloudlog.event("pandad.flash_and_connect", count=count)
      params.remove("PandaSignatures")

+      # TODO: remove this in the next AGNOS
+      # wait until USB is up before counting
+      if time.monotonic() < 60.:
+        no_internal_panda_count = 0
+
      # Handle missing internal panda
      if no_internal_panda_count > 0:
        if no_internal_panda_count == 3:
@@ -148,12 +145,6 @@ def main() -> None:
      params.put("PandaSignatures", b','.join(p.get_signature() for p in pandas))

      for panda in pandas:
-        # skip health check if the detected panda is not supported
-        supported_panda = check_panda_support(panda)
-        if not supported_panda:
-          cloudlog.warning(f"Panda {panda.get_usb_serial()} is not supported (hw_type: {panda.get_type()}), skipping health check...")
-          continue
-
        # check health for lost heartbeat
        health = panda.health()
        if health["heartbeat_lost"]:
@@ -22,6 +22,8 @@ class TestPandad:
    if len(Panda.list()) == 0:
      self._run_test(60)

+    self.spi = HARDWARE.get_device_type() != 'tici'
+
  def teardown_method(self):
    managed_processes['pandad'].stop()

@@ -104,9 +106,11 @@ class TestPandad:
    # - 0.2s pandad -> pandad
    # - plus some buffer
    print("startup times", ts, sum(ts) / len(ts))
-    assert 0.1 < (sum(ts)/len(ts)) < 0.7
+    assert 0.1 < (sum(ts)/len(ts)) < (0.7 if self.spi else 5.0)

  def test_protocol_version_check(self):
+    if not self.spi:
+      pytest.skip("SPI test")
    # flash old fw
    fn = os.path.join(HERE, "bootstub.panda_h7_spiv0.bin")
    self._flash_bootstub_and_test(fn, expect_mismatch=True)
@@ -6,6 +6,7 @@ import random

 import cereal.messaging as messaging
 from cereal.services import SERVICE_LIST
+from openpilot.system.hardware import HARDWARE
 from openpilot.selfdrive.test.helpers import with_processes
 from openpilot.selfdrive.pandad.tests.test_pandad_loopback import setup_pandad, send_random_can_messages

@@ -15,6 +16,8 @@ JUNGLE_SPAM = "JUNGLE_SPAM" in os.environ
 class TestBoarddSpi:
  @classmethod
  def setup_class(cls):
+    if HARDWARE.get_device_type() == 'tici':
+      pytest.skip("only for spi pandas")
    os.environ['STARTED'] = '1'
    os.environ['SPI_ERR_PROB'] = '0.001'
    if not JUNGLE_SPAM:
@@ -29,6 +29,10 @@
    "text": "Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.",
    "severity": 1
  },
+  "Offroad_StorageMissing": {
+    "text": "NVMe drive not mounted.",
+    "severity": 1
+  },
  "Offroad_CarUnrecognized": {
    "text": "sunnypilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.",
    "severity": 0
@@ -83,7 +83,7 @@ def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.S
    f"Steer Unavailable Below {get_display_speed(CP.minSteerSpeed, metric)}",
    "",
    AlertStatus.userPrompt, AlertSize.small,
-    Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 0.4)
+    Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, 0.4)


 def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
@@ -21,12 +21,12 @@ from openpilot.selfdrive.selfdrived.helpers import ExcessiveActuationCheck
 from openpilot.selfdrive.selfdrived.state import StateMachine
 from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroad_alert

+from openpilot.system.hardware import HARDWARE
 from openpilot.system.version import get_build_metadata

 from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
 from openpilot.sunnypilot.selfdrive.car.car_specific import CarSpecificEventsSP
 from openpilot.sunnypilot.selfdrive.car.cruise_helpers import CruiseHelper
-from openpilot.sunnypilot.selfdrive.car.intelligent_cruise_button_management.controller import IntelligentCruiseButtonManagement
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP

 REPLAY = "REPLAY" in os.environ
@@ -135,7 +135,13 @@ class SelfdriveD(CruiseHelper):
    self.state_machine = StateMachine()
    self.rk = Ratekeeper(100, print_delay_threshold=None)

-    self.ignored_processes = {'mapd', }
+    # some comma three with NVMe experience NVMe dropouts mid-drive that
+    # cause loggerd to crash on write, so ignore it only on that platform
+    self.ignored_processes = set()
+    nvme_expected = os.path.exists('/dev/nvme0n1') or (not os.path.isfile("/persist/comma/living-in-the-moment"))
+    if HARDWARE.get_device_type() == 'tici' and nvme_expected:
+      self.ignored_processes = {'loggerd', }
+    self.ignored_processes.update({'mapd'})

    # Determine startup event
    is_remote = build_metadata.openpilot.comma_remote or build_metadata.openpilot.sunnypilot_remote
@@ -157,7 +163,6 @@ class SelfdriveD(CruiseHelper):
    self.events_sp_prev = []

    self.mads = ModularAssistiveDrivingSystem(self)
-    self.icbm = IntelligentCruiseButtonManagement(self.CP, self.CP_SP)

    self.car_events_sp = CarSpecificEventsSP(self.CP, self.params)

@@ -444,8 +449,6 @@ class SelfdriveD(CruiseHelper):
          self.events.add(EventName.personalityChanged)
        self.experimental_mode_switched = False

-    self.icbm.run(CS, self.sm['carControl'], self.is_metric)
-
  def data_sample(self):
    _car_state = messaging.recv_one(self.car_state_sock)
    CS = _car_state.carState if _car_state else self.CS_prev
@@ -550,11 +553,6 @@ class SelfdriveD(CruiseHelper):
    mads.active = self.mads.active
    mads.available = self.mads.enabled_toggle

-    icbm = ss_sp.intelligentCruiseButtonManagement
-    icbm.state = self.icbm.state
-    icbm.sendButton = self.icbm.cruise_button
-    icbm.vTarget = self.icbm.v_target
-
    self.pm.send('selfdriveStateSP', ss_sp_msg)

    # onroadEventsSP - logged every second or on change
@@ -595,7 +595,7 @@ def get_custom_params_from_lr(lr: LogIterable, initial_state: str = "first") ->
  if len(live_calibration) > 0:
    custom_params["CalibrationParams"] = live_calibration[msg_index].as_builder().to_bytes()
  if len(live_parameters) > 0:
-    custom_params["LiveParametersV2"] = live_parameters[msg_index].as_builder().to_bytes()
+    custom_params["LiveParameters"] = live_parameters[msg_index].as_builder().to_bytes()
  if len(live_torque_parameters) > 0:
    custom_params["LiveTorqueParameters"] = live_torque_parameters[msg_index].as_builder().to_bytes()

@@ -1 +1 @@
-afcab1abb62b9d5678342956cced4712f44e909e
+6d3219bca9f66a229b38a5382d301a92b0147edb
@@ -18,6 +18,7 @@ from openpilot.common.timeout import Timeout
 from openpilot.common.params import Params
 from openpilot.selfdrive.selfdrived.events import EVENTS, ET
 from openpilot.selfdrive.test.helpers import set_params_enabled, release_only
+from openpilot.system.hardware import HARDWARE
 from openpilot.system.hardware.hw import Paths
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.log_time_series import msgs_to_time_series
@@ -32,7 +33,7 @@ CPU usage budget
 TEST_DURATION = 25
 LOG_OFFSET = 8

-MAX_TOTAL_CPU = 300.  # total for all 8 cores
+MAX_TOTAL_CPU = 280.  # total for all 8 cores
 PROCS = {
  # Baseline CPU usage by process
  "selfdrive.controls.controlsd": 16.0,
@@ -56,20 +57,30 @@ PROCS = {
  "selfdrive.ui.soundd": 3.0,
  "selfdrive.ui.feedback.feedbackd": 1.0,
  "selfdrive.monitoring.dmonitoringd": 4.0,
-  "system.proclogd": 3.0,
+  "./proclogd": 2.0,
  "system.logmessaged": 1.0,
  "system.tombstoned": 0,
-  "system.journald": 1.0,
+  "./logcatd": 1.0,
  "system.micd": 5.0,
  "system.timed": 0,
  "selfdrive.pandad.pandad": 0,
  "system.statsd": 1.0,
  "system.loggerd.uploader": 15.0,
  "system.loggerd.deleter": 1.0,
-  "./pandad": 19.0,
-  "system.qcomgpsd.qcomgpsd": 1.0,
 }

+PROCS.update({
+  "tici": {
+    "./pandad": 5.0,
+    "./ubloxd": 1.0,
+    "system.ubloxd.pigeond": 6.0,
+  },
+  "tizi": {
+     "./pandad": 19.0,
+    "system.qcomgpsd.qcomgpsd": 1.0,
+  }
+}.get(HARDWARE.get_device_type(), {}))
+
 TIMINGS = {
  # rtols: max/min, rsd
  "can": [2.5, 0.35],
@@ -63,20 +63,14 @@ class MainLayout(Widget):
      # Don't hide sidebar from interactive timeout
      if self._current_mode != MainState.ONROAD:
        self._sidebar.set_visible(False)
-      self._set_current_layout(MainState.ONROAD)
+      self._current_mode = MainState.ONROAD
    else:
-      self._set_current_layout(MainState.HOME)
+      self._current_mode = MainState.HOME
      self._sidebar.set_visible(True)

-  def _set_current_layout(self, layout: MainState):
-    if layout != self._current_mode:
-      self._layouts[self._current_mode].hide_event()
-      self._current_mode = layout
-      self._layouts[self._current_mode].show_event()
-
  def open_settings(self, panel_type: PanelType):
    self._layouts[MainState.SETTINGS].set_current_panel(panel_type)
-    self._set_current_layout(MainState.SETTINGS)
+    self._current_mode = MainState.SETTINGS
    self._sidebar.set_visible(False)

  def _on_settings_clicked(self):
@@ -0,0 +1,17 @@
+import pyray as rl
+from openpilot.system.ui.lib.wifi_manager import WifiManagerWrapper
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.network import WifiManagerUI
+
+
+class NetworkLayout(Widget):
+  def __init__(self):
+    super().__init__()
+    self.wifi_manager = WifiManagerWrapper()
+    self.wifi_ui = WifiManagerUI(self.wifi_manager)
+
+  def _render(self, rect: rl.Rectangle):
+    self.wifi_ui.render(rect)
+
+  def shutdown(self):
+    self.wifi_manager.shutdown()
@@ -2,7 +2,7 @@ import pyray as rl
 import time
 import threading

-from openpilot.common.api import api_get
+from openpilot.common.api import Api, api_get
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.ui.ui_state import ui_state
@@ -11,7 +11,7 @@ from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.lib.wrap_text import wrap_text
 from openpilot.system.ui.widgets import Widget
-from openpilot.selfdrive.ui.lib.api_helpers import get_token
+

 TITLE = "Firehose Mode"
 DESCRIPTION = (
@@ -163,7 +163,7 @@ class FirehoseLayout(Widget):
      dongle_id = self.params.get("DongleId")
      if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID:
        return
-      identity_token = get_token(dongle_id)
+      identity_token = Api(dongle_id).get_token()
      response = api_get(f"v1/devices/{dongle_id}/firehose_stats", access_token=identity_token)
      if response.status_code == 200:
        data = response.json()
@@ -2,6 +2,7 @@ import pyray as rl
 from dataclasses import dataclass
 from enum import IntEnum
 from collections.abc import Callable
+from openpilot.selfdrive.ui.layouts.network import NetworkLayout
 from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout
 from openpilot.selfdrive.ui.layouts.settings.device import DeviceLayout
 from openpilot.selfdrive.ui.layouts.settings.firehose import FirehoseLayout
@@ -9,9 +10,7 @@ from openpilot.selfdrive.ui.layouts.settings.software import SoftwareLayout
 from openpilot.selfdrive.ui.layouts.settings.toggles import TogglesLayout
 from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
 from openpilot.system.ui.lib.text_measure import measure_text_cached
-from openpilot.system.ui.lib.wifi_manager import WifiManager
 from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.widgets.network import WifiManagerUI

 # Settings close button
 SETTINGS_CLOSE_TEXT = "×"
@@ -44,7 +43,7 @@ class PanelType(IntEnum):
@dataclass
 class PanelInfo:
  name: str
-  instance: Widget
+  instance: object
  button_rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0)


@@ -54,12 +53,9 @@ class SettingsLayout(Widget):
    self._current_panel = PanelType.DEVICE

    # Panel configuration
-    wifi_manager = WifiManager()
-    wifi_manager.set_active(False)
-
    self._panels = {
      PanelType.DEVICE: PanelInfo("Device", DeviceLayout()),
-      PanelType.NETWORK: PanelInfo("Network", WifiManagerUI(wifi_manager)),
+      PanelType.NETWORK: PanelInfo("Network", NetworkLayout()),
      PanelType.TOGGLES: PanelInfo("Toggles", TogglesLayout()),
      PanelType.SOFTWARE: PanelInfo("Software", SoftwareLayout()),
      PanelType.FIREHOSE: PanelInfo("Firehose", FirehoseLayout()),
@@ -153,14 +149,8 @@ class SettingsLayout(Widget):

  def set_current_panel(self, panel_type: PanelType):
    if panel_type != self._current_panel:
-      self._panels[self._current_panel].instance.hide_event()
      self._current_panel = panel_type
-      self._panels[self._current_panel].instance.show_event()

-  def show_event(self):
-    super().show_event()
-    self._panels[self._current_panel].instance.show_event()
-
-  def hide_event(self):
-    super().hide_event()
-    self._panels[self._current_panel].instance.hide_event()
+  def close_settings(self):
+    if self._close_callback:
+      self._close_callback()
@@ -1,14 +0,0 @@
-import time
-from functools import lru_cache
-from openpilot.common.api import Api
-
-TOKEN_EXPIRY_HOURS = 2
-
-
-@lru_cache(maxsize=1)
-def _get_token(dongle_id: str, t: int):
-  return Api(dongle_id).get_token(expiry_hours=TOKEN_EXPIRY_HOURS)
-
-
-def get_token(dongle_id: str):
-  return _get_token(dongle_id, int(time.monotonic() / (TOKEN_EXPIRY_HOURS / 2 * 60 * 60)))
@@ -2,12 +2,14 @@ from enum import IntEnum
 import os
 import threading
 import time
+from functools import lru_cache

-from openpilot.common.api import api_get
+from openpilot.common.api import Api, api_get
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
-from openpilot.selfdrive.ui.lib.api_helpers import get_token
+
+TOKEN_EXPIRY_HOURS = 2


 class PrimeType(IntEnum):
@@ -21,6 +23,12 @@ class PrimeType(IntEnum):
  PURPLE = 5,


+@lru_cache(maxsize=1)
+def get_token(dongle_id: str, t: int):
+  print('getting token')
+  return Api(dongle_id).get_token(expiry_hours=TOKEN_EXPIRY_HOURS)
+
+
 class PrimeState:
  FETCH_INTERVAL = 5.0  # seconds between API calls
  API_TIMEOUT = 10.0  # seconds for API requests
@@ -50,13 +58,15 @@ class PrimeState:
      return

    try:
-      identity_token = get_token(dongle_id)
+      identity_token = get_token(dongle_id, int(time.monotonic() / (TOKEN_EXPIRY_HOURS / 2 * 60 * 60)))
      response = api_get(f"v1.1/devices/{dongle_id}", timeout=self.API_TIMEOUT, access_token=identity_token)
      if response.status_code == 200:
        data = response.json()
        is_paired = data.get("is_paired", False)
        prime_type = data.get("prime_type", 0)
        self.set_type(PrimeType(prime_type) if is_paired else PrimeType.UNPAIRED)
+      elif response.status_code == 401:
+        get_token.cache_clear()
    except Exception as e:
      cloudlog.error(f"Failed to fetch prime status: {e}")

@@ -48,7 +48,6 @@ qt_src = [
 lateral_panel_qt_src = [
  "sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.cc",
  "sunnypilot/qt/offroad/settings/lateral/lane_change_settings.cc",
-  "sunnypilot/qt/offroad/settings/lateral/lane_turn_settings.cc",
  "sunnypilot/qt/offroad/settings/lateral/mads_settings.cc",
  "sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc",
 ]
@@ -1,86 +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.
- */
-
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_turn_settings.h"
-
-
-LaneTurnSettings::LaneTurnSettings(QWidget* parent) : QWidget(parent) {
-  QVBoxLayout* main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(50, 20, 50, 20);
-  main_layout->setSpacing(20);
-
-  // Back button
-  PanelBackButton* back = new PanelBackButton(tr("Back"));
-  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
-  main_layout->addWidget(back, 0, Qt::AlignLeft);
-
-  ListWidgetSP *list = new ListWidgetSP(this, false);
-  // Lane Turn Desire Control
-  laneTurnDesireControl = new LaneTurnDesireControl();
-  laneTurnDesireControl->setUpdateOtherToggles(true);
-  laneTurnDesireControl->showDescription();
-  connect(laneTurnDesireControl, &OptionControlSP::updateLabels, laneTurnDesireControl, &LaneTurnDesireControl::refresh);
-  list->addItem(laneTurnDesireControl);
-
-  // Lane Turn Value control
-  bool is_metric = params.getBool("IsMetric");
-  int per_value_change = is_metric ? 62 : 100; // ~1 km/h or 1 mph
-  laneTurnValueControl = new OptionControlSP("LaneTurnValue", tr("Adjust Lane Turn Speed"),
-    tr("Set the maximum speed for lane turn desires. Default is 19 %1.").arg(is_metric ? "km/h" : "mph"),
-    "", {500, 2000}, per_value_change, false, nullptr, true, true);
-  laneTurnValueControl->showDescription();
-  list->addItem(laneTurnValueControl);
-
-  // show/hide value control based on desire
-  connect(laneTurnDesireControl, &OptionControlSP::updateLabels, this, &LaneTurnSettings::updateValueControlVisibility);
-  connect(laneTurnValueControl, &OptionControlSP::updateLabels, this, &LaneTurnSettings::refreshLaneTurnValueControl);
-  main_layout->addWidget(new ScrollViewSP(list, this));
-}
-
-void LaneTurnSettings::showEvent(QShowEvent *event) {
-  updateValueControlVisibility();
-}
-
-void LaneTurnSettings::updateValueControlVisibility() {
-  QString option = QString::fromStdString(params.get("LaneTurnDesire"));
-  bool visible = (option != "0");
-  laneTurnValueControl->setVisible(visible);
-  if (visible) {
-    refreshLaneTurnValueControl();
-  }
-}
-
-void LaneTurnSettings::refreshLaneTurnValueControl() {
-  if (!laneTurnValueControl) return;
-  float stored_mph = QString::fromStdString(params.get("LaneTurnValue")).toFloat();
-  bool is_metric = params.getBool("IsMetric");
-  QString unit = is_metric ? "km/h" : "mph";
-  float display_value = is_metric ? stored_mph * 1.609344f : stored_mph;
-  laneTurnValueControl->setLabel(QString::number(qRound(display_value)) + " " + unit);
-}
-
-// Lane Turn Desire Control
-LaneTurnDesireControl::LaneTurnDesireControl() : OptionControlSP(
-  "LaneTurnDesire",
-  tr("Lane Turn Desires"),
-  tr("If you're driving at 20 mph (32 km/h) or below and have your blinker on, "
-     "the car will plan a turn in that direction at the nearest drivable path. "
-     "This prevents situations (like at red lights) where the car might plan the wrong turn direction."),
-  "../assets/offroad/icon_shell.png",
-  {0, 2}) {
-  refresh();
-}
-
-void LaneTurnDesireControl::refresh() {
-  QString option = QString::fromStdString(params.get("LaneTurnDesire"));
-  static const QMap<QString, QString> options = {
-    {"0", tr("Off")},
-    {"1", tr("Nudge")},
-    {"2", tr("Nudgeless")},
-  };
-  setLabel(options.value(option, tr("Off")));
-}
@@ -1,45 +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.
- */
-
-#pragma once
-
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-
-class LaneTurnDesireControl : public OptionControlSP {
-  Q_OBJECT
-
-public:
-  LaneTurnDesireControl();
-
-  void refresh();
-
-private:
-  Params params;
-};
-
-class LaneTurnSettings : public QWidget {
-  Q_OBJECT
-
-public:
-  explicit LaneTurnSettings(QWidget* parent = nullptr);
-  void showEvent(QShowEvent *event) override;
-
-signals:
-  void backPress();
-
-private:
-  void refreshLaneTurnValueControl();
-  void updateValueControlVisibility();
-
-private:
-  Params params;
-  std::map<std::string, ParamControlSP*> toggles;
-
-  LaneTurnDesireControl *laneTurnDesireControl;
-  OptionControlSP *laneTurnValueControl;
-};
@@ -59,27 +59,7 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
    sunnypilotScroller->restoreScrollPosition();
    main_layout->setCurrentWidget(sunnypilotScreen);
  });
-
-  // Lane Turn Settings
-  laneTurnSettingsButton = new PushButtonSP(tr("Customize Lane Turn"));
-  laneTurnSettingsButton->setObjectName("lane_turn_btn");
-  connect(laneTurnSettingsButton, &QPushButton::clicked, [=]() {
-    sunnypilotScroller->setLastScrollPosition();
-    main_layout->setCurrentWidget(laneTurnWidget);
-  });
-
-  laneTurnWidget = new LaneTurnSettings(this);
-  connect(laneTurnWidget, &LaneTurnSettings::backPress, [=]() {
-    sunnypilotScroller->restoreScrollPosition();
-    main_layout->setCurrentWidget(sunnypilotScreen);
-  });
-
-  QWidget *laneButtonsWidget = new QWidget();
-  QHBoxLayout *laneButtonsLayout = new QHBoxLayout(laneButtonsWidget);
-  laneButtonsLayout->setContentsMargins(0, 0, 0, 0);
-  laneChangeSettingsButton->setFixedWidth(750); laneTurnSettingsButton->setFixedWidth(750);
-  laneButtonsLayout->addWidget(laneChangeSettingsButton); laneButtonsLayout->addWidget(laneTurnSettingsButton);
-  list->addItem(laneButtonsWidget);
+  list->addItem(laneChangeSettingsButton);

  list->addItem(vertical_space(0));
  list->addItem(horizontal_line());
@@ -120,7 +100,6 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
  main_layout->addWidget(sunnypilotScreen);
  main_layout->addWidget(madsWidget);
  main_layout->addWidget(laneChangeWidget);
-  main_layout->addWidget(laneTurnWidget);

  setStyleSheet(R"(
    #back_btn {
@@ -15,7 +15,6 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_turn_settings.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
@@ -44,8 +43,6 @@ private:
  MadsSettings *madsWidget = nullptr;
  PushButtonSP *laneChangeSettingsButton;
  LaneChangeSettings *laneChangeWidget = nullptr;
-  PushButtonSP *laneTurnSettingsButton;
-  LaneTurnSettings *laneTurnWidget = nullptr;
  NeuralNetworkLateralControl *nnlcToggle = nullptr;
  BlinkerPauseLateralSettings *blinkerPauseLateralSettings = nullptr;

@@ -18,23 +18,6 @@ LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
  cruisePanelScroller = new ScrollViewSP(list, this);
  vlayout->addWidget(cruisePanelScroller);

-  intelligentCruiseButtonManagement = new ParamControlSP(
-    "IntelligentCruiseButtonManagement",
-    tr("Intelligent Cruise Button Management (ICBM) (Alpha)"),
-    tr("When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control."),
-    "",
-    this
-  );
-  intelligentCruiseButtonManagement->setConfirmation(true, false);
-  list->addItem(intelligentCruiseButtonManagement);
-
-  SmartCruiseControlVision = new ParamControl(
-    "SmartCruiseControlVision",
-    tr("Smart Cruise Control - Vision"),
-    tr("Use vision path predictions to estimate the appropriate speed to drive through turns ahead."),
-    "");
-  list->addItem(SmartCruiseControlVision);
-
  customAccIncrement = new CustomAccIncrement("CustomAccIncrementsEnabled", tr("Custom ACC Speed Increments"), "", "", this);
  list->addItem(customAccIncrement);

@@ -52,22 +35,16 @@ void LongitudinalPanel::showEvent(QShowEvent *event) {

 void LongitudinalPanel::refresh(bool _offroad) {
  auto cp_bytes = params.get("CarParamsPersistent");
-  auto cp_sp_bytes = params.get("CarParamsSPPersistent");
-  if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
+  if (!cp_bytes.empty()) {
    AlignedBuffer aligned_buf;
-    AlignedBuffer aligned_buf_sp;
    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
-    capnp::FlatArrayMessageReader cmsg_sp(aligned_buf_sp.align(cp_sp_bytes.data(), cp_sp_bytes.size()));
    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
-    cereal::CarParamsSP::Reader CP_SP = cmsg_sp.getRoot<cereal::CarParamsSP>();

    has_longitudinal_control = hasLongitudinalControl(CP);
    is_pcm_cruise = CP.getPcmCruise();
-    intelligent_cruise_button_management_available = CP_SP.getIntelligentCruiseButtonManagementAvailable();
  } else {
    has_longitudinal_control = false;
    is_pcm_cruise = false;
-    intelligent_cruise_button_management_available = false;
  }

  QString accEnabledDescription = tr("Enable custom Short & Long press increments for cruise speed increase/decrease.");
@@ -79,7 +56,7 @@ void LongitudinalPanel::refresh(bool _offroad) {
    customAccIncrement->setDescription(onroadOnlyDescription);
    customAccIncrement->showDescription();
  } else {
-    if (has_longitudinal_control || intelligent_cruise_button_management_available) {
+    if (has_longitudinal_control) {
      if (is_pcm_cruise) {
        customAccIncrement->setDescription(accPcmCruiseDisabledDescription);
        customAccIncrement->showDescription();
@@ -91,20 +68,12 @@ void LongitudinalPanel::refresh(bool _offroad) {
      customAccIncrement->toggleFlipped(false);
      customAccIncrement->setDescription(accNoLongDescription);
      customAccIncrement->showDescription();
-      params.remove("IntelligentCruiseButtonManagement");
-      intelligentCruiseButtonManagement->toggleFlipped(false);
    }
  }

-  bool icbm_allowed = intelligent_cruise_button_management_available && !has_longitudinal_control;
-  intelligentCruiseButtonManagement->setEnabled(icbm_allowed && offroad);
-
  // enable toggle when long is available and is not PCM cruise
-  bool cai_allowed = (has_longitudinal_control && !is_pcm_cruise) || icbm_allowed;
-  customAccIncrement->setEnabled(cai_allowed && !offroad);
+  customAccIncrement->setEnabled(has_longitudinal_control && !is_pcm_cruise && !offroad);
  customAccIncrement->refresh();

-  SmartCruiseControlVision->setEnabled(has_longitudinal_control || icbm_allowed);
-
  offroad = _offroad;
 }
@@ -23,13 +23,10 @@ private:
  Params params;
  bool has_longitudinal_control = false;
  bool is_pcm_cruise = false;
-  bool intelligent_cruise_button_management_available = false;;
  bool offroad = false;

  QStackedLayout *main_layout = nullptr;
  ScrollViewSP *cruisePanelScroller = nullptr;
  QWidget *cruisePanelScreen = nullptr;
  CustomAccIncrement *customAccIncrement = nullptr;
-  ParamControl *SmartCruiseControlVision;
-  ParamControl *intelligentCruiseButtonManagement = nullptr;
 };
@@ -103,6 +103,30 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
  list->addItem(policyFrame);
  list->addItem(horizontal_line());

+  // Lane Turn Desire toggle
+  lane_turn_desire_toggle = new ParamControlSP("LaneTurnDesire", tr("Use Lane Turn Desires"),
+                            "If you’re driving at 20 mph (32 km/h) or below and have your blinker on, "
+                            "the car will plan a turn in that direction at the nearest drivable path. "
+                            "This prevents situations (like at red lights) where the car might plan the wrong turn direction.",
+                             "../assets/offroad/icon_shell.png");
+  list->addItem(lane_turn_desire_toggle);
+
+  // Lane Turn Value control
+  int max_value_mph = 20;
+  bool is_metric_initial = params.getBool("IsMetric");
+  const float K = 1.609344f;
+  int per_value_change_scaled = is_metric_initial ? static_cast<int>(std::round((1.0f / K) * 100.0f)) : 100; // 100 -> 1 mph
+  lane_turn_value_control = new OptionControlSP("LaneTurnValue", tr("Adjust Lane Turn Speed"),
+    tr("Set the maximum speed for lane turn desires. Default is 19 %1.").arg(is_metric_initial ? "km/h" : "mph"),
+    "", {5 * 100, max_value_mph * 100}, per_value_change_scaled, false, nullptr, true, true);
+  lane_turn_value_control->showDescription();
+  list->addItem(lane_turn_value_control);
+
+  // Show based on toggle
+  refreshLaneTurnValueControl();
+  connect(lane_turn_desire_toggle, &ParamControlSP::toggleFlipped, this, &ModelsPanel::refreshLaneTurnValueControl);
+  connect(lane_turn_value_control, &OptionControlSP::updateLabels, this, &ModelsPanel::refreshLaneTurnValueControl);
+
  // LiveDelay toggle
  lagd_toggle_control = new ParamControlSP("LagdToggle", tr("Live Learning Steer Delay"), "", "../assets/offroad/icon_shell.png");
  lagd_toggle_control->showDescription();
@@ -145,6 +169,23 @@ QFrame* ModelsPanel::createModelDetailFrame(QWidget *parent, QString &typeName,
  return frame;
 }

+void ModelsPanel::refreshLaneTurnValueControl() {
+  if (!lane_turn_value_control) return;
+  float stored_mph = QString::fromStdString(params.get("LaneTurnValue")).toFloat();
+  bool is_metric = params.getBool("IsMetric");
+  QString unit = is_metric ? "km/h" : "mph";
+  float display_value = stored_mph;
+  if (is_metric) {
+    display_value = stored_mph * 1.609344f;
+  }
+  lane_turn_value_control->setLabel(QString::number(static_cast<int>(std::round(display_value))) + " " + unit);
+  lane_turn_value_control->setVisible(params.getBool("LaneTurnDesire"));
+}
+
+/**
+ * @brief Updates the UI with bundle download progress information
+ * Reads status from modelManagerSP cereal message and displays status for all models
+ */
 void ModelsPanel::handleBundleDownloadProgress() {
  supercomboFrame->setVisible(false);
  visionFrame->setVisible(false);
@@ -415,6 +456,9 @@ void ModelsPanel::updateLabels() {
    delay_control->setLabel(QString::number(value, 'f', 2) + "s");
  }

+  // Update lane turn desire label and visibility
+  refreshLaneTurnValueControl();
+
  clearModelCacheBtn->setValue(QString::number(calculateCacheSize(), 'f', 2) + " MB");
 }

@@ -38,6 +38,7 @@ private:
  void updateLabels();
  void handleCurrentModelLblBtnClicked();
  void handleBundleDownloadProgress();
+  void refreshLaneTurnValueControl();
  void showResetParamsDialog();
  QProgressBar* createProgressBar(QWidget *parent);
  QFrame* createModelDetailFrame(QWidget *parent, QString &typeName, QProgressBar *progressBar);
@@ -82,4 +83,6 @@ private:
  Params params;
  ButtonControlSP *clearModelCacheBtn;
  ButtonControlSP *refreshAvailableModelsBtn;
+  ParamControlSP *lane_turn_desire_toggle;
+  OptionControlSP *lane_turn_value_control;
 };
@@ -35,13 +35,6 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
      "../assets/offroad/icon_monitoring.png",
      false,
    },
-    {
-      "StandstillTimer",
-      tr("Enable Standstill Timer"),
-      tr("Show a timer on the HUD when the car is at a standstill."),
-      "../assets/offroad/icon_monitoring.png",
-      false,
-    },
  };

  // Add regular toggles first
@@ -4,7 +4,6 @@
 * 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.
 */
-#include <QPainterPath>

 #include "selfdrive/ui/sunnypilot/qt/onroad/hud.h"

@@ -26,7 +25,6 @@ void HudRendererSP::updateState(const UIState &s) {
  const auto gpsLocation = is_gps_location_external ? sm["gpsLocationExternal"].getGpsLocationExternal() : sm["gpsLocation"].getGpsLocation();
  const auto ltp = sm["liveTorqueParameters"].getLiveTorqueParameters();
  const auto car_params = sm["carParams"].getCarParams();
-  const auto lp_sp = sm["longitudinalPlanSP"].getLongitudinalPlanSP();

  static int reverse_delay = 0;
  bool reverse_allowed = false;
@@ -77,33 +75,11 @@ void HudRendererSP::updateState(const UIState &s) {
  latAccelFactorFiltered = ltp.getLatAccelFactorFiltered();
  frictionCoefficientFiltered = ltp.getFrictionCoefficientFiltered();
  liveValid = ltp.getLiveValid();
-
-  standstillTimer = s.scene.standstill_timer;
-  isStandstill = car_state.getStandstill();
-  longOverride = car_control.getCruiseControl().getOverride();
-  smartCruiseControlVisionEnabled = lp_sp.getSmartCruiseControl().getVision().getEnabled();
-  smartCruiseControlVisionActive = lp_sp.getSmartCruiseControl().getVision().getActive();
 }

 void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
  HudRenderer::draw(p, surface_rect);
  if (!reversing) {
-    // Smart Cruise Control
-    int x_offset = -260;
-    int y1_offset = -80;
-    // int y2_offset = -140;  // reserved for 2 icons
-
-    bool scc_vision_active_pulse = pulseElement(smartCruiseControlVisionFrame);
-    if ((smartCruiseControlVisionEnabled && !smartCruiseControlVisionActive) || (smartCruiseControlVisionActive && scc_vision_active_pulse)) {
-      drawSmartCruiseControlOnroadIcon(p, surface_rect, x_offset, y1_offset, "SCC-V");
-    }
-
-    if (smartCruiseControlVisionActive) {
-      smartCruiseControlVisionFrame++;
-    } else {
-      smartCruiseControlVisionFrame = 0;
-    }
-
    // Bottom Dev UI
    if (devUiInfo == 2) {
      QRect rect_bottom(surface_rect.left(), surface_rect.bottom() - 60, surface_rect.width(), 61);
@@ -118,11 +94,6 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
      QRect rect_right(surface_rect.right() - (UI_BORDER_SIZE * 2), UI_BORDER_SIZE * 1.5, 184, 170);
      drawRightDevUI(p, surface_rect.right() - 184 - UI_BORDER_SIZE * 2, UI_BORDER_SIZE * 2 + rect_right.height());
    }
-
-    // Standstill Timer
-    if (standstillTimer) {
-      drawStandstillTimer(p, surface_rect.right() / 12 * 10, surface_rect.bottom() / 12 * 1.53);
-    }
  }
 }

@@ -133,48 +104,6 @@ void HudRendererSP::drawText(QPainter &p, int x, int y, const QString &text, QCo
  p.drawText(real_rect.x(), real_rect.bottom(), text);
 }

-bool HudRendererSP::pulseElement(int frame) {
-  if (frame % UI_FREQ < (UI_FREQ / 2.5)) {
-    return false;
-  }
-
-  return true;
-}
-
-void HudRendererSP::drawSmartCruiseControlOnroadIcon(QPainter &p, const QRect &surface_rect, int x_offset, int y_offset, std::string name) {
-  int x = surface_rect.center().x();
-  int y = surface_rect.height() / 4;
-
-  QString text = QString::fromStdString(name);
-  QFont font = InterFont(36, QFont::Bold);
-  p.setFont(font);
-
-  QFontMetrics fm(font);
-
-  int padding_v = 5;
-  int box_width = 160;
-  int box_height = fm.height() + padding_v * 2;
-
-  QRectF bg_rect(x - (box_width / 2) + x_offset,
-                 y - (box_height / 2) + y_offset,
-                 box_width, box_height);
-
-  QPainterPath boxPath;
-  boxPath.addRoundedRect(bg_rect, 10, 10);
-
-  int text_w = fm.horizontalAdvance(text);
-  qreal baseline_y = bg_rect.top() + padding_v + fm.ascent();
-  qreal text_x = bg_rect.center().x() - (text_w / 2.0);
-
-  QPainterPath textPath;
-  textPath.addText(QPointF(text_x, baseline_y), font, text);
-  boxPath = boxPath.subtracted(textPath);
-
-  p.setPen(Qt::NoPen);
-  p.setBrush(longOverride ? QColor(0x91, 0x9b, 0x95, 0xf1) : QColor(0, 0xff, 0, 0xff));
-  p.drawPath(boxPath);
-}
-
 int HudRendererSP::drawRightDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color) {

  p.setFont(InterFont(28, QFont::Bold));
@@ -277,37 +206,3 @@ void HudRendererSP::drawBottomDevUI(QPainter &p, int x, int y) {
  UiElement altitudeElement = DeveloperUi::getAltitude(gpsAccuracy, altitude);
  rw += drawBottomDevUIElement(p, rw, y, altitudeElement.value, altitudeElement.label, altitudeElement.units, altitudeElement.color);
 }
-
-void HudRendererSP::drawStandstillTimer(QPainter &p, int x, int y) {
-  if (isStandstill) {
-    standstillElapsedTime += 1.0 / UI_FREQ;
-
-    int minute = static_cast<int>(standstillElapsedTime / 60);
-    int second = static_cast<int>(standstillElapsedTime - (minute * 60));
-
-    // stop sign for standstill timer
-    const int size = 190;  // size
-    const float angle = M_PI / 8.0;
-
-    QPolygon octagon;
-    for (int i = 0; i < 8; i++) {
-      float curr_angle = angle + i * M_PI / 4.0;
-      int point_x = x + size / 2 * cos(curr_angle);
-      int point_y = y + size / 2 * sin(curr_angle);
-      octagon << QPoint(point_x, point_y);
-    }
-
-    p.setPen(QPen(Qt::white, 6));
-    p.setBrush(QColor(255, 90, 81, 200)); // red pastel
-    p.drawPolygon(octagon);
-
-    QString time_str = QString("%1:%2").arg(minute, 1, 10, QChar('0')).arg(second, 2, 10, QChar('0'));
-    p.setFont(InterFont(55, QFont::Bold));
-    p.setPen(Qt::white);
-    QRect timerTextRect = p.fontMetrics().boundingRect(QString(time_str));
-    timerTextRect.moveCenter({x, y});
-    p.drawText(timerTextRect, Qt::AlignCenter, QString(time_str));
-  } else {
-    standstillElapsedTime = 0.0;
-  }
-}
@@ -25,9 +25,6 @@ private:
  int drawRightDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color);
  int drawBottomDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color);
  void drawBottomDevUI(QPainter &p, int x, int y);
-  void drawStandstillTimer(QPainter &p, int x, int y);
-  bool pulseElement(int frame);
-  void drawSmartCruiseControlOnroadIcon(QPainter &p, const QRect &surface_rect, int x_offset, int y_offset, std::string name);

  bool lead_status;
  float lead_d_rel;
@@ -56,11 +53,4 @@ private:
  bool reversing;
  cereal::CarParams::SteerControlType steerControlType;
  cereal::CarControl::Actuators::Reader actuators;
-  bool standstillTimer;
-  bool isStandstill;
-  float standstillElapsedTime;
-  bool longOverride;
-  bool smartCruiseControlVisionEnabled;
-  bool smartCruiseControlVisionActive;
-  int smartCruiseControlVisionFrame;
 };
@@ -34,7 +34,6 @@ UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
    ui_update_params_sp(this);
  });
  param_watcher->addParam("DevUIInfo");
-  param_watcher->addParam("StandstillTimer");
 }

 // This method overrides completely the update method from the parent class intentionally.
@@ -52,7 +51,6 @@ void UIStateSP::update() {
 void ui_update_params_sp(UIStateSP *s) {
  auto params = Params();
  s->scene.dev_ui_info = std::atoi(params.get("DevUIInfo").c_str());
-  s->scene.standstill_timer = params.getBool("StandstillTimer");
 }

 DeviceSP::DeviceSP(QObject *parent) : Device(parent) {
@@ -9,5 +9,4 @@

 typedef struct UISceneSP : UIScene {
  int dev_ui_info = 0;
-  bool standstill_timer = false;
 } UISceneSP;
@@ -29,7 +29,7 @@ UI_DELAY = 0.5 # may be slower on CI?
 TEST_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"

 STREAMS: list[tuple[VisionStreamType, CameraConfig, bytes]] = []
-OFFROAD_ALERTS = ['Offroad_IsTakingSnapshot', ]
+OFFROAD_ALERTS = ['Offroad_StorageMissing', 'Offroad_IsTakingSnapshot']
 DATA: dict[str, capnp.lib.capnp._DynamicStructBuilder] = dict.fromkeys(
  ["carParams", "deviceState", "pandaStates", "controlsState", "selfdriveState",
  "liveCalibration", "modelV2", "radarState", "driverMonitoringState", "carState",
@@ -55,7 +55,8 @@ void update_state(UIState *s) {
  }
  if (sm.updated("wideRoadCameraState")) {
    auto cam_state = sm["wideRoadCameraState"].getWideRoadCameraState();
-    scene.light_sensor = std::max(100.0f - cam_state.getExposureValPercent(), 0.0f);
+    float scale = (cam_state.getSensor() == cereal::FrameData::ImageSensor::AR0231) ? 6.0f : 1.0f;
+    scene.light_sensor = std::max(100.0f - scale * cam_state.getExposureValPercent(), 0.0f);
  } else if (!sm.allAliveAndValid({"wideRoadCameraState"})) {
    scene.light_sensor = -1;
  }
@@ -105,7 +105,10 @@ class UIState:
    # Handle wide road camera state updates
    if self.sm.updated["wideRoadCameraState"]:
      cam_state = self.sm["wideRoadCameraState"]
-      self.light_sensor = max(100.0 - cam_state.exposureValPercent, 0.0)
+
+      # Scale factor based on sensor type
+      scale = 6.0 if cam_state.sensor == 'ar0231' else 1.0
+      self.light_sensor = max(100.0 - scale * cam_state.exposureValPercent, 0.0)
    elif not self.sm.alive["wideRoadCameraState"] or not self.sm.valid["wideRoadCameraState"]:
      self.light_sensor = -1

@@ -1,7 +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.
-"""
-PARAMS_UPDATE_PERIOD = 3  # seconds
@@ -3,7 +3,6 @@ import capnp
 import numpy as np
 from cereal import log
 from openpilot.sunnypilot.modeld.constants import ModelConstants, Plan
-from openpilot.sunnypilot.models.helpers import plan_x_idxs_helper
 from openpilot.sunnypilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_lag_adjusted_curvature, MIN_SPEED

 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
@@ -121,7 +120,23 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
  modelV2_action.desiredCurvature = desired_curvature

  # times at X_IDXS according to model plan
-  PLAN_T_IDXS: list[float] = plan_x_idxs_helper(ModelConstants, Plan, net_output_data)
+  PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N
+  PLAN_T_IDXS[0] = 0.0
+  plan_x = net_output_data['plan'][0,:,Plan.POSITION][:,0].tolist()
+  for xidx in range(1, ModelConstants.IDX_N):
+    tidx = 0
+    # increment tidx until we find an element that's further away than the current xidx
+    while tidx < ModelConstants.IDX_N - 1 and plan_x[tidx+1] < ModelConstants.X_IDXS[xidx]:
+      tidx += 1
+    if tidx == ModelConstants.IDX_N - 1:
+      # if the Plan doesn't extend far enough, set plan_t to the max value (10s), then break
+      PLAN_T_IDXS[xidx] = ModelConstants.T_IDXS[ModelConstants.IDX_N - 1]
+      break
+    # interpolate to find `t` for the current xidx
+    current_x_val = plan_x[tidx]
+    next_x_val = plan_x[tidx+1]
+    p = (ModelConstants.X_IDXS[xidx] - current_x_val) / (next_x_val - current_x_val) if abs(next_x_val - current_x_val) > 1e-9 else float('nan')
+    PLAN_T_IDXS[xidx] = p * ModelConstants.T_IDXS[tidx+1] + (1 - p) * ModelConstants.T_IDXS[tidx]

  # lane lines
  modelV2.init('laneLines', 4)
@@ -317,7 +317,7 @@ def main(demo=False):
      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
      modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
      modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
-      mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_controller.turn_direction
+      mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
      drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
      drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction

@@ -3,7 +3,6 @@ import capnp
 import numpy as np
 from cereal import log
 from openpilot.sunnypilot.modeld_v2.constants import ModelConstants, Plan
-from openpilot.sunnypilot.models.helpers import plan_x_idxs_helper
 from openpilot.selfdrive.controls.lib.drive_helpers import get_curvature_from_plan

 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
@@ -119,8 +118,8 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
  # action (includes lateral planning now)
  modelV2.action = action

-  # times at X_IDXS of edges and lines
-  LINE_T_IDXS: list[float] = plan_x_idxs_helper(ModelConstants, Plan, net_output_data)
+  # times at X_IDXS of edges and lines aren't used
+  LINE_T_IDXS: list[float] = []

  # lane lines
  modelV2.init('laneLines', 4)
@@ -343,7 +343,7 @@ def main(demo=False):
      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
      modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
      modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
-      mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_controller.turn_direction
+      mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
      drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
      drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction

@@ -185,27 +185,3 @@ def load_meta_constants(model_metadata):
      meta = MetaTombRaider

  return meta
-
-
-# The following method(s) are modeld helper methods
-def plan_x_idxs_helper(constants, plan, model_output) -> list[float]:
-  # times at X_IDXS according to plan.
-  LINE_T_IDXS = [np.nan] * constants.IDX_N
-  LINE_T_IDXS[0] = 0.0
-  plan_x = model_output['plan'][0, :, plan.POSITION][:, 0].tolist()
-  for xidx in range(1, constants.IDX_N):
-    tidx = 0
-    # increment tidx until we find an element that's further away than the current xidx
-    while tidx < constants.IDX_N - 1 and plan_x[tidx + 1] < constants.X_IDXS[xidx]:
-      tidx += 1
-    if tidx == constants.IDX_N - 1:
-      # if the plan doesn't extend far enough, set plan_t to the max value (10s), then break
-      LINE_T_IDXS[xidx] = constants.T_IDXS[constants.IDX_N - 1]
-      break
-    # interpolate to find `t` for the current xidx
-    current_x_val = plan_x[tidx]
-    next_x_val = plan_x[tidx + 1]
-    p = (constants.X_IDXS[xidx] - current_x_val) / (next_x_val - current_x_val) if abs(
-      next_x_val - current_x_val) > 1e-9 else float('nan')
-    LINE_T_IDXS[xidx] = p * constants.T_IDXS[tidx + 1] + (1 - p) * constants.T_IDXS[tidx]
-  return LINE_T_IDXS
@@ -1 +1 @@
-70406ab4dd66d0e384734a8a56632ae4a62bc9670c2e630a0f71588c4e212cd8
+2ff2f49176a13bc7f856645d785b3b838a5c7ecf7f6cb37699fa0459ebf12453
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Jason Wen	737a6c4236	[TICI] ci: point to master-tici for certain submodules (#1350 ) * ci: point to master-tici for certain submodules * new * new * minimal * check * revert * try this out * more	2025-10-09 20:33:28 -04:00
Jason Wen	86cd1b238d	[TICI] relock after inplace metadrive update (#1321 ) (#1348 ) relock after inplace metadrive update (#1321) relock after inplace metadrive update (#36256) * relock after inplace metadrive update * Revert "relock after inplace metadrive update" This reverts commit 18193ffe34b66085e18605e6c9289ddcd658844d. * just the hash (cherry picked from commit `4d53a26a06`) (cherry picked from commit `cca3be3a96`) Co-authored-by: DevTekVE <devtekve@gmail.com> Co-authored-by: Armand du Parc Locmaria <adpl33@gmail.com>	2025-10-09 19:11:59 -04:00
DevTekVE	772e62127e	(TICI) bugfix: param store to support the latest param changes (#1246 ) * bugfix: update parameter handling to use custom CarControlSP.Param and improve param retrieval * bump opendbc * bump opendbc	2025-09-14 20:29:26 +02:00
DevTekVE	e7a3ea1b32	(TICI) sync `master` and `master-tici` (#1245 ) * SL: bugfix parameter handling in sunnylink restore and remote setting (#1234) * refactor: improve parameter handling in sunnylink for robustness - Updated `get_param_as_byte` to return `None` for nonexistent parameters. - Enhanced param compression and encoding in `sunnylinkd`. * refactor: centralize parameter restoration with new helper function - Added `save_param_from_base64_encoded_string` to handle param decoding and saving. - Updated backup manager and sunnylinkd to use the new method. - Improved code readability and reduced duplication in parameter handling logic. * don't bother * clean (cherry picked from commit `b7f8dd11a5`) * UI: Developer UI (#1233) (cherry picked from commit `1bb4ca2547`) * Revert & Reapply "UI: Developer UI" temporarily due to QT version mismatch (#1237) * Revert "UI: Developer UI (#1233)" This reverts commit `1bb4ca2547`. * Reapply "UI: Developer UI (#1233)" This reverts commit `b0a77049da`. * QColorConstants is not on device's QT version. Thanks @kumar for the fix (cherry picked from commit `810a2d9448`) * Revert "UI: Developer UI" (#1238) * Revert "Revert & Reapply "UI: Developer UI" temporarily due to QT version mismatch (#1237)" This reverts commit `810a2d9448`. * Revert "UI: Developer UI (#1233)" This reverts commit `1bb4ca2547`. (cherry picked from commit `1be13fdc55`) * Reapply "UI: Developer UI" (#1238) (#1239) This reverts commit `1be13fdc55`. Co-authored-by: Jason Wen <haibin.wen3@gmail.com> (cherry picked from commit `4f44d6e643`) --------- Co-authored-by: Nayan <nayan8teen@gmail.com> Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2025-09-14 12:18:59 +02:00
Jason Wen	87af129090	tici: fix staging root updates (#1224 )	2025-09-06 18:46:19 -04:00
Jason Wen	f6cf1336ef	update: actually detect device type as TICI (#1222 )	2025-09-06 18:08:26 -04:00
Jason Wen	51046dd7fd	ci: restore cache based on `master-tici`	2025-09-06 17:43:36 -04:00
Jason Wen	2c85f29a0b	`staging-c3-new` > `staging-tici`	2025-09-06 17:38:11 -04:00
Jason Wen	68af0c4a17	ci: update for `master-tici` (#1220 ) * ci: master > master-ci * disable reset and squash for master-tici * disable release drafter * docker img * temp builds * actual temp * new ref * Revert "actual temp" This reverts commit `2e73befd17`. * wrong name * Revert "wrong name" This reverts commit `5efa687aaf`. * Reapply "actual temp" This reverts commit `75a9d986fd`. * Revert "Reapply "actual temp"" This reverts commit `1f77d902d4`. * Reapply "wrong name" This reverts commit `ed24def13c`. * revert	2025-09-06 17:28:43 -04:00