Update display_panel.cc

Squashed commit of the following:
commit 669f3b7945 Author: royjr <royjr96@gmail.com> Date: Fri Nov 7 21:51:35 2025 -0500 fix commit 63122e1a33 Merge: c9b1afb15 c1d3ae427 Author: royjr <royjr96@gmail.com> Date: Fri Nov 7 21:25:46 2025 -0500 Merge branch 'master' into visual-style commit c9b1afb154 Merge: 6e3bd3fbe 9b92cdd2c Author: royjr <royjr96@gmail.com> Date: Fri Oct 10 00:06:55 2025 -0400 Merge branch 'master' into visual-style commit 6e3bd3fbed Author: royjr <royjr96@gmail.com> Date: Thu Oct 9 23:56:37 2025 -0400 explicit radius commit 42592dd550 Author: royjr <royjr96@gmail.com> Date: Thu Oct 9 23:54:34 2025 -0400 match what we currently send commit b2f7d72a33 Author: royjr <royjr96@gmail.com> Date: Thu Oct 9 23:53:07 2025 -0400 no need commit 2e0ce18c84 Author: royjr <royjr96@gmail.com> Date: Thu Oct 9 23:52:51 2025 -0400 group commit 2a9a4a9263 Merge: e63fb10fd d6317ffd2 Author: royjr <royjr96@gmail.com> Date: Thu Oct 9 23:51:18 2025 -0400 Merge branch 'master' into visual-style commit e63fb10fdb Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 21:35:23 2025 -0400 Revert "metric threshold" This reverts commit b54941928d. commit b54941928d Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 21:35:15 2025 -0400 metric threshold commit b85b8ffacf Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 21:28:10 2025 -0400 better VisualStyleOverheadThreshold commit 3ff2e9b26a Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 21:25:37 2025 -0400 reorder commit 4b3ffc722a Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 21:24:52 2025 -0400 show visual_radar_tracks_delay_settings on VisualRadarTracks commit 5f49066829 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 21:18:51 2025 -0400 more commit ab2eb218d5 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 21:16:06 2025 -0400 clean commit 6212b174e9 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 21:12:08 2025 -0400 descs commit a8a6e5708a Merge: 54b060f17 ae21d40a1 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 20:47:03 2025 -0400 Merge branch 'master' into visual-style commit 54b060f178 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 20:45:17 2025 -0400 move with commit 8266386cd0 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 20:44:06 2025 -0400 better commit 8bbe87ee22 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 20:40:23 2025 -0400 simple commit d35ac0c145 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 20:34:26 2025 -0400 a bit better commit a134ae1e29 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 20:25:55 2025 -0400 combine commit 6a69759b9e Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 20:24:51 2025 -0400 hide options based on options commit b9063e2966 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 19:55:40 2025 -0400 cleanup commit 4397a4387a Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 19:49:14 2025 -0400 mooooore fps commit 32dc384524 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 19:47:08 2025 -0400 not needed for now commit 68fa239b97 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 19:45:37 2025 -0400 unused commit c8367fbc25 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 19:44:45 2025 -0400 more fps remove commit 76fc4514e1 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 19:43:32 2025 -0400 reorder commit 073ce2b4df Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 19:35:37 2025 -0400 remove VisualFPS commit 5d516ba89f Merge: e819a0dcb 014baf8e9 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 12:26:38 2025 -0400 Merge branch 'master' into visual-style commit e819a0dcb1 Merge: ba4b583e6 8050c56a4 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 02:14:22 2025 -0400 Merge branch 'master' into visual-style commit ba4b583e6e Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 01:55:38 2025 -0400 fix visual_style_overhead_zoom commit 5954354356 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 01:48:06 2025 -0400 fix visual_style_overhead commit 23ff232333 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 01:40:10 2025 -0400 fix visual_style_overhead_settings commit 0bb47fcfa9 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 01:29:15 2025 -0400 fix visual_style_overhead_threshold_settings commit 99a5682371 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 01:09:08 2025 -0400 todo commit 22ca343050 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 01:07:53 2025 -0400 fix visual_style_overhead_threshold_settings commit 0049d20151 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 01:05:17 2025 -0400 VisualStyleZoom fix commit b9f8f4e8ac Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 00:55:20 2025 -0400 visual style better commit 26564dd42f Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 00:07:31 2025 -0400 better VisualWideCam commit ec440e4568 Merge: 69817f887 408d52d72 Author: royjr <royjr96@gmail.com> Date: Tue Oct 7 22:38:57 2025 -0400 Merge branch 'master' into visual-style commit 69817f887b Merge: df21208b7 0f4828df8 Author: royjr <royjr96@gmail.com> Date: Tue Sep 30 15:01:21 2025 -0400 Merge branch 'master' into visual-style commit df21208b7c Merge: 660c994c5 082ea8119 Author: royjr <royjr96@gmail.com> Date: Thu Sep 25 02:08:38 2025 -0400 Merge branch 'master' into visual-style commit 660c994c5e Author: royjr <royjr96@gmail.com> Date: Thu Sep 25 02:08:28 2025 -0400 visual_style_blend vs visual_style_overhead_blend commit 904cc796b0 Author: royjr <royjr96@gmail.com> Date: Thu Sep 25 01:44:06 2025 -0400 prevent jitter commit 1a9a1e1b8a Merge: 2ae7078c0 1465e38c7 Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 23:00:46 2025 -0400 Merge branch 'master' into visual-style commit 2ae7078c0f Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 14:37:21 2025 -0400 use ParamWatcher commit 0fde830a30 Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 10:35:46 2025 -0400 fix params commit 7c744a42e5 Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 08:18:51 2025 -0400 safe font commit 90cc169dec Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 08:17:59 2025 -0400 VisualRadarTracksDelay commit 36c1e11a9e Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 07:47:16 2025 -0400 add FPS toggle commit 5e26a99337 Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 07:40:59 2025 -0400 better fps commit 53683cf90b Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 07:25:00 2025 -0400 constant track size commit 95dcc23887 Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 07:21:57 2025 -0400 better tracks for overhead commit cef3163c7c Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 06:54:46 2025 -0400 more more more cached params commit cbc34dd1f6 Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 06:49:41 2025 -0400 more cached params commit fbd1f6bad1 Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 06:42:14 2025 -0400 cached params commit f2ddf9abba Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 04:04:52 2025 -0400 debug ui lag commit 8a5eaf5ba6 Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 03:35:06 2025 -0400 prepare for lag compensation commit ddb377ac5b Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 03:24:15 2025 -0400 radar lag compensate commit 512a01d28c Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 01:33:50 2025 -0400 VisualWideCam toggle (untested) commit b30e275169 Merge: ee9fe5c9e ecee67dd6 Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 01:15:18 2025 -0400 Merge branch 'master' into visual-style commit ee9fe5c9ed Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 01:10:44 2025 -0400 VisualRadarTracks toggle commit e672a352d3 Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 00:24:38 2025 -0400 bigger points commit 361d107040 Author: royjr <royjr96@gmail.com> Date: Mon Sep 22 23:55:55 2025 -0400 basic radar commit 36eb047cd3 Merge: 218c6172e d5a873ed8 Author: royjr <royjr96@gmail.com> Date: Mon Sep 22 00:10:31 2025 -0400 Merge branch 'master' into visual-style commit 218c6172e6 Author: royjr <royjr96@gmail.com> Date: Mon Sep 22 00:03:29 2025 -0400 darker fills commit 8f35e4fc3c Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 23:02:48 2025 -0400 Revert "smooooth" This reverts commit c965df39d6. commit c965df39d6 Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 22:10:35 2025 -0400 smooooth commit 53ef69f3c3 Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 21:55:23 2025 -0400 hide horizon if no data commit ea9ca18c8b Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 21:49:01 2025 -0400 horizon at end commit 225858261e Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 21:34:14 2025 -0400 better horizon commit 43de43b34a Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 21:25:39 2025 -0400 better lines commit 96ddbe35a1 Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 15:37:54 2025 -0400 dynamically adjust background commit 7d547ad533 Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 15:30:13 2025 -0400 fix default commit 13de58b845 Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 15:30:06 2025 -0400 add more speeds commit 3d8c563a4b Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 15:19:57 2025 -0400 dynamic zoom commit bc75199d5a Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 14:34:38 2025 -0400 overhead commit ba6e18ed91 Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 14:32:30 2025 -0400 only for vision commit 74dbcd699b Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 14:31:58 2025 -0400 add road edges to vision commit 35c6af0190 Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 13:55:56 2025 -0400 theme commit 827de88c8b Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 13:03:37 2025 -0400 stump top down commit 54ca4b537d Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 12:48:32 2025 -0400 VisualStyleBlendThreshold commit c61f327076 Author: royjr <royjr96@gmail.com> Date: Sat Sep 20 13:04:07 2025 -0400 allow always overhead view commit d569913e5a Author: royjr <royjr96@gmail.com> Date: Sat Sep 20 12:57:17 2025 -0400 VisualStyleBlend commit 418c93be06 Author: royjr <royjr96@gmail.com> Date: Sat Sep 20 12:16:49 2025 -0400 animate overhead commit 5acc040a89 Author: royjr <royjr96@gmail.com> Date: Sat Sep 20 11:24:24 2025 -0400 overhead commit e45b17c230 Author: royjr <royjr96@gmail.com> Date: Sat Sep 20 03:00:00 2025 -0400 better commit b14b6246d7 Author: royjr <royjr96@gmail.com> Date: Sat Sep 20 00:31:07 2025 -0400 visual style init
2026-06-09 02:34:20 +08:00 · 2025-11-08 09:57:57 -08:00 · 2025-11-07 22:11:17 -05:00 · 2025-11-07 22:10:20 -05:00 · 2025-11-07 17:59:23 -08:00 · 2025-11-07 12:37:22 -08:00
1520 changed files with 98333 additions and 70290 deletions
--- a/.clang-tidy
+++ b/.clang-tidy
@@ -0,0 +1,19 @@
+---
+Checks: '
+bugprone-*,
+-bugprone-integer-division,
+-bugprone-narrowing-conversions,
+performance-*,
+clang-analyzer-*,
+misc-*,
+-misc-unused-parameters,
+modernize-*,
+-modernize-avoid-c-arrays,
+-modernize-deprecated-headers,
+-modernize-use-auto,
+-modernize-use-using,
+-modernize-use-nullptr,
+-modernize-use-trailing-return-type,
+'
+CheckOptions:
+...
--- a/.dockerignore
+++ b/.dockerignore
@@ -13,6 +13,27 @@
 *.o-*
 *.os
 *.os-*
+*.so
+*.a

 venv/
 .venv/
+
+notebooks
+phone
+massivemap
+neos
+installer
+chffr/app2
+chffr/backend/env
+selfdrive/nav
+selfdrive/baseui
+selfdrive/test/simulator2
+**/cache_data
+xx/plus
+xx/community
+xx/projects
+!xx/projects/eon_testing_master
+!xx/projects/map3d
+xx/ops
+xx/junk
--- a/.gitattributes
+++ b/.gitattributes
@@ -7,12 +7,10 @@
 *.png filter=lfs diff=lfs merge=lfs -text
 *.gif filter=lfs diff=lfs merge=lfs -text
 *.ttf filter=lfs diff=lfs merge=lfs -text
-*.otf filter=lfs diff=lfs merge=lfs -text
 *.wav filter=lfs diff=lfs merge=lfs -text

 selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
-system/hardware/tici/updater_weston filter=lfs diff=lfs merge=lfs -text
-system/hardware/tici/updater_magic filter=lfs diff=lfs merge=lfs -text
+system/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text
 third_party/**/*.a filter=lfs diff=lfs merge=lfs -text
 third_party/**/*.so filter=lfs diff=lfs merge=lfs -text
 third_party/**/*.so.* filter=lfs diff=lfs merge=lfs -text
--- a/.github/labeler.yaml
+++ b/.github/labeler.yaml
@@ -16,7 +16,7 @@ simulation:

 ui:
  - changed-files:
-    - any-glob-to-all-files: '{selfdrive/assets/**,selfdrive/ui/**,system/ui/**}'
+    - any-glob-to-all-files: '{selfdrive/ui/**,system/ui/**}'

 tools:
  - changed-files:
--- a/.github/workflows/auto-cache/action.yaml
+++ b/.github/workflows/auto-cache/action.yaml
@@ -0,0 +1,58 @@
+name: 'automatically cache based on current runner'
+
+inputs:
+  path:
+    description: 'path to cache'
+    required: true
+  key:
+    description: 'key'
+    required: true
+  restore-keys:
+    description: 'restore-keys'
+    required: true
+  save:
+    description: 'whether to save the cache'
+    default: 'true'
+    required: false
+outputs:
+  cache-hit:
+    description: 'cache hit occurred'
+    value: ${{ (contains(runner.name, 'nsc') && steps.ns-cache.outputs.cache-hit) ||
+               (!contains(runner.name, 'nsc') && inputs.save != 'false' && steps.gha-cache.outputs.cache-hit) ||
+               (!contains(runner.name, 'nsc') && inputs.save == 'false' && steps.gha-cache-ro.outputs.cache-hit) }}
+
+runs:
+  using: "composite"
+  steps:
+    - name: setup namespace cache
+      id: ns-cache
+      if: ${{ contains(runner.name, 'nsc') }}
+      uses: namespacelabs/nscloud-cache-action@v1
+      with:
+        path: ${{ inputs.path }}
+
+    - name: setup github cache
+      id: gha-cache
+      if: ${{ !contains(runner.name, 'nsc') && inputs.save != 'false' }}
+      uses: 'actions/cache@v4'
+      with:
+        path: ${{ inputs.path }}
+        key: ${{ inputs.key }}
+        restore-keys: ${{ inputs.restore-keys }}
+
+    - name: setup github cache
+      id: gha-cache-ro
+      if: ${{ !contains(runner.name, 'nsc') && inputs.save == 'false' }}
+      uses: 'actions/cache/restore@v4'
+      with:
+        path: ${{ inputs.path }}
+        key: ${{ inputs.key }}
+        restore-keys: ${{ inputs.restore-keys }}
+
+    # make the directory manually in case we didn't get a hit, so it doesn't fail on future steps
+    - id: scons-cache-setup
+      shell: bash
+      run: |
+        mkdir -p ${{ inputs.path }}
+        sudo chmod -R 777 ${{ inputs.path }}
+        sudo chown -R $USER ${{ inputs.path }}
--- a/.github/workflows/auto_pr_review.yaml
+++ b/.github/workflows/auto_pr_review.yaml
@@ -12,12 +12,12 @@ jobs:
      issues: write
    runs-on: ubuntu-latest
    steps:
-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v4
      with:
        submodules: false

    # Label PRs
-    - uses: actions/labeler@v6
+    - uses: actions/labeler@v5.0.0
      with:
        dot: true
        configuration-path: .github/labeler.yaml
@@ -55,13 +55,13 @@ jobs:
              repo: context.repo.repo,
              issue_number: prNumber
            });
-
+            
            const hasDevC3Label = labels.some(label => label.name === process.env.PR_LABEL);
            const hasTrustLabel = labels.some(label => label.name === process.env.TRUST_FORK_PR_LABEL);
-
+            
            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-trust', hasTrustLabel ? 'true' : 'false');

@@ -81,7 +81,7 @@ jobs:
            });

            console.log(`Removed '${process.env.TRUST_FORK_PR_LABEL}' label from PR #${prNumber} as it received new commits`);
-
+            
            // Add a comment to the PR
            await github.rest.issues.createComment({
              owner: context.repo.owner,
--- a/.github/workflows/badges.yaml
+++ b/.github/workflows/badges.yaml
@@ -5,7 +5,9 @@ on:
  workflow_dispatch:

 env:
-  PYTHONPATH: ${{ github.workspace }}
+  BASE_IMAGE: sunnypilot-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

 jobs:
  badges:
@@ -15,13 +17,13 @@ jobs:
    permissions:
      contents: write
    steps:
-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v4
      with:
        submodules: true
-    - run: ./tools/op.sh setup
+    - uses: ./.github/workflows/setup-with-retry
    - name: Push badges
      run: |
-        python3 selfdrive/ui/translations/create_badges.py
+        ${{ env.RUN }} "scons -j$(nproc) && python3 selfdrive/ui/translations/create_badges.py"

        rm .gitattributes

--- a/.github/workflows/build-all-tinygrad-models.yaml
+++ b/.github/workflows/build-all-tinygrad-models.yaml
@@ -34,10 +34,10 @@ jobs:
          echo "tinygrad_ref=$ref" >> $GITHUB_OUTPUT
          echo "tinygrad_ref is $ref"

-      - name: Checkout docs repo (sunnypilot-models, gh-pages)
+      - name: Checkout docs repo (sunnypilot-docs, gh-pages)
        uses: actions/checkout@v4
        with:
-          repository: sunnypilot/sunnypilot-models
+          repository: sunnypilot/sunnypilot-docs
          ref: gh-pages
          path: docs
          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
@@ -74,7 +74,7 @@ jobs:
        env:
          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
        run: |
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
+          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
          cd gitlab_docs
          git checkout main
          git sparse-checkout set --no-cone models/
@@ -140,7 +140,7 @@ jobs:
        run: |
          echo '${{ needs.setup.outputs.model_matrix }}' > matrix.json
          built=(); while IFS= read -r line; do built+=("$line"); done < <(
-            find output -maxdepth 1 -name 'model-*' -printf "%f\n" | sed -E 's/^model-//' | sed -E 's/-[0-9]+$//' | sed -E 's/ \([^)]*\)//' | awk '{gsub(/^ +| +$/, ""); print}'
+            ls output | sed -E 's/^model-//' | sed -E 's/-[0-9]+$//' | sed -E 's/ \([^)]*\)//' | awk '{gsub(/^ +| +$/, ""); print}'
          )
          jq -c --argjson built "$(printf '%s\n' "${built[@]}" | jq -R . | jq -s .)" \
            'map(select(.display_name as $n | ($built | index($n | gsub("^ +| +$"; "")) | not)))' matrix.json > retry_matrix.json
@@ -168,7 +168,6 @@ jobs:
    if: ${{ !cancelled() && (needs.get_and_build.result != 'failure' || needs.retry_get_and_build.result == 'success' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '')) }}
    runs-on: ubuntu-latest
    strategy:
-      fail-fast: false
      max-parallel: 1
      matrix:
        model: ${{ fromJson(needs.setup.outputs.model_matrix) }}
@@ -192,7 +191,7 @@ jobs:
          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
        run: |
          echo "Cloning GitLab"
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
+          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
          cd gitlab_docs
          echo "checkout models/${RECOMPILED_DIR}"
          git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
@@ -202,7 +201,7 @@ jobs:
      - name: Checkout docs repo
        uses: actions/checkout@v4
        with:
-          repository: sunnypilot/sunnypilot-models
+          repository: sunnypilot/sunnypilot-docs
          ref: gh-pages
          path: docs
          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
--- a/.github/workflows/build-single-tinygrad-model.yaml
+++ b/.github/workflows/build-single-tinygrad-model.yaml
@@ -109,7 +109,7 @@ jobs:
          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
        run: |
          echo "Cloning GitLab"
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
+          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
          cd gitlab_docs
          echo "checkout models/${RECOMPILED_DIR}"
          git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
@@ -119,7 +119,7 @@ jobs:
      - name: Checkout docs repo
        uses: actions/checkout@v4
        with:
-          repository: sunnypilot/sunnypilot-models
+          repository: sunnypilot/sunnypilot-docs
          ref: gh-pages
          path: docs
          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
--- a/.github/workflows/cereal_validation.yaml
+++ b/.github/workflows/cereal_validation.yaml
@@ -20,23 +20,27 @@ concurrency:
  cancel-in-progress: true

 env:
-  CI: 1
+  PYTHONWARNINGS: error
+  BASE_IMAGE: openpilot-base
+  BUILD: selfdrive/test/docker_build.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

 jobs:
  generate_cereal_artifact:
    name: Generate cereal validation artifacts
    runs-on: ubuntu-24.04
    steps:
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v4
        with:
          submodules: true
-      - run: ./tools/op.sh setup
+      - uses: ./.github/workflows/setup-with-retry
      - name: Build openpilot
-        run: scons -j$(nproc) cereal
+        run: ${{ env.RUN }} "scons -j$(nproc) cereal"
      - name: Generate the log file
        run: |
-          export PYTHONPATH=${{ github.workspace }}
-          python3 cereal/messaging/tests/validate_sp_cereal_upstream.py -g -f schema_instances.bin
+          ${{ env.RUN }} "cereal/messaging/tests/validate_sp_cereal_upstream.py -g -f schema_instances.bin" && \
+          ls -la
+          ls -la cereal/messaging/tests
      - name: 'Prepare artifact'
        run: |
          mkdir -p "cereal/messaging/tests/cereal_validations"
@@ -53,26 +57,20 @@ jobs:
    runs-on: ubuntu-24.04
    needs: generate_cereal_artifact
    steps:
-      - name: Checkout sunnypilot
-        uses: actions/checkout@v6
-      - name: Checkout upstream openpilot
-        uses: actions/checkout@v6
+      - uses: actions/checkout@v4
        with:
          repository: 'commaai/openpilot'
-          path: openpilot
          submodules: true
          ref: "refs/heads/master"
-      - run: ./tools/op.sh setup
+      - uses: ./.github/workflows/setup-with-retry
      - name: Build openpilot
-        working-directory: openpilot
-        run: scons -j$(nproc) cereal
+        run: ${{ env.RUN }} "scons -j$(nproc) cereal"
      - name: Download build artifacts
        uses: actions/download-artifact@v4
        with:
          name: cereal_validations
-          path: openpilot/cereal/messaging/tests/cereal_validations
+          path: cereal/messaging/tests/cereal_validations
      - name: 'Run the validation'
        run: |
-          export PYTHONPATH=${{ github.workspace }}/openpilot
-          chmod +x openpilot/cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py
-          python3 openpilot/cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py -r -f openpilot/cereal/messaging/tests/cereal_validations/schema_instances.bin
+          chmod +x cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py
+          ${{ env.RUN }} "cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py -r -f cereal/messaging/tests/cereal_validations/schema_instances.bin"
--- a/.github/workflows/ci_weekly_report.yaml
+++ b/.github/workflows/ci_weekly_report.yaml
@@ -0,0 +1,101 @@
+name: weekly CI test report
+on:
+  schedule:
+    - cron: '37 9 * * 1' # 9:37AM UTC -> 2:37AM PST every monday
+  workflow_dispatch:
+    inputs:
+      ci_runs:
+        description: 'The amount of runs to trigger in CI test report'
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+env:
+  CI_RUNS: ${{ github.event.inputs.ci_runs || '50' }}
+
+jobs:
+  setup:
+    if: github.repository == 'sunnypilot/sunnypilot'
+    runs-on: ubuntu-latest
+    outputs:
+      ci_runs: ${{ steps.ci_runs_setup.outputs.matrix }}
+    steps:
+      - id: ci_runs_setup
+        name: CI_RUNS=${{ env.CI_RUNS }}
+        run: |
+          matrix=$(python3 -c "import json; print(json.dumps({ 'run_number' : list(range(${{ env.CI_RUNS }})) }))")
+          echo "matrix=$matrix" >> $GITHUB_OUTPUT
+
+  ci_matrix_run:
+    needs: [ setup ]
+    strategy:
+      fail-fast: false
+      matrix: ${{fromJSON(needs.setup.outputs.ci_runs)}}
+    uses: sunnypilot/sunnypilot/.github/workflows/ci_weekly_run.yaml@master
+    with:
+      run_number: ${{ matrix.run_number }}
+
+  report:
+    needs: [ci_matrix_run]
+    runs-on: ubuntu-latest
+    if: always()
+    steps:
+      - name: Get job results
+        uses: actions/github-script@v7
+        id: get-job-results
+        with:
+          script: |
+            const jobs = await github
+              .paginate("GET /repos/{owner}/{repo}/actions/runs/{run_id}/attempts/{attempt}/jobs", {
+                owner: "commaai",
+                repo: "${{ github.event.repository.name }}",
+                run_id: "${{ github.run_id }}",
+                attempt: "${{ github.run_attempt }}",
+              })
+            var report = {}
+            jobs.slice(1, jobs.length-1).forEach(job => {
+              if (job.conclusion === "skipped") return;
+              const jobName = job.name.split(" / ")[2];
+              const runRegex = /\((.*?)\)/;
+              const run = job.name.match(runRegex)[1];
+              report[jobName] = report[jobName] || { successes: [], failures: [], canceled: [] };
+              switch (job.conclusion) {
+                case "success":
+                  report[jobName].successes.push({ "run_number": run, "link": job.html_url}); break;
+                case "failure":
+                  report[jobName].failures.push({ "run_number": run, "link": job.html_url }); break;
+                case "canceled":
+                  report[jobName].canceled.push({ "run_number": run, "link": job.html_url }); break;
+              }
+            });
+            return JSON.stringify({"jobs": report});
+
+      - name: Add job results to summary
+        env:
+          JOB_RESULTS: ${{ fromJSON(steps.get-job-results.outputs.result) }}
+        run: |
+          cat <<EOF >> template.html
+          <table>
+            <thead>
+              <tr>
+                <th></th>
+                <th>Job</th>
+                <th>✅ Passing</th>
+                <th>❌ Failure Details</th>
+              </tr>
+            </thead>
+            <tbody>
+              {% for key in jobs.keys() %}<tr>
+                <td>{% for i in range(5) %}{% if i+1 <= (5 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }}) %}🟩{% else %}🟥{% endif %}{% endfor%}</td>
+                <td>{{ key }}</td>
+                <td>{{ 100 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }} }}%</td>
+                <td>{% if jobs[key]["failures"]|length > 0 %}<details>{% for failure in jobs[key]["failures"] %}<a href="{{ failure['link'] }}">Log for run #{{ failure['run_number'] }}</a><br>{% endfor %}</details>{% else %}{% endif %}</td>
+                </td>
+              </tr>{% endfor %}
+          </table>
+          EOF
+
+          pip install jinja2-cli
+          echo $JOB_RESULTS | jinja2 template.html > report.html
+          echo "# CI Test Report - ${{ env.CI_RUNS }} Runs" >> $GITHUB_STEP_SUMMARY
+          cat report.html >> $GITHUB_STEP_SUMMARY
--- a/.github/workflows/ci_weekly_run.yaml
+++ b/.github/workflows/ci_weekly_run.yaml
@@ -0,0 +1,17 @@
+name: weekly CI test run
+on:
+  workflow_call:
+    inputs:
+      run_number:
+        required: true
+        type: string
+
+concurrency:
+  group: ci-run-${{ inputs.run_number }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  selfdrive_tests:
+    uses: sunnypilot/sunnypilot/.github/workflows/selfdrive_tests.yaml@master
+    with:
+      run_number: ${{ inputs.run_number }}
--- a/.github/workflows/compile-openpilot/action.yaml
+++ b/.github/workflows/compile-openpilot/action.yaml
@@ -0,0 +1,21 @@
+name: 'compile openpilot'
+
+runs:
+  using: "composite"
+  steps:
+    - shell: bash
+      name: Build openpilot with all flags
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
+        ${{ env.RUN }} "release/check-dirty.sh"
+    - shell: bash
+      name: Cleanup scons cache and rebuild
+      run: |
+          ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
+                          scons -j$(nproc) --cache-populate"
+    - name: Save scons cache
+      uses: actions/cache/save@v4
+      if: github.ref == 'refs/heads/master'
+      with:
+        path: .ci_cache/scons_cache
+        key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
--- a/.github/workflows/diff_report.yaml
+++ b/.github/workflows/diff_report.yaml
@@ -1,45 +0,0 @@
-name: diff report
-
-on:
-  pull_request_target:
-    types: [opened, synchronize, reopened]
-
-jobs:
-  comment:
-    name: comment
-    runs-on: ubuntu-latest
-    timeout-minutes: 10
-    permissions:
-      contents: read
-      pull-requests: write
-      actions: read
-    steps:
-    - name: Wait for process replay
-      id: wait
-      continue-on-error: true
-      uses: lewagon/wait-on-check-action@v1.3.4
-      with:
-        ref: ${{ github.event.pull_request.head.sha }}
-        check-name: process replay
-        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        allowed-conclusions: success,failure
-        wait-interval: 20
-    - name: Download diff
-      if: steps.wait.outcome == 'success'
-      uses: dawidd6/action-download-artifact@v6
-      with:
-        github_token: ${{ secrets.GITHUB_TOKEN }}
-        workflow: tests.yaml
-        workflow_conclusion: ''
-        pr: ${{ github.event.number }}
-        name: diff_report_${{ github.event.number }}
-        path: .
-        allow_forks: true
-    - name: Comment on PR
-      if: steps.wait.outcome == 'success'
-      uses: thollander/actions-comment-pull-request@v2
-      with:
-        filePath: diff_report.txt
-        comment_tag: diff_report
-        pr_number: ${{ github.event.number }}
-        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
--- a/.github/workflows/docs.yaml
+++ b/.github/workflows/docs.yaml
@@ -22,7 +22,7 @@ jobs:
    steps:
    - uses: commaai/timeout@v1

-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v4
      with:
        submodules: true

@@ -34,7 +34,7 @@ jobs:
        mkdocs build

    # Push to docs.comma.ai
-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v4
      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
      with:
        path: openpilot-docs
--- a/.github/workflows/jenkins-pr-trigger.yaml
+++ b/.github/workflows/jenkins-pr-trigger.yaml
@@ -5,44 +5,7 @@ on:
    types: [created, edited]

 jobs:
-  cleanup-branches:
-    runs-on: ubuntu-latest
-    permissions:
-      contents: write
-    steps:
-      - name: Delete stale Jenkins branches
-        uses: actions/github-script@v8
-        with:
-          script: |
-            const cutoff = Date.now() - 24 * 60 * 60 * 1000;
-            const prefixes = ['tmp-jenkins', '__jenkins'];
-
-            for await (const response of github.paginate.iterator(github.rest.repos.listBranches, {
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              per_page: 100,
-            })) {
-              for (const branch of response.data) {
-                if (!prefixes.some(p => branch.name.startsWith(p))) continue;
-
-                const { data: commit } = await github.rest.repos.getCommit({
-                  owner: context.repo.owner,
-                  repo: context.repo.repo,
-                  ref: branch.commit.sha,
-                });
-
-                const commitDate = new Date(commit.commit.committer.date).getTime();
-                if (commitDate < cutoff) {
-                  console.log(`Deleting branch: ${branch.name} (last commit: ${commit.commit.committer.date})`);
-                  await github.rest.git.deleteRef({
-                    owner: context.repo.owner,
-                    repo: context.repo.repo,
-                    ref: `heads/${branch.name}`,
-                  });
-                }
-              }
-            }
-
+  # TODO: gc old branches in a separate job in this workflow
  scan-comments:
    runs-on: ubuntu-latest
    if: ${{ github.event.issue.pull_request }}
@@ -52,7 +15,7 @@ jobs:
    steps:
    - name: Check for trigger phrase
      id: check_comment
-      uses: actions/github-script@v8
+      uses: actions/github-script@v7
      with:
        script: |
          const triggerPhrase = "trigger-jenkins";
@@ -72,7 +35,7 @@ jobs:

    - name: Checkout repository
      if: steps.check_comment.outputs.result == 'true'
-      uses: actions/checkout@v6
+      uses: actions/checkout@v4
      with:
        ref: refs/pull/${{ github.event.issue.number }}/head

@@ -86,7 +49,7 @@ jobs:

    - name: Delete trigger comment
      if: steps.check_comment.outputs.result == 'true' && always()
-      uses: actions/github-script@v8
+      uses: actions/github-script@v7
      with:
        script: |
          await github.rest.issues.deleteComment({
--- a/.github/workflows/model_review.yaml
+++ b/.github/workflows/model_review.yaml
@@ -16,23 +16,23 @@ jobs:
    if: github.repository == 'commaai/openpilot'
    steps:
      - name: Checkout
-        uses: actions/checkout@v6
-        with:
-          submodules: true
+        uses: actions/checkout@v4
      - name: Checkout master
-        uses: actions/checkout@v6
+        uses: actions/checkout@v4
        with:
          ref: master
          path: base
      - run: git lfs pull
      - run: cd base && git lfs pull

+      - run: pip install onnx
+
      - name: scripts/reporter.py
        id: report
        run: |
          echo "content<<EOF" >> $GITHUB_OUTPUT
          echo "## Model Review" >> $GITHUB_OUTPUT
-          PYTHONPATH=${{ github.workspace }} MASTER_PATH=${{ github.workspace }}/base python scripts/reporter.py >> $GITHUB_OUTPUT
+          MASTER_PATH=${{ github.workspace }}/base python scripts/reporter.py >> $GITHUB_OUTPUT
          echo "EOF" >> $GITHUB_OUTPUT

      - name: Post model report comment
--- a/.github/workflows/prebuilt.yaml
+++ b/.github/workflows/prebuilt.yaml
@@ -6,7 +6,7 @@ on:

 env:
  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-  BUILD: release/ci/docker_build_sp.sh
+  BUILD: release/ci/docker_build_sp.sh prebuilt

 jobs:
  build_prebuilt:
@@ -28,8 +28,8 @@ jobs:
        wait-interval: 30
        running-workflow-name: 'build prebuilt'
        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        check-regexp: ^((?!.*(build master-ci|create badges).*).)*$
-    - uses: actions/checkout@v6
+        check-regexp: ^((?!.*(build master-ci).*).)*$
+    - uses: actions/checkout@v4
      with:
        submodules: true
    - run: git lfs pull
--- a/.github/workflows/release.yaml
+++ b/.github/workflows/release.yaml
@@ -7,12 +7,20 @@ on:
 jobs:
  build___nightly:
    name: build __nightly
+    env:
+      ImageOS: ubuntu24
+    container:
+      image: ghcr.io/sunnypilot/sunnypilot-base:latest
    runs-on: ubuntu-latest
    if: github.repository == 'sunnypilot/sunnypilot'
    permissions:
      checks: read
      contents: write
    steps:
+    - name: Install wait-on-check-action dependencies
+      run: |
+        sudo apt-get update
+        sudo apt-get install -y libyaml-dev
    - name: Wait for green check mark
      if: ${{ github.event_name == 'schedule' }}
      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
@@ -21,11 +29,14 @@ jobs:
        wait-interval: 30
        running-workflow-name: 'build __nightly'
        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        check-regexp: ^((?!.*(build prebuilt|create badges).*).)*$
+        check-regexp: ^((?!.*(build prebuilt).*).)*$
    - uses: actions/checkout@v4
      with:
        submodules: true
        fetch-depth: 0
-    - run: ./tools/op.sh setup
+    - name: Pull LFS
+      run: |
+        git config --global --add safe.directory '*'
+        git lfs pull
    - name: Push __nightly
      run: BRANCH=__nightly release/build_stripped.sh
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@@ -6,54 +6,62 @@ on:
  workflow_dispatch:

 env:
-  PYTHONPATH: ${{ github.workspace }}
+  BASE_IMAGE: sunnypilot-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

 jobs:
-  package_updates:
-    name: package_updates
+  update_translations:
    runs-on: ubuntu-latest
    if: github.repository == 'sunnypilot/sunnypilot'
    steps:
-    - uses: actions/checkout@v6
+      - uses: actions/checkout@v4
+      - uses: ./.github/workflows/setup-with-retry
+      - name: Update translations
+        run: |
+          ${{ env.RUN }} "python3 selfdrive/ui/update_translations.py --vanish"
+      - name: Create Pull Request
+        uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
+        with:
+          author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
+          commit-message: "Update translations"
+          title: "[bot] Update translations"
+          body: "Automatic PR from repo-maintenance -> update_translations"
+          branch: "update-translations"
+          base: "master"
+          delete-branch: true
+          labels: bot
+
+  package_updates:
+    name: package_updates
+    runs-on: ubuntu-latest
+    container:
+      image: ghcr.io/sunnypilot/sunnypilot-base:latest
+    if: github.repository == 'sunnypilot/sunnypilot'
+    steps:
+    - uses: actions/checkout@v4
      with:
        submodules: true
-    - run: ./tools/op.sh setup
    - name: uv lock
-      run: uv lock --upgrade
-    - name: uv pip tree
-      id: pip_tree
+      if: github.repository == 'commaai/openpilot'
      run: |
-        echo 'PIP_TREE<<EOF' >> $GITHUB_OUTPUT
-        uv pip tree >> $GITHUB_OUTPUT
-        echo 'EOF' >> $GITHUB_OUTPUT
-    - name: venv size
-      id: venv_size
-      run: |
-        echo 'VENV_SIZE<<EOF' >> $GITHUB_OUTPUT
-        echo "Total: $(du -sh .venv | cut -f1)" >> $GITHUB_OUTPUT
-        echo "" >> $GITHUB_OUTPUT
-        echo "Top 10 by size:" >> $GITHUB_OUTPUT
-        du -sh .venv/lib/python*/site-packages/* 2>/dev/null \
-          | grep -v '\.dist-info' \
-          | grep -v '__pycache__' \
-          | sort -rh \
-          | head -10 \
-          | while IFS=$'\t' read size path; do echo "$size  ${path##*/}"; done >> $GITHUB_OUTPUT
-        echo 'EOF' >> $GITHUB_OUTPUT
+        python3 -m ensurepip --upgrade
+        pip3 install uv
+        uv lock --upgrade
    - name: bump submodules
      run: |
-        git config submodule.msgq.update none
-        git config submodule.rednose_repo.update none
-        git config submodule.teleoprtc_repo.update none
+        git config --global --add safe.directory '*'
        git config submodule.tinygrad.update none
        git submodule update --remote
        git add .
    - name: update car docs
      run: |
+        export PYTHONPATH="$PWD"
+        scons -j$(nproc) --minimal opendbc_repo
        python selfdrive/car/docs.py
        git add docs/CARS.md
    - name: Create Pull Request
-      uses: peter-evans/create-pull-request@c0f553fe549906ede9cf27b5156039d195d2ece0
+      uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
      with:
        author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
        token: ${{ github.repository == 'commaai/openpilot' && secrets.ACTIONS_CREATE_PR_PAT || secrets.GITHUB_TOKEN }}
@@ -62,16 +70,5 @@ jobs:
        branch: auto-package-updates
        base: master
        delete-branch: true
-        body: |
-          Automatic PR from repo-maintenance -> package_updates
-
-          ```
-          $ du -sh .venv && du -sh .venv/lib/python*/site-packages/* | sort -rh | head -10
-          ${{ steps.venv_size.outputs.VENV_SIZE }}
-          ```
-
-          ```
-          $ uv pip tree
-          ${{ steps.pip_tree.outputs.PIP_TREE }}
-          ```
+        body: 'Automatic PR from repo-maintenance -> package_updates'
        labels: bot
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -0,0 +1,312 @@
+name: selfdrive
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+  workflow_dispatch:
+  workflow_call:
+    inputs:
+      run_number:
+        default: '1'
+        required: true
+        type: string
+
+concurrency:
+  group: selfdrive-tests-ci-run-${{ 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 }}
+  cancel-in-progress: true
+
+env:
+  PYTHONWARNINGS: error
+  BASE_IMAGE: sunnypilot-base
+  AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
+  MAPBOX_TOKEN_CI: ${{ secrets.MAPBOX_TOKEN_CI }}
+
+  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
+  BUILD: release/ci/docker_build_sp.sh base
+
+  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -e MAPBOX_TOKEN_CI=$MAPBOX_TOKEN_CI -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+
+  PYTEST: pytest --continue-on-collection-errors --durations=0 -n logical
+
+jobs:
+  build_release:
+    name: build release
+    runs-on: ${{
+      (github.repository == 'commaai/openpilot') &&
+      ((github.event_name != 'pull_request') ||
+      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
+      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
+      || fromJSON('["ubuntu-24.04"]') }}
+    env:
+      STRIPPED_DIR: /tmp/releasepilot
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - name: Getting LFS files
+      uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
+      with:
+        timeout_minutes: 2
+        max_attempts: 3
+        command: git lfs pull
+    - name: Build devel
+      timeout-minutes: 1
+      run: TARGET_DIR=$STRIPPED_DIR release/build_stripped.sh
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Build openpilot and run checks
+      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
+      run: |
+        cd $STRIPPED_DIR
+        ${{ env.RUN }} "python3 system/manager/build.py"
+    - name: Run tests
+      timeout-minutes: 1
+      run: |
+        cd $STRIPPED_DIR
+        ${{ env.RUN }} "release/check-dirty.sh"
+    - name: Check submodules
+      if: github.repository == 'sunnypilot/sunnypilot'
+      timeout-minutes: 3
+      run: |
+        if [ "${{ github.ref }}" != "refs/heads/master" ]; then
+          git fetch  origin master:refs/remotes/origin/master
+
+          SUBMODULE_PATHS=$(git diff origin/master HEAD --name-only | grep -E '^[^/]+$' | while read path; do
+            if git ls-files --stage "$path" | grep -q "^160000"; then
+              echo "$path"
+            fi
+          done | tr '\n' ' ')
+
+          if [ -n "$SUBMODULE_PATHS" ]; then
+            echo "Changed submodule paths: $SUBMODULE_PATHS"
+            export SUBMODULE_PATHS="$SUBMODULE_PATHS"
+            export CHECK_PR_REFS=true
+          fi
+        fi
+        release/check-submodules.sh
+
+  build:
+    runs-on: ${{
+      (github.repository == 'commaai/openpilot') &&
+      ((github.event_name != 'pull_request') ||
+      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
+      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
+      || fromJSON('["ubuntu-24.04"]') }}
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - name: Setup docker push
+      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'sunnypilot/sunnypilot'
+      run: |
+        echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
+        $DOCKER_LOGIN
+    - uses: ./.github/workflows/setup-with-retry
+    - uses: ./.github/workflows/compile-openpilot
+      timeout-minutes: 30
+
+  build_mac:
+    name: build macOS
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
+    - name: Homebrew cache
+      uses: ./.github/workflows/auto-cache
+      if: false # disabling the cache for now because it is breaking macos builds...
+      with:
+        save: false # No need save here if we manually save it later conditionally
+        path: ~/Library/Caches/Homebrew
+        key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+        restore-keys: |
+          brew-macos-${{ env.CACHE_COMMIT_DATE }}
+          brew-macos
+    - name: Install dependencies
+      run: ./tools/mac_setup.sh
+      env:
+        PYTHONWARNINGS: default  # package install has DeprecationWarnings
+        HOMEBREW_DISPLAY_INSTALL_TIMES: 1
+    - name: Save Homebrew cache
+      uses: actions/cache/save@v4
+      if: github.ref == 'refs/heads/master'
+      with:
+        path: ~/Library/Caches/Homebrew
+        key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+    - run: git lfs pull
+    - name: Getting scons cache
+      uses: ./.github/workflows/auto-cache
+      with:
+        save: false # No need save here if we manually save it later conditionally
+        path: /tmp/scons_cache
+        key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+        restore-keys: |
+          scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}
+          scons-${{ runner.arch }}-macos
+    - name: Building openpilot
+      run: . .venv/bin/activate && scons -j$(nproc)
+    - name: Save scons cache
+      uses: actions/cache/save@v4
+      if: github.ref == 'refs/heads/master'
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+
+  static_analysis:
+    name: static analysis
+    runs-on: ${{
+      (github.repository == 'commaai/openpilot') &&
+      ((github.event_name != 'pull_request') ||
+      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
+      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
+      || fromJSON('["ubuntu-24.04"]') }}
+    env:
+      PYTHONWARNINGS: default
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Static analysis
+      timeout-minutes: 1
+      run: ${{ env.RUN }} "scripts/lint/lint.sh"
+
+  unit_tests:
+    name: unit tests
+    runs-on: ${{
+      (github.repository == 'commaai/openpilot') &&
+      ((github.event_name != 'pull_request') ||
+      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
+      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
+      || fromJSON('["ubuntu-24.04"]') }}
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+      id: setup-step
+    - name: Build openpilot
+      run: ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Run unit tests
+      timeout-minutes: ${{ contains(runner.name, 'nsc') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 999 }}
+      run: |
+        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
+                        # Pre-compile Python bytecode so each pytest worker doesn't need to
+                        $PYTEST --collect-only -m 'not slow' -qq && \
+                        MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \
+                        ./selfdrive/ui/tests/create_test_translations.sh && \
+                        QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
+                        chmod -R 777 /tmp/comma_download_cache"
+
+  process_replay:
+    name: process replay
+    if: false  # disable process_replay for forks
+    runs-on: ${{
+      (github.repository == 'commaai/openpilot') &&
+      ((github.event_name != 'pull_request') ||
+      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
+      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
+      || fromJSON('["ubuntu-24.04"]') }}
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+      id: setup-step
+    - name: Cache test routes
+      id: dependency-cache
+      uses: actions/cache@v4
+      with:
+        path: .ci_cache/comma_download_cache
+        key: proc-replay-${{ hashFiles('selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_processes.py') }}
+    - name: Build openpilot
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Run replay
+      timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.dependency-cache.outputs.cache-hit == 'true') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 20 }}
+      run: |
+        ${{ env.RUN }} "selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
+                        chmod -R 777 /tmp/comma_download_cache"
+    - name: Print diff
+      id: print-diff
+      if: always()
+      run: cat selfdrive/test/process_replay/diff.txt
+    - uses: actions/upload-artifact@v4
+      if: always()
+      continue-on-error: true
+      with:
+        name: process_replay_diff.txt
+        path: selfdrive/test/process_replay/diff.txt
+    - name: Upload reference logs
+      if: false # TODO: move this to github instead of azure
+      run: |
+        ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python3 selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
+    - name: Run regen
+      if: false
+      timeout-minutes: 4
+      run: |
+        ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
+                        chmod -R 777 /tmp/comma_download_cache"
+
+  simulator_driving:
+    name: simulator driving
+    runs-on: ${{
+      (github.repository == 'commaai/openpilot') &&
+      ((github.event_name != 'pull_request') ||
+      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
+      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
+      || fromJSON('["ubuntu-24.04"]') }}
+    if: (github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+      id: setup-step
+    - name: Build openpilot
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Driving test
+      timeout-minutes: ${{ (steps.setup-step.outputs.duration < 18) && 1 || 2 }}
+      run: |
+        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
+                        source selfdrive/test/setup_vsound.sh && \
+                        CI=1 pytest -s tools/sim/tests/test_metadrive_bridge.py"
+
+  create_ui_report:
+    # This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml
+    name: Create UI Report
+    runs-on: ${{
+      (github.repository == 'commaai/openpilot') &&
+      ((github.event_name != 'pull_request') ||
+      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
+      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
+      || fromJSON('["ubuntu-24.04"]') }}
+    if: false  # FIXME: FrameReader is broken on CI runners
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: true
+      - uses: ./.github/workflows/setup-with-retry
+      - name: caching frames
+        id: frames-cache
+        uses: actions/cache@v4
+        with:
+          path: .ci_cache/comma_download_cache
+          key: ui_screenshots_test_${{ hashFiles('selfdrive/ui/tests/test_ui/run.py') }}
+      - name: Build openpilot
+        run: ${{ env.RUN }} "scons -j$(nproc)"
+      - name: Create Test Report
+        timeout-minutes: ${{ ((steps.frames-cache.outputs.cache-hit == 'true') && 2 || 4) }}
+        run: >
+            ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
+                            source selfdrive/test/setup_xvfb.sh &&
+                            CACHE_ROOT=/tmp/comma_download_cache python3 selfdrive/ui/tests/test_ui/run.py &&
+                            chmod -R 777 /tmp/comma_download_cache"
+      - name: Upload Test Report
+        uses: actions/upload-artifact@v4
+        with:
+          name: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
+          path: selfdrive/ui/tests/test_ui/report_1/screenshots
--- a/.github/workflows/setup-with-retry/action.yaml
+++ b/.github/workflows/setup-with-retry/action.yaml
@@ -0,0 +1,52 @@
+name: 'openpilot env setup, with retry on failure'
+
+inputs:
+  docker_hub_pat:
+    description: 'Auth token for Docker Hub, required for BuildJet jobs'
+    required: false
+    default: ''
+  sleep_time:
+    description: 'Time to sleep between retries'
+    required: false
+    default: 30
+
+outputs:
+  duration:
+    description: 'Duration of the setup process in seconds'
+    value: ${{ steps.get_duration.outputs.duration }}
+
+runs:
+  using: "composite"
+  steps:
+    - id: start_time
+      shell: bash
+      run: echo "START_TIME=$(date +%s)" >> $GITHUB_ENV
+    - id: setup1
+      uses: ./.github/workflows/setup
+      continue-on-error: true
+      with:
+        is_retried: true
+    - if: steps.setup1.outcome == 'failure'
+      shell: bash
+      run: sleep ${{ inputs.sleep_time }}
+    - id: setup2
+      if: steps.setup1.outcome == 'failure'
+      uses: ./.github/workflows/setup
+      continue-on-error: true
+      with:
+        is_retried: true
+    - if: steps.setup2.outcome == 'failure'
+      shell: bash
+      run: sleep ${{ inputs.sleep_time }}
+    - id: setup3
+      if: steps.setup2.outcome == 'failure'
+      uses: ./.github/workflows/setup
+      with:
+        is_retried: true
+    - id: get_duration
+      shell: bash
+      run: |
+        END_TIME=$(date +%s)
+        DURATION=$((END_TIME - START_TIME))
+        echo "Total duration: $DURATION seconds"
+        echo "duration=$DURATION" >> $GITHUB_OUTPUT
--- a/.github/workflows/setup/action.yaml
+++ b/.github/workflows/setup/action.yaml
@@ -0,0 +1,56 @@
+name: 'openpilot env setup'
+
+inputs:
+  is_retried:
+    description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly'
+    required: false
+    default: 'false'
+
+runs:
+  using: "composite"
+  steps:
+    # assert that this action is retried using the setup-with-retry
+    - shell: bash
+      if: ${{ inputs.is_retried == 'false' }}
+      run: |
+        echo "You should not run this action directly. Use setup-with-retry instead"
+        exit 1
+
+    - shell: bash
+      name: No retries!
+      run: |
+        if [ "${{ github.run_attempt }}" -gt ${{ github.event.pull_request.head.repo.fork && github.event.pull_request.author_association == 'NONE' && 2 || 1}} ]; then
+          echo -e "\033[0;31m##################################################"
+          echo -e "\033[0;31m    Retries not allowed! Fix the flaky test!      "
+          echo -e "\033[0;31m##################################################\033[0m"
+          exit 1
+        fi
+
+    # do this after checkout to ensure our custom LFS config is used to pull from GitLab
+    - shell: bash
+      run: git lfs pull
+
+    # build cache
+    - id: date
+      shell: bash
+      run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
+    - shell: bash
+      run: echo "$CACHE_COMMIT_DATE"
+    - id: scons-cache
+      uses: ./.github/workflows/auto-cache
+      with:
+        path: .ci_cache/scons_cache
+        key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+        restore-keys: |
+          scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}
+          scons-${{ runner.arch }}
+    # as suggested here: https://github.com/moby/moby/issues/32816#issuecomment-910030001
+    - id: normalize-file-permissions
+      shell: bash
+      name: Normalize file permissions to ensure a consistent docker build cache
+      run: |
+        find . -type f -executable -not -perm 755 -exec chmod 755 {} \;
+        find . -type f -not -executable -not -perm 644 -exec chmod 644 {} \;
+    # build our docker image
+    - shell: bash
+      run: eval ${{ env.BUILD }}
--- a/.github/workflows/stale.yaml
+++ b/.github/workflows/stale.yaml
@@ -5,15 +5,15 @@ on:
  workflow_dispatch:

 env:
-  DAYS_BEFORE_PR_CLOSE: 7
-  DAYS_BEFORE_PR_STALE: 24
+  DAYS_BEFORE_PR_CLOSE: 2
+  DAYS_BEFORE_PR_STALE: 9
  DAYS_BEFORE_PR_STALE_DRAFT: 30

 jobs:
  stale:
    runs-on: ubuntu-latest
    steps:
-      - uses: actions/stale@v10
+      - uses: actions/stale@v9
        with:
          exempt-all-milestones: true

@@ -34,7 +34,7 @@ jobs:
  stale_drafts:
    runs-on: ubuntu-latest
    steps:
-      - uses: actions/stale@v10
+      - uses: actions/stale@v9
        with:
          exempt-all-milestones: true

--- a/.github/workflows/sunnypilot-build-model.yaml
+++ b/.github/workflows/sunnypilot-build-model.yaml
@@ -156,8 +156,6 @@ jobs:
        with:
          name: models-${{ env.REF }}${{ inputs.artifact_suffix }}
          path: ${{ github.workspace }}/selfdrive/modeld/models
-      - run: |
-          rm -f ${{ github.workspace }}/selfdrive/modeld/models/{dmonitoring_model,big_driving_policy,big_driving_vision}.onnx

      - name: Build Model
        run: |
@@ -173,18 +171,9 @@ jobs:

            echo "Compiling: $onnx_file -> $output_file"
            QCOM=1 python3 "${{ env.TINYGRAD_PATH }}/examples/openpilot/compile3.py" "$onnx_file" "$output_file"
-            DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
+            QCOM=1 python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
          done

-      - name: Validate Model Outputs
-        run: |
-          source /etc/profile
-          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
-          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          python3 "${{ github.workspace }}/release/ci/model_generator.py" \
-            --validate-only \
-            --model-dir "${{ env.MODELS_DIR }}"
-
      - name: Prepare Output
        run: |
          sudo rm -rf ${{ env.OUTPUT_DIR }}
@@ -193,6 +182,7 @@ jobs:
          # Copy the model files
          rsync -avm \
            --include='*.dlc' \
+            --include='*.thneed' \
            --include='*.pkl' \
            --include='*.onnx' \
            --exclude='*' \
--- a/.github/workflows/sunnypilot-build-prebuilt.yaml
+++ b/.github/workflows/sunnypilot-build-prebuilt.yaml
@@ -6,10 +6,10 @@ env:
  CI_DIR: ${{ github.workspace }}/release/ci
  SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
  PUBLIC_REPO_URL: "https://github.com/sunnypilot/sunnypilot"
-
+  
  # Branch configurations
  STAGING_SOURCE_BRANCH: 'master'
-
+  
  # Runtime configuration
  SOURCE_BRANCH: "${{ github.head_ref || github.ref_name }}"

@@ -22,7 +22,7 @@ on:
  workflow_dispatch:
    inputs:
      wait_for_tests:
-        description: 'Wait for tests to finish'
+        description: 'Wait for selfdrive_tests to finish'
        required: false
        type: boolean
        default: false
@@ -75,7 +75,7 @@ jobs:
            cancel="$(echo "$CONFIG" | jq -r '.cancel_publish_in_progress')";
            echo "cancel_publish_in_progress=$( [ "$cancel" = "null" ] && echo "true" || echo $cancel)" >> $GITHUB_OUTPUT
            echo "publish_concurrency_group=publish-${BRANCH}$( [ "$cancel" = "null" ] || [ "$cancel" = "true" ] || echo "${{ github.sha }}" )" >> $GITHUB_OUTPUT
-
+          
            is_stable_branch="$(echo "$CONFIG" | jq -r '.stable_branch // false')";
            echo "is_stable_branch=$is_stable_branch" >> $GITHUB_OUTPUT

@@ -85,7 +85,7 @@ jobs:
          fi
          echo "build=$BUILD" >> $GITHUB_OUTPUT
          cat $GITHUB_OUTPUT
-
+  
  validate_tests:
    runs-on: ubuntu-24.04
    needs: [ prepare_strategy ]
@@ -99,7 +99,7 @@ jobs:
      - name: Wait for Tests
        uses: ./.github/workflows/wait-for-action # Path to where you place the action
        with:
-          workflow: tests.yaml # The workflow file to monitor
+          workflow: selfdrive_tests.yaml # The workflow file to monitor
          github-token: ${{ secrets.GITHUB_TOKEN }}
          should-wait-for-start: ${{ github.event_name == 'push' && 'true' || 'false' }}

@@ -119,7 +119,7 @@ jobs:
      needs.prepare_strategy.result == 'success' &&
      (needs.validate_tests.result == 'success' || needs.validate_tests.result == 'skipped') &&
      (!contains(github.event_name, 'pull_request') ||
-      (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
+      (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) 
      }}
    steps:
      - uses: actions/checkout@v4
@@ -134,7 +134,7 @@ jobs:
        with:
          path: ${{env.SCONS_CACHE_DIR}}
          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}-${{ github.sha }}
-          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.)
+          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.) 
          #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
          restore-keys: |
            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}
@@ -148,7 +148,7 @@ jobs:
          echo "version=${{ needs.prepare_strategy.outputs.version }}" >> $GITHUB_OUTPUT
          echo "extra_version_identifier=${{ needs.prepare_strategy.outputs.extra_version_identifier }}" >> $GITHUB_OUTPUT
          echo "commit_sha=${{ github.sha }}" >> $GITHUB_OUTPUT
-
+          
          # Set up common environment
          source /etc/profile;
          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
@@ -180,13 +180,6 @@ jobs:
          ./release/release_files.py | sort | uniq | rsync -rRl${RUNNER_DEBUG:+v} --files-from=- . $BUILD_DIR/
          cd $BUILD_DIR
          sed -i '/from .board.jungle import PandaJungle, PandaJungleDFU/s/^/#/' panda/__init__.py
-          echo "Building sunnypilot's modeld_v2..."
-          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/modeld_v2
-          echo "Building sunnypilot's locationd..."
-          scons -j2 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/selfdrive/locationd
-          echo "Building openpilot's locationd..."
-          scons -j1 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal selfdrive/locationd
-          echo "Building rest of sunnypilot"
          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal
          touch ${BUILD_DIR}/prebuilt
          if [[ "${{ runner.debug }}" == "1" ]]; then
@@ -198,27 +191,37 @@ jobs:
          sudo rm -rf ${OUTPUT_DIR}
          mkdir -p ${OUTPUT_DIR}
          rsync -am${RUNNER_DEBUG:+v} \
+            --include='**/panda/board/' \
+            --include='**/panda/board/obj' \
+            --include='**/panda/board/obj/panda.bin.signed' \
+            --include='**/panda/board/obj/panda_h7.bin.signed' \
+            --include='**/panda/board/obj/bootstub.panda.bin' \
+            --include='**/panda/board/obj/bootstub.panda_h7.bin' \
            --exclude='.sconsign.dblite' \
            --exclude='*.a' \
            --exclude='*.o' \
            --exclude='*.os' \
            --exclude='*.pyc' \
            --exclude='moc_*' \
-            --exclude='__pycache__' \
+            --exclude='*.cc' \
            --exclude='Jenkinsfile' \
+            --exclude='supercombo.onnx' \
+            --exclude='**/panda/board/*' \
+            --exclude='**/panda/board/obj/**' \
+            --exclude='**/panda/certs/' \
+            --exclude='**/panda/crypto/' \
            --exclude='**/release/' \
            --exclude='**/.github/' \
            --exclude='**/selfdrive/ui/replay/' \
            --exclude='**/__pycache__/' \
+            --exclude='**/selfdrive/ui/*.h' \
+            --exclude='**/selfdrive/ui/**/*.h' \
+            --exclude='**/selfdrive/ui/qt/offroad/sunnypilot/' \
            --exclude='${{env.SCONS_CACHE_DIR}}' \
            --exclude='**/.git/' \
            --exclude='**/SConstruct' \
            --exclude='**/SConscript' \
            --exclude='**/.venv/' \
-            --exclude='selfdrive/modeld/models/driving_vision.onnx' \
-            --exclude='selfdrive/modeld/models/driving_policy.onnx' \
-            --exclude='third_party/*x86*' \
-            --exclude='third_party/*Darwin*' \
            --delete-excluded \
            --chown=comma:comma \
            ${BUILD_DIR}/ ${OUTPUT_DIR}/
@@ -238,8 +241,8 @@ jobs:
        if: always()
        run: |
          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
-
-
+  
+  
  publish:
    concurrency:
      # We do a bit of a hack here to avoid canceling the publishing job if a new commit comes in while we're publishing by adding the sha to the group name.
@@ -290,7 +293,7 @@ jobs:
          echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/AUTO_DEPLOY_PREBUILT_BRANCHES"
          echo "2. Current value: ${{ vars.AUTO_DEPLOY_PREBUILT_BRANCHES }}"
          echo "3. Update as needed (JSON array with no spaces)"
-
+      
      - name: Tag ${{ needs.prepare_strategy.outputs.environment }}
        if: ${{ needs.prepare_strategy.outputs.is_stable_branch == 'true' && (github.event_name != 'push' || !startsWith(github.ref, 'refs/tags/')) }}
        run: |
@@ -299,7 +302,7 @@ jobs:
            git push -f origin ${TAG}

  notify:
-    needs:
+    needs: 
    - prepare_strategy
    - build
    - publish
@@ -328,7 +331,7 @@ jobs:
          ${{ vars.DISCOURSE_GENERAL_UPDATE_NOTICE }}
          EOF
          )
-
+          
          {
            echo 'content<<EOFMARKER'
            echo "$MESSAGE"
--- a/.github/workflows/sunnypilot-master-dev-prep.yaml
+++ b/.github/workflows/sunnypilot-master-dev-prep.yaml
@@ -49,7 +49,6 @@ jobs:
        with:
          fetch-depth: 0  # Fetch all history for all branches
          token: ${{ secrets.GITHUB_TOKEN }}
-          persist-credentials: false

      - name: Wait for Tests
        uses: ./.github/workflows/wait-for-action # Path to where you place the action
@@ -58,7 +57,7 @@ jobs:
          || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == vars.PREBUILT_PR_LABEL || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, vars.PREBUILT_PR_LABEL))))
          )
        with:
-          workflow: tests.yaml # The workflow file to monitor
+          workflow: selfdrive_tests.yaml # The workflow file to monitor
          github-token: ${{ secrets.GITHUB_TOKEN }}

      - name: Configure Git
@@ -174,38 +173,11 @@ jobs:
          echo '    pushurl = ${{ env.LFS_PUSH_URL }}' >> .lfsconfig
          echo '    locksverify = false' >> .lfsconfig

-      - name: Restore workflows from source
-        run: |
-          TARGET_BRANCH="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
-          SOURCE_BRANCH="${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"
-
-          # Ensure we are on the target branch
-          git checkout $TARGET_BRANCH
-
-          echo "Restoring .github/workflows from $SOURCE_BRANCH"
-          git checkout origin/$SOURCE_BRANCH -- .github/workflows
-
-          if ! git diff --cached --quiet; then
-            echo "Workflows differ. Committing restoration."
-            git commit -m "chore: restore .github/workflows from $SOURCE_BRANCH"
-          else
-            echo "Workflows match $SOURCE_BRANCH."
-          fi
-
-      - uses: actions/create-github-app-token@v2
-        id: ci-token
-        with:
-          app-id: ${{ secrets.CI_GITHUB_ACTIONS_TOKEN_APP_ID }}
-          private-key: ${{ secrets.CI_GITHUB_ACTIONS_TOKEN_APP_PRIVATE_KEY }}
-
      - name: Push changes if there are diffs
-        id: push-changes
+        id: push-changes  # Add an id so we can reference this step
        run: |
          TARGET_BRANCH="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"

-          # Use the App Token to set the remote URL with authentication
-          git remote set-url origin "https://x-access-token:${{ steps.ci-token.outputs.token }}@github.com/${{ github.repository }}.git"
-
          # Fetch the latest from remote
          git fetch origin $TARGET_BRANCH

@@ -216,7 +188,7 @@ jobs:
            exit 0
          fi

-          # Push with the authenticated origin
+          # If we get here, there are diffs, so push
          if ! git push origin $TARGET_BRANCH --force; then
            echo "Failed to push changes to $TARGET_BRANCH"
            exit 1
@@ -229,15 +201,22 @@ jobs:
        if: steps.push-changes.outputs.has_changes == 'true'
        run: |
          echo "Triggering selfdrive tests..."
-          gh workflow run tests.yaml --ref "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
+          gh workflow run selfdrive_tests.yaml --ref "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"

          echo "Sleeping for 120s to give plenty of time for the action to start and then we wait"
          sleep 120

          echo "Getting latest run ID..."
-          RUN_ID=$(gh run list --workflow=tests.yaml --branch="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}" --limit=1 --json databaseId --jq '.[0].databaseId')
+          RUN_ID=$(gh run list --workflow=selfdrive_tests.yaml --branch="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}" --limit=1 --json databaseId --jq '.[0].databaseId')

          echo "Watching run ID: $RUN_ID"
          gh run watch "$RUN_ID"
        env:
          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Trigger prebuilt workflow
+        if: success() && steps.push-changes.outputs.has_changes == 'true'
+        run: |
+          gh workflow run sunnypilot-build-prebuilt.yaml --ref "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
--- a/.github/workflows/tests.yaml
+++ b/.github/workflows/tests.yaml
@@ -1,248 +0,0 @@
-name: tests
-
-on:
-  push:
-    branches:
-      - master
-  pull_request:
-  workflow_dispatch:
-  workflow_call:
-    inputs:
-      run_number:
-        default: '1'
-        required: true
-        type: string
-
-concurrency:
-  group: tests-ci-run-${{ 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 }}
-  cancel-in-progress: true
-
-env:
-  CI: 1
-  PYTHONPATH: ${{ github.workspace }}
-  PYTEST: pytest --continue-on-collection-errors --durations=0 -n logical
-
-jobs:
-  build_release:
-    name: build release
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    env:
-      STRIPPED_DIR: /tmp/releasepilot
-      PYTHONPATH: /tmp/releasepilot
-    steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - name: Getting LFS files
-      uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
-      with:
-        timeout_minutes: 2
-        max_attempts: 3
-        command: git lfs pull
-    - name: Build devel
-      timeout-minutes: 1
-      run: TARGET_DIR=$STRIPPED_DIR release/build_stripped.sh
-    - run: ./tools/op.sh setup
-    - name: Build openpilot and run checks
-      timeout-minutes: 30
-      working-directory: ${{ env.STRIPPED_DIR }}
-      run: python3 system/manager/build.py
-    - name: Run tests
-      timeout-minutes: 1
-      working-directory: ${{ env.STRIPPED_DIR }}
-      run: release/check-dirty.sh
-    - name: Check submodules
-      if: github.repository == 'sunnypilot/sunnypilot'
-      timeout-minutes: 3
-      run: |
-        if [ "${{ github.ref }}" != "refs/heads/master" ]; then
-          git fetch  origin master:refs/remotes/origin/master
-
-          SUBMODULE_PATHS=$(git diff origin/master HEAD --name-only | grep -E '^[^/]+$' | while read path; do
-            if git ls-files --stage "$path" | grep -q "^160000"; then
-              echo "$path"
-            fi
-          done | tr '\n' ' ')
-
-          if [ -n "$SUBMODULE_PATHS" ]; then
-            echo "Changed submodule paths: $SUBMODULE_PATHS"
-            export SUBMODULE_PATHS="$SUBMODULE_PATHS"
-            export CHECK_PR_REFS=true
-          fi
-        fi
-        release/check-submodules.sh
-
-  build_mac:
-    name: build macOS
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
-    steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - name: Remove Homebrew from environment
-      run: |
-        FILTERED=$(echo "$PATH" | tr ':' '\n' | grep -v '/opt/homebrew' | tr '\n' ':')
-        echo "PATH=${FILTERED}/usr/local/bin:/usr/bin:/bin:/usr/sbin:/sbin" >> $GITHUB_ENV
-    - run: ./tools/op.sh setup
-    - name: Building openpilot
-      run: scons
-
-  static_analysis:
-    name: static analysis
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - run: ./tools/op.sh setup
-    - name: Static analysis
-      timeout-minutes: 1
-      run: scripts/lint/lint.sh
-
-  unit_tests:
-    name: unit tests
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - run: ./tools/op.sh setup
-    - name: Build openpilot
-      run: scons -j$(nproc)
-    - name: Run unit tests
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 999 }}
-      run: |
-        source selfdrive/test/setup_xvfb.sh
-        # Pre-compile Python bytecode so each pytest worker doesn't need to
-        $PYTEST --collect-only -m 'not slow' -qq
-        MAX_EXAMPLES=1 $PYTEST -m 'not slow'
-
-  process_replay:
-    name: process replay
-    if: false  # disable process_replay for forks
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - run: ./tools/op.sh setup
-    - name: Build openpilot
-      run: scons -j$(nproc)
-    - name: Run replay
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 20 }}
-      continue-on-error: ${{ github.ref == 'refs/heads/master' }}
-      run: selfdrive/test/process_replay/test_processes.py -j$(nproc)
-    - name: Print diff
-      id: print-diff
-      if: always()
-      run: cat selfdrive/test/process_replay/diff.txt
-    - name: Print diff report
-      if: always()
-      run: cat selfdrive/test/process_replay/diff_report.txt
-    - uses: actions/upload-artifact@v6
-      if: always()
-      continue-on-error: true
-      with:
-        name: process_replay_diff.txt
-        path: selfdrive/test/process_replay/diff.txt
-    - name: Upload diff report
-      uses: actions/upload-artifact@v6
-      if: always() && github.event_name == 'pull_request'
-      continue-on-error: true
-      with:
-        name: diff_report_${{ github.event.number }}
-        path: selfdrive/test/process_replay/diff_report.txt
-    - name: Checkout ci-artifacts
-      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
-      uses: actions/checkout@v4
-      with:
-        repository: commaai/ci-artifacts
-        ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
-        path: ${{ github.workspace }}/ci-artifacts
-    - name: Push refs
-      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
-      working-directory: ${{ github.workspace }}/ci-artifacts
-      run: |
-        git config user.name "GitHub Actions Bot"
-        git config user.email "<>"
-        git fetch origin process-replay || true
-        git checkout process-replay 2>/dev/null || git checkout --orphan process-replay
-        cp ${{ github.workspace }}/selfdrive/test/process_replay/fakedata/*.zst .
-        echo "${{ github.sha }}" > ref_commit
-        git add .
-        git commit -m "process-replay refs for ${{ github.repository }}@${{ github.sha }}" || echo "No changes to commit"
-        git push origin process-replay --force
-    - name: Run regen
-      if: false
-      timeout-minutes: 4
-      env:
-        ONNXCPU: 1
-      run: $PYTEST selfdrive/test/process_replay/test_regen.py
-
-  simulator_driving:
-    name: simulator driving
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    if: false  # FIXME: Started to timeout recently
-    steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - run: ./tools/op.sh setup
-    - name: Build openpilot
-      run: scons -j$(nproc)
-    - name: Driving test
-      timeout-minutes: 2
-      run: |
-        source selfdrive/test/setup_xvfb.sh
-        pytest -s tools/sim/tests/test_metadrive_bridge.py
-
-  create_ui_report:
-    name: Create UI Report
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-      - uses: actions/checkout@v6
-        with:
-          submodules: true
-      - run: ./tools/op.sh setup
-      - name: Build openpilot
-        run: scons -j$(nproc)
-      - name: Create UI Report
-        run: |
-          source selfdrive/test/setup_xvfb.sh
-          python3 selfdrive/ui/tests/diff/replay.py
-          python3 selfdrive/ui/tests/diff/replay.py --big
-      - name: Upload UI Report
-        uses: actions/upload-artifact@v6
-        with:
-          name: ui-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-          path: selfdrive/ui/tests/diff/report
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -8,20 +8,14 @@ on:
    branches:
      - 'master'
    paths:
-      - 'selfdrive/assets/**'
      - 'selfdrive/ui/**'
-      - 'system/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: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
-  BRANCH_NAME: "openpilot/pr-${{ github.event.number }}-ui-preview"
-  REPORT_FILES_BRANCH_NAME: "mici-raylib-ui-reports"
-
-  # variant:video_prefix:master_branch
-  VARIANTS: "mici:mici_ui_replay:openpilot_master_ui_mici_raylib big:tizi_ui_replay:openpilot_master_ui_big_raylib"
+  BRANCH_NAME: "openpilot/pr-${{ github.event.number }}"

 jobs:
  preview:
@@ -34,9 +28,8 @@ jobs:
      pull-requests: write
      actions: read
    steps:
-      - uses: actions/checkout@v6
-        with:
-          submodules: true
+      - name: Waiting for ui generation to start
+        run: sleep 30

      - name: Waiting for ui generation to end
        uses: lewagon/wait-on-check-action@v1.3.4
@@ -53,93 +46,110 @@ jobs:
          echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT

      - name: Getting proposed ui
+        id: download-artifact
        uses: dawidd6/action-download-artifact@v6
        with:
          github_token: ${{ secrets.GITHUB_TOKEN }}
          run_id: ${{ steps.get_run_id.outputs.run_id }}
          search_artifacts: true
-          name: ui-report-1-${{ env.REPORT_NAME }}
+          name: report-1-${{ env.REPORT_NAME }}
          path: ${{ github.workspace }}/pr_ui

-      - name: Getting mici master ui
-        uses: actions/checkout@v6
+      - name: Getting master ui
+        uses: actions/checkout@v4
        with:
          repository: sunnypilot/ci-artifacts
          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
-          path: ${{ github.workspace }}/master_mici
-          ref: openpilot_master_ui_mici_raylib
-
-      - name: Getting big master ui
-        uses: actions/checkout@v6
-        with:
-          repository: sunnypilot/ci-artifacts
-          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
-          path: ${{ github.workspace }}/master_big
-          ref: openpilot_master_ui_big_raylib
+          path: ${{ github.workspace }}/master_ui
+          ref: openpilot_master_ui

      - name: Saving new master ui
        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
+        working-directory: ${{ github.workspace }}/master_ui
        run: |
-          for variant in $VARIANTS; do
-            IFS=':' read -r name video branch <<< "$variant"
-            master_dir="${{ github.workspace }}/master_${name}"
-            cd "$master_dir"
-            git checkout --orphan=new_branch
-            git rm -rf *
-            git branch -D "$branch"
-            git branch -m "$branch"
-            git config user.name "GitHub Actions Bot"
-            git config user.email "<>"
-            cp "${{ github.workspace }}/pr_ui/${video}.mp4" .
-            git add .
-            git commit -m "${name} video for commit ${{ env.SHA }}"
-            git push origin "$branch" --force
-          done
+          git checkout --orphan=new_master_ui
+          git rm -rf *
+          git branch -D openpilot_master_ui
+          git branch -m openpilot_master_ui
+          git config user.name "GitHub Actions Bot"
+          git config user.email "<>"
+          mv ${{ github.workspace }}/pr_ui/*.png .
+          git add .
+          git commit -m "screenshots for commit ${{ env.SHA }}"
+          git push origin openpilot_master_ui --force

-      - name: Setup FFmpeg
-        uses: AnimMouse/setup-ffmpeg@ae28d57dabbb148eff63170b6bf7f2b60062cbae
-
-      - name: Finding diffs
+      - name: Finding diff
        if: github.event_name == 'pull_request_target'
        id: find_diff
-        run: |
-          export PYTHONPATH=${{ github.workspace }}
-          baseurl="https://github.com/sunnypilot/ci-artifacts/raw/refs/heads/${{ env.BRANCH_NAME }}"
+        run: >-
+          sudo apt-get update && sudo apt-get install -y imagemagick

-          COMMENT=""
-          for variant in $VARIANTS; do
-            IFS=':' read -r name video _ <<< "$variant"
-            diff_name="${name}_diff"
+          scenes=$(find ${{ github.workspace }}/pr_ui/*.png -type f -printf "%f\n" | cut -d '.' -f 1 | grep -v 'pair_device')
+          A=($scenes)

-            mv "${{ github.workspace }}/pr_ui/${video}.mp4" "${{ github.workspace }}/pr_ui/${video}_proposed.mp4"
-            cp "${{ github.workspace }}/master_${name}/${video}.mp4" "${{ github.workspace }}/pr_ui/${video}_master.mp4"
+          DIFF=""
+          TABLE="<details><summary>All Screenshots</summary>"
+          TABLE="${TABLE}<table>"

-            diff_exit_code=0
-            python3 ${{ github.workspace }}/selfdrive/ui/tests/diff/diff.py \
-              "${{ github.workspace }}/pr_ui/${video}_master.mp4" \
-              "${{ github.workspace }}/pr_ui/${video}_proposed.mp4" \
-              "${diff_name}.html" --basedir "$baseurl" --no-open || diff_exit_code=$?
+          for ((i=0; i<${#A[*]}; i=i+1));
+          do
+            # Check if the master file exists
+            if [ ! -f "${{ github.workspace }}/master_ui/${A[$i]}.png" ]; then
+              # This is a new file in PR UI that doesn't exist in master
+              DIFF="${DIFF}<details open>"
+              DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{cyan}\\text{NEW}}\$\$</summary>"
+              DIFF="${DIFF}<table>"

-            cp "${{ github.workspace }}/selfdrive/ui/tests/diff/report/${diff_name}.html" "${{ github.workspace }}/pr_ui/"
-            cp "${{ github.workspace }}/selfdrive/ui/tests/diff/report/${diff_name}.mp4" "${{ github.workspace }}/pr_ui/"
+              DIFF="${DIFF}<tr>"
+              DIFF="${DIFF}  <td> <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
+              DIFF="${DIFF}</tr>"

-            REPORT_URL="https://sunnypilot.github.io/ci-artifacts/${diff_name}_pr_${{ github.event.number }}.html"
-            if [ $diff_exit_code -eq 0 ]; then
-              COMMENT+="**${name}**: Videos are identical! [View Diff Report]($REPORT_URL)"$'\n'
+              DIFF="${DIFF}</table>"
+              DIFF="${DIFF}</details>"
+            elif ! compare -fuzz 2% -highlight-color DeepSkyBlue1 -lowlight-color Black -compose Src ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png; then
+              convert ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png -transparent black mask.png
+              composite mask.png ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png
+              convert -delay 100 ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png -loop 0 ${{ github.workspace }}/pr_ui/${A[$i]}_diff.gif
+
+              mv ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_master_ref.png
+
+              DIFF="${DIFF}<details open>"
+              DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{red}\\text{DIFFERENT}}\$\$</summary>"
+              DIFF="${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> proposed <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
+              DIFF="${DIFF}</tr>"
+
+              DIFF="${DIFF}<tr>"
+              DIFF="${DIFF}  <td> diff <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.png\"> </td>"
+              DIFF="${DIFF}  <td> composite diff <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.gif\"> </td>"
+              DIFF="${DIFF}</tr>"
+
+              DIFF="${DIFF}</table>"
+              DIFF="${DIFF}</details>"
            else
-              COMMENT+="**${name}**: ⚠️ <strong>Videos differ!</strong> [View Diff Report]($REPORT_URL)"$'\n'
+              rm -f ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png
+            fi
+
+            INDEX=$(($i % 2))
+            if [[ $INDEX -eq 0 ]]; then
+              TABLE="${TABLE}<tr>"
+            fi
+            TABLE="${TABLE}  <td> <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
+            if [[ $INDEX -eq 1 || $(($i + 1)) -eq ${#A[*]} ]]; then
+              TABLE="${TABLE}</tr>"
            fi
          done

-          {
-            echo "COMMENT<<EOF"
-            echo "$COMMENT"
-            echo "EOF"
-          } >> "$GITHUB_OUTPUT"
+          TABLE="${TABLE}</table></details>"
+
+          echo "DIFF=$DIFF$TABLE" >> "$GITHUB_OUTPUT"

      - name: Saving proposed ui
        if: github.event_name == 'pull_request_target'
-        working-directory: ${{ github.workspace }}/master_mici
+        working-directory: ${{ github.workspace }}/master_ui
        run: |
          git config user.name "GitHub Actions Bot"
          git config user.email "<>"
@@ -147,29 +157,17 @@ jobs:
          git rm -rf *
          mv ${{ github.workspace }}/pr_ui/* .
          git add .
-          git commit -m "ui videos for PR #${{ github.event.number }}"
+          git commit -m "screenshots for PR #${{ github.event.number }}"
          git push origin ${{ env.BRANCH_NAME }} --force

-          # Append diff reports to report files branch
-          git fetch origin ${{ env.REPORT_FILES_BRANCH_NAME }}
-          git checkout ${{ env.REPORT_FILES_BRANCH_NAME }}
-          for variant in $VARIANTS; do
-            IFS=':' read -r name _ _ <<< "$variant"
-            diff_name="${name}_diff"
-            cp "${{ github.workspace }}/selfdrive/ui/tests/diff/report/${diff_name}.html" "${diff_name}_pr_${{ github.event.number }}.html"
-            git add "${diff_name}_pr_${{ github.event.number }}.html"
-          done
-          git commit -m "ui diff reports for PR #${{ github.event.number }}" || echo "No changes to commit"
-          git push origin ${{ env.REPORT_FILES_BRANCH_NAME }}
-
-      - name: Comment on PR
+      - name: Comment Screenshots on PR
        if: github.event_name == 'pull_request_target'
        uses: thollander/actions-comment-pull-request@v2
        with:
          message: |
-            <!-- _(run_id_ui_preview **${{ github.run_id }}**)_ -->
+            <!-- _(run_id_screenshots **${{ github.run_id }}**)_ -->
            ## UI Preview
-            ${{ steps.find_diff.outputs.COMMENT }}
-          comment_tag: run_id_ui_preview
+            ${{ steps.find_diff.outputs.DIFF }}
+          comment_tag: run_id_screenshots
          pr_number: ${{ github.event.number }}
          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
--- a/.github/workflows/wait-for-action/action.yaml
+++ b/.github/workflows/wait-for-action/action.yaml
@@ -4,7 +4,7 @@ inputs:
  workflow:
    description: 'The workflow file name to monitor'
    required: true
-    default: 'tests.yaml'
+    default: 'selfdrive_tests.yaml'
  branch:
    description: 'The branch to monitor (defaults to current branch)'
    required: false
--- a/.gitignore
+++ b/.gitignore
@@ -10,16 +10,17 @@ venv/
 .overlay_init
 .overlay_consistent
 .sconsign.dblite
+model2.png
 a.out
 .hypothesis
 .cache/
-bin/
+
+/docs_site/

 *.mp4
 *.dylib
 *.DSYM
 *.d
-*.pem
 *.pyc
 *.pyo
 .*.swp
@@ -36,58 +37,73 @@ bin/
 *.class
 *.pyxbldc
 *.vcd
-*.mo
+*.qm
 *_pyx.cpp
-*.stats
-*.pkl
-*.pkl*
 config.json
+clcache
 compile_commands.json
 compare_runtime*.html

-# build artifacts
+persist
 selfdrive/pandad/pandad
 cereal/services.h
 cereal/gen
 cereal/messaging/bridge
+selfdrive/mapd/default_speeds_by_region.json
 selfdrive/ui/translations/tmp
+selfdrive/test/longitudinal_maneuvers/out
 selfdrive/car/tests/cars_dump
 system/camerad/camerad
 system/camerad/test/ae_gray_test

+notebooks
+hyperthneed
+provisioning
+
 .coverage*
 coverage.xml
 htmlcov
+pandaextra
+
+.mypy_cache/
+flycheck_*
+
+cppcheck_report.txt
+comma*.sh
+
+selfdrive/modeld/models/*.pkl
+sunnypilot/modeld*/thneed/compile
+sunnypilot/modeld*/models/*.thneed
+sunnypilot/modeld*/models/*.pkl

-# openpilot log files
 *.bz2
 *.zst
-*.rlog

 build/

 !**/.gitkeep

+poetry.toml
+Pipfile

 ### VisualStudioCode ###
-*.vsix
-.history
-.ionide
 .vscode/*
-.history/
 !.vscode/settings.json
 !.vscode/tasks.json
 !.vscode/launch.json
 !.vscode/extensions.json
 !.vscode/*.code-snippets

-# agents
-.claude/
-.context/
-PLAN.md
-TASK.md
-CLAUDE.md
-SKILL.md
+# Local History for Visual Studio Code
+.history/
+
+# Built Visual Studio Code Extensions
+*.vsix
+
+### VisualStudioCode Patch ###
+# Ignore all local history of files
+.history
+.ionide

 ### JetBrains ###
 !.idea/customTargets.xml
--- a/.gitmodules
+++ b/.gitmodules
@@ -6,7 +6,7 @@
  url = https://github.com/sunnypilot/opendbc.git
 [submodule "msgq"]
  path = msgq_repo
-  url = https://github.com/commaai/msgq.git
+  url = https://github.com/sunnypilot/msgq.git
 [submodule "rednose_repo"]
  path = rednose_repo
  url = https://github.com/commaai/rednose.git
@@ -15,7 +15,7 @@
  url = https://github.com/commaai/teleoprtc
 [submodule "tinygrad"]
  path = tinygrad_repo
-  url = https://github.com/sunnypilot/tinygrad.git
+  url = https://github.com/tinygrad/tinygrad.git
 [submodule "sunnypilot/neural_network_data"]
  path = sunnypilot/neural_network_data
  url = https://github.com/sunnypilot/neural-network-data.git
--- a/.python-version
+++ b/.python-version
@@ -1 +0,0 @@
-3.12.13
--- a/.run/Build_BIG_UI.run.xml
+++ b/.run/Build_BIG_UI.run.xml
@@ -1,26 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build_BIG_UI" type="PythonConfigurationType" factoryName="Python">
-    <module name="sunnypilot" />
-    <option name="ENV_FILES" value="" />
-    <option name="INTERPRETER_OPTIONS" value="" />
-    <option name="PARENT_ENVS" value="true" />
-    <envs>
-      <env name="BIG" value="1" />
-    </envs>
-    <option name="SDK_HOME" value="" />
-    <option name="WORKING_DIRECTORY" value="$ProjectFileDir$/" />
-    <option name="IS_MODULE_SDK" value="true" />
-    <option name="ADD_CONTENT_ROOTS" value="true" />
-    <option name="ADD_SOURCE_ROOTS" value="true" />
-    <option name="SCRIPT_NAME" value="$ProjectFileDir$/selfdrive/ui/ui.py" />
-    <option name="PARAMETERS" value="" />
-    <option name="SHOW_COMMAND_LINE" value="false" />
-    <option name="EMULATE_TERMINAL" value="false" />
-    <option name="MODULE_MODE" value="false" />
-    <option name="REDIRECT_INPUT" value="false" />
-    <option name="INPUT_FILE" value="" />
-    <method v="2">
-      <option name="ToolBeforeRunTask" enabled="true" actionId="Tool_External Tools_uv Scons Build Debug" />
-    </method>
-  </configuration>
-</component>
--- a/.run/Build_SMALL_UI.run.xml
+++ b/.run/Build_SMALL_UI.run.xml
@@ -1,23 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build_SMALL_UI" type="PythonConfigurationType" factoryName="Python">
-    <module name="sunnypilot" />
-    <option name="ENV_FILES" value="" />
-    <option name="INTERPRETER_OPTIONS" value="" />
-    <option name="PARENT_ENVS" value="true" />
-    <option name="SDK_HOME" value="" />
-    <option name="WORKING_DIRECTORY" value="$ProjectFileDir$/" />
-    <option name="IS_MODULE_SDK" value="true" />
-    <option name="ADD_CONTENT_ROOTS" value="true" />
-    <option name="ADD_SOURCE_ROOTS" value="true" />
-    <option name="SCRIPT_NAME" value="$ProjectFileDir$/selfdrive/ui/ui.py" />
-    <option name="PARAMETERS" value="" />
-    <option name="SHOW_COMMAND_LINE" value="false" />
-    <option name="EMULATE_TERMINAL" value="false" />
-    <option name="MODULE_MODE" value="false" />
-    <option name="REDIRECT_INPUT" value="false" />
-    <option name="INPUT_FILE" value="" />
-    <method v="2">
-      <option name="ToolBeforeRunTask" enabled="true" actionId="Tool_External Tools_uv Scons Build Debug" />
-    </method>
-  </configuration>
-</component>
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -52,9 +52,6 @@
      "type": "lldb",
      "request": "attach",
      "pid": "${command:pickMyProcess}",
-      "sourceMap": {
-        ".": "${workspaceFolder}/opendbc/safety"
-      },
      "initCommands": [
        "script import time; time.sleep(3)"
      ]
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,104 +1,5 @@
-sunnypilot Version 2026.001.000 (2026-03-xx)
+sunnypilot Version 2025.003.000 (20xx-xx-xx)
 ========================
-* What's Changed (sunnypilot/sunnypilot)
-  * Complete rewrite of the user interface from Qt C++ to Raylib Python
-  * comma four support
-  * ui: sunnypilot toggle style by @nayan8teen
-  * ui: fix scroll panel mouse wheel behavior by @nayan8teen
-  * ui: sunnypilot panels by @nayan8teen
-  * sunnylink: centralize key pair handling in sunnylink registration by @devtekve
-  * ui: reimplement sunnypilot branding with Raylib by @sunnyhaibin
-  * ui: Platform Selector by @Discountchubbs
-  * ui: vehicle brand settings by @Discountchubbs
-  * ui: sunnylink client-side implementation by @nayan8teen
-  * ui: `NetworkUISP` by @Discountchubbs
-  * ui: add sunnypilot font by @nayan8teen
-  * ui: sunnypilot sponsor tier color mapping by @sunnyhaibin
-  * ui: sunnylink panel by @nayan8teen
-  * ui: Models panel by @Discountchubbs
-  * ui: software panel by @Discountchubbs
-  * modeld_v2: support planplus outputs by @Discountchubbs
-  * ui: OSM panel by @Discountchubbs
-  * ui: Developer panel extension by @Discountchubbs
-  * sunnylink: Vehicle Selector support by @sunnyhaibin
-  * [TIZI/TICI] ui: Developer Metrics by @rav4kumar
-  * [comma 4] ui: sunnylink panel by @nayan8teen
-  * ui: lateral-only and longitudinal-only UI statuses support by @royjr
-  * sunnylink: elliptic curve keys support and improve key path handling by @nayan8teen
-  * sunnylink: block remote modification of SSH key parameters by @zikeji
-  * [TIZI/TICI] ui: rainbow path by @rav4kumar
-  * [TIZI/TICI] ui: chevron metrics by @rav4kumar
-  * ui: include MADS enabled state to `engaged` check by @sunnyhaibin
-  * Toyota: Enforce Factory Longitudinal Control by @sunnyhaibin
-  * ui: fix malformed dongle ID display on the PC if dongleID is not set by @dzid26
-  * SL: Re enable and validate ingestion of swaglogs by @devtekve
-  * modeld_v2: planplus model tuning by @Discountchubbs
-  * ui: fix Always Offroad button visibility by @nayan8teen
-  * Reimplement sunnypilot Terms of Service & sunnylink Consent Screens by @sunnyhaibin
-  * [TIZI/TICI] ui: update dmoji position and Developer UI adjustments by @rav4kumar
-  * modeld: configurable camera offset by @Discountchubbs
-  * [TIZI/TICI] ui: sunnylink status on sidebar by @Copilot
-  * ui: Global Brightness Override by @nayan8teen
-  * ui: Customizable Interactive Timeout by @sunnyhaibin
-  * sunnylink: add units to param metadata by @nayan8teen
-  * ui: Customizable Onroad Brightness by @sunnyhaibin
-  * [TIZI/TICI] ui: Steering panel by @nayan8teen
-  * [TIZI/TICI] ui: Rocket Fuel by @rav4kumar
-  * [TIZI/TICI] ui: MICI style turn signals by @rav4kumar
-  * [TIZI/TICI] ui: MICI style blindspot indicators by @sunnyhaibin
-  * [MICI] ui: display blindspot indicators when available by @rav4kumar
-  * [TIZI/TICI] ui: Road Name by @rav4kumar
-  * [TIZI/TICI] ui: Blue "Exit Always Offroad" button by @dzid26
-  * [TIZI/TICI] ui: Speed Limit by @rav4kumar
-  * Reapply "latcontrol_torque: lower kp and lower friction threshold (commaai/openpilot#36619)" by @sunnyhaibin
-  * [TIZI/TICI] ui: steering arc by @royjr
-  * [TIZI/TICI] ui: Smart Cruise Control elements by @sunnyhaibin
-  * [TIZI/TICI] ui: Green Light and Lead Departure elements by @sunnyhaibin
-  * [TIZI/TICI] ui: standstill timer by @sunnyhaibin
-  * [MICI] ui: driving models selector by @Discountchubbs
-  * [TIZI/TICI] ui: Hide vEgo and True vEgo by @sunnyhaibin
-  * [TIZI/TICI] ui: Visuals panel by @nayan8teen
-  * Device: Retain QuickBoot state after op switch by @nayan8teen
-  * [TIZI/TICI] ui: Trips panel by @sunnyhaibin
-  * [TIZI/TICI] ui: dynamic ICBM status by @sunnyhaibin
-  * [TIZI/TICI] ui: Cruise panel by @sunnyhaibin
-  * ui: better wake mode support by @nayan8teen
-  * Pause Lateral Control with Blinker: Post-Blinker Delay by @CHaucke89
-  * SCC-V: Use p97 for predicted lateral accel by @yasu-oh
-  * Controls: Support for Torque Lateral Control v0 Tune by @sunnyhaibin
-* What's Changed (sunnypilot/opendbc)
-  * Honda: DBC for Accord 9th Generation by @mvl-boston
-  * FCA: update tire stiffness values for `RAM_HD` by @dparring
-  * Honda: Nidec hybrid baseline brake support by @mvl-boston
-  * Subaru Global Gen2: bump steering limits and update tuning by @sunnyhaibin
-  * Toyota: Enforce Stock Longitudinal Control by @rav4kumar
-  * Nissan: use MADS enabled status for LKAS HUD logic by @downquark7
-  * Reapply "Lateral: lower friction threshold (#2915)" (#378) by @sunnyhaibin
-  * HKG: add KIA_FORTE_2019_NON_SCC fingerprint by @royjr
-  * Nissan: Parse cruise control buttons by @downquark7
-  * Rivian: Add stalk down ACC behavior to match stock Rivian by @lukasloetkolben
-  * Tesla: remove `TESLA_MODEL_X` from `dashcamOnly` by @ssysm
-  * Hyundai Longitudinal: refactor tuning by @Discountchubbs
-  * Tesla: add fingerprint for Model 3 Performance HW4 by @sunnyhaibin
-  * Toyota: do not disable radar when smartDSU or CAN Filter detected by @sunnyhaibin
-  * Honda: add missing `GasInterceptor` messages to Taiwan Odyssey DBC by @mvl-boston
-  * GM: remove `CHEVROLET_EQUINOX_NON_ACC_3RD_GEN` from `dashcamOnly` by @sunnyhaibin
-  * GM: remove `CHEVROLET_BOLT_NON_ACC_2ND_GEN` from `dashcamOnly` by @sunnyhaibin
-* New Contributors (sunnypilot/sunnypilot)
-  * @TheSecurityDev made their first contribution in "ui: fix sidebar scroll in UI screenshots"
-  * @zikeji made their first contribution in "sunnylink: block remote modification of SSH key parameters"
-  * @Candy0707 made their first contribution in "[TIZI/TICI] ui: Fix misaligned turn signals and blindspot indicators with sidebar"
-  * @CHaucke89 made their first contribution in "Pause Lateral Control with Blinker: Post-Blinker Delay"
-  * @yasu-oh made their first contribution in "SCC-V: Use p97 for predicted lateral accel"
-* New Contributors (sunnypilot/opendbc)
-  * @AmyJeanes made their first contribution in "Tesla: Fix stock LKAS being blocked when MADS is enabled"
-  * @mvl-boston made their first contribution in "Honda: Update Clarity brake to renamed DBC message name"
-  * @dzid26 made their first contribution in "Tesla: Parse speed limit from CAN"
-  * @firestar5683 made their first contribution in "GM: Non-ACC platforms with steering only support"
-  * @downquark7 made their first contribution in "Nissan: use MADS enabled status for LKAS HUD logic"
-  * @royjr made their first contribution in "HKG: add KIA_FORTE_2019_NON_SCC fingerprint"
-  * @ssysm made their first contribution in "Tesla: remove `TESLA_MODEL_X` from `dashcamOnly`"
-* Full Changelog: https://github.com/sunnypilot/sunnypilot/compare/v2025.002.000...v2026.001.000

 sunnypilot Version 2025.002.000 (2025-11-06)
 ========================
--- a/Dockerfile.openpilot
+++ b/Dockerfile.openpilot
@@ -1,38 +1,12 @@
-FROM ubuntu:24.04
+FROM ghcr.io/commaai/openpilot-base:latest

 ENV PYTHONUNBUFFERED=1

-ENV DEBIAN_FRONTEND=noninteractive
-RUN apt-get update && \
-    apt-get install -y --no-install-recommends sudo tzdata locales && \
-    rm -rf /var/lib/apt/lists/*
+ENV OPENPILOT_PATH=/home/batman/openpilot

-RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
-ENV LANG=en_US.UTF-8
-ENV LANGUAGE=en_US:en
-ENV LC_ALL=en_US.UTF-8
-
-ENV NVIDIA_VISIBLE_DEVICES=all
-ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
-
-ARG USER=batman
-ARG USER_UID=1001
-RUN useradd -m -s /bin/bash -u $USER_UID $USER
-RUN usermod -aG sudo $USER
-RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
-USER $USER
-
-ENV OPENPILOT_PATH=/home/$USER/openpilot
 RUN mkdir -p ${OPENPILOT_PATH}
 WORKDIR ${OPENPILOT_PATH}

-COPY --chown=$USER . ${OPENPILOT_PATH}/
+COPY . ${OPENPILOT_PATH}/

-ENV UV_BIN="/home/$USER/.local/bin/"
-ENV VIRTUAL_ENV=${OPENPILOT_PATH}/.venv
-ENV PATH="$UV_BIN:$VIRTUAL_ENV/bin:$PATH"
-RUN tools/setup_dependencies.sh && \
-    sudo rm -rf /var/lib/apt/lists/*
-
-USER root
-RUN git config --global --add safe.directory '*'
+RUN scons --cache-readonly -j$(nproc)
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@@ -0,0 +1,82 @@
+FROM ubuntu:24.04
+
+ENV PYTHONUNBUFFERED=1
+
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot python3-tk python3-dev && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
+ENV LANG=en_US.UTF-8
+ENV LANGUAGE=en_US:en
+ENV LC_ALL=en_US.UTF-8
+
+COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
+RUN /tmp/tools/install_ubuntu_dependencies.sh && \
+    rm -rf /var/lib/apt/lists/* /tmp/* && \
+    cd /usr/lib/gcc/arm-none-eabi/* && \
+    rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
+
+# Add OpenCL
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    apt-utils \
+    alien \
+    unzip \
+    tar \
+    curl \
+    xz-utils \
+    dbus \
+    gcc-arm-none-eabi \
+    tmux \
+    vim \
+    libx11-6 \
+    wget \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN mkdir -p /tmp/opencl-driver-intel && \
+    cd /tmp/opencl-driver-intel && \
+    wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
+    wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
+    mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
+    cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
+    tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
+    mkdir -p /etc/OpenCL/vendors && \
+    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
+    cd /opt/intel && \
+    tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    mkdir -p /etc/ld.so.conf.d && \
+    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
+    ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
+    cd / && \
+    rm -rf /tmp/opencl-driver-intel
+
+ENV NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
+ENV QTWEBENGINE_DISABLE_SANDBOX=1
+
+RUN dbus-uuidgen > /etc/machine-id
+RUN apt-get update && apt-get install -y fonts-noto-cjk fonts-noto-color-emoji
+
+ARG USER=batman
+ARG USER_UID=1001
+RUN useradd -m -s /bin/bash -u $USER_UID $USER
+RUN usermod -aG sudo $USER
+RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
+USER $USER
+
+COPY --chown=$USER pyproject.toml uv.lock /home/$USER
+COPY --chown=$USER tools/install_python_dependencies.sh /home/$USER/tools/
+
+ENV VIRTUAL_ENV=/home/$USER/.venv
+ENV PATH="$VIRTUAL_ENV/bin:$PATH"
+RUN cd /home/$USER && \
+    tools/install_python_dependencies.sh && \
+    rm -rf tools/ pyproject.toml uv.lock .cache
+
+USER root
+RUN sudo git config --global --add safe.directory /tmp/openpilot
--- a/Dockerfile.sunnypilot
+++ b/Dockerfile.sunnypilot
@@ -0,0 +1,12 @@
+FROM ghcr.io/sunnypilot/sunnypilot-base:latest
+
+ENV PYTHONUNBUFFERED=1
+
+ENV OPENPILOT_PATH=/home/batman/openpilot
+
+RUN mkdir -p ${OPENPILOT_PATH}
+WORKDIR ${OPENPILOT_PATH}
+
+COPY . ${OPENPILOT_PATH}/
+
+RUN scons --cache-readonly -j$(nproc)
--- a/Dockerfile.sunnypilot_base
+++ b/Dockerfile.sunnypilot_base
@@ -0,0 +1,83 @@
+FROM ubuntu:24.04
+
+ENV PYTHONUNBUFFERED=1
+
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot python3-tk python3-dev && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
+ENV LANG=en_US.UTF-8
+ENV LANGUAGE=en_US:en
+ENV LC_ALL=en_US.UTF-8
+
+COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
+RUN /tmp/tools/install_ubuntu_dependencies.sh && \
+    rm -rf /var/lib/apt/lists/* /tmp/* && \
+    cd /usr/lib/gcc/arm-none-eabi/* && \
+    rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
+
+# Add OpenCL
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    apt-utils \
+    alien \
+    unzip \
+    tar \
+    curl \
+    xz-utils \
+    dbus \
+    gcc-arm-none-eabi \
+    tmux \
+    vim \
+    libx11-6 \
+    wget \
+    rsync \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN mkdir -p /tmp/opencl-driver-intel && \
+    cd /tmp/opencl-driver-intel && \
+    wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
+    wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
+    mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
+    cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
+    tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
+    mkdir -p /etc/OpenCL/vendors && \
+    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
+    cd /opt/intel && \
+    tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    mkdir -p /etc/ld.so.conf.d && \
+    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
+    ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
+    cd / && \
+    rm -rf /tmp/opencl-driver-intel
+
+ENV NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
+ENV QTWEBENGINE_DISABLE_SANDBOX=1
+
+RUN dbus-uuidgen > /etc/machine-id
+RUN apt-get update && apt-get install -y fonts-noto-cjk fonts-noto-color-emoji
+
+ARG USER=batman
+ARG USER_UID=1001
+RUN useradd -m -s /bin/bash -u $USER_UID $USER
+RUN usermod -aG sudo $USER
+RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
+USER $USER
+
+COPY --chown=$USER pyproject.toml uv.lock /home/$USER
+COPY --chown=$USER tools/install_python_dependencies.sh /home/$USER/tools/
+
+ENV VIRTUAL_ENV=/home/$USER/.venv
+ENV PATH="$VIRTUAL_ENV/bin:$PATH"
+RUN cd /home/$USER && \
+    tools/install_python_dependencies.sh && \
+    rm -rf tools/ pyproject.toml uv.lock .cache
+
+USER root
+RUN sudo git config --global --add safe.directory /tmp/openpilot
--- a/27
+++ b/27
@@ -22,7 +22,7 @@ shopt -s huponexit # kill all child processes when the shell exits

 export CI=1
 export PYTHONWARNINGS=error
-#export LOGPRINT=debug # this has gotten too spammy...
+export LOGPRINT=debug
 export TEST_DIR=${env.TEST_DIR}
 export SOURCE_DIR=${env.SOURCE_DIR}
 export GIT_BRANCH=${env.GIT_BRANCH}
@@ -167,7 +167,7 @@ node {
  env.GIT_COMMIT = checkout(scm).GIT_COMMIT

  def excludeBranches = ['__nightly', 'devel', 'devel-staging', 'release3', 'release3-staging',
-                         'release-tici', 'release-tizi', 'release-tizi-staging', 'release-mici-staging', 'testing-closet*', 'hotfix-*']
+                         'release-tici', 'testing-closet*', 'hotfix-*']
  def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')

  if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
@@ -178,8 +178,8 @@ node {

  try {
    if (env.BRANCH_NAME == 'devel-staging') {
-      deviceStage("build release-tizi-staging", "tizi-needs-can", [], [
-        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging $SOURCE_DIR/release/build_release.sh && git push -f origin release-tizi-staging:release-mici-staging"),
+      deviceStage("build release3-staging", "tizi-needs-can", [], [
+        step("build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"),
      ])
    }

@@ -210,23 +210,30 @@ node {
      'HW + Unit Tests': {
        deviceStage("tizi-hardware", "tizi-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 manager", "pytest system/manager/test/test_manager.py"),
        ])
      },
+      'loopback': {
+        deviceStage("loopback", "tizi-loopback", ["UNSAFE=1"], [
+          step("build openpilot", "cd system/manager && ./build.py"),
+          step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
+        ])
+      },
      'camerad OX03C10': {
        deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [
          step("build", "cd system/manager && ./build.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]),
+          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
+          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
        ])
      },
      'camerad OS04C10': {
        deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
          step("build", "cd system/manager && ./build.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]),
+          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
+          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
        ])
      },
      'sensord': {
@@ -244,9 +251,11 @@ node {
      'tizi': {
        deviceStage("tizi", "tizi", ["UNSAFE=1"], [
          step("build openpilot", "cd system/manager && ./build.py"),
-          step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.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 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"),
          step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", [diffPaths: ["system/qcomgpsd/"]]),
        ])
      },
--- a/README.md
+++ b/README.md
@@ -11,10 +11,66 @@ Join the official sunnypilot community forum to stay up to date with all the lat
 https://docs.sunnypilot.ai/ is your one stop shop for everything from features to installation to FAQ about the sunnypilot

 ## 🚘 Running on a dedicated device in a car
-First, check out this list of items you'll need to [get started](https://community.sunnypilot.ai/t/getting-started-using-sunnypilot-in-your-supported-car/251).
+* A supported device to run this software
+    * a [comma three](https://comma.ai/shop/products/three) or a [C3X](https://comma.ai/shop/comma-3x)
+* This software
+* One of [the 325+ supported cars](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford, and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run sunnypilot.
+* A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car
+
+Detailed instructions for [how to mount the device in a car](https://comma.ai/setup).

 ## Installation
-Next, refer to the sunnypilot community forum for [installation instructions](https://community.sunnypilot.ai/t/read-before-installing-sunnypilot/254), as well as a complete list of [Recommended Branch Installations](https://community.sunnypilot.ai/t/recommended-branch-installations/235).
+Please refer to [Recommended Branches](#recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `staging` branch.
+
+### If you want to use our newest branches (our rewrite)
+> [!TIP]
+>You can see the rewrite state on our [rewrite project board](https://github.com/orgs/sunnypilot/projects/2), and to install the new branches, you can use the following links
+
+* 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.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/3X, 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`
+
+### Recommended Branches
+|      Branch     |                 Installation URL              |
+|:---------------:|:---------------------------------------------:|
+| `release`       | `https://release.sunnypilot.ai`               |
+| `staging`       | `https://staging.sunnypilot.ai`               |
+|   `dev`         | `https://dev.sunnypilot.ai`                   |
+| `custom-branch` | `https://install.sunnypilot.ai/{branch_name}` |
+
+> [!TIP]
+> You can use sunnypilot/targetbranch as an install URL. Example: 'sunnypilot/staging'.
+
+> [!NOTE]
+> Do you require further assistance with software installation? Join the [sunnypilot community forum](https://community.sunnypilot.ai/new-topic?category=general/qa) and create a topic in the General/Q&A Category channel.
+
+
+<details>
+
+<summary>Older legacy branches</summary>
+
+### If you want to use our older legacy branches (*not recommended*)
+
+> [**IMPORTANT**]
+> It is recommended to [re-flash AGNOS](https://flash.comma.ai/) if you intend to downgrade from the new branches.
+> You can still restore the latest sunnylink backup made on the old branches.
+
+|    Branch    |         Installation URL         |
+|:------------:|:--------------------------------:|
+| `release-c3` | https://release-c3.sunnypilot.ai |
+| `staging-c3` | https://staging-c3.sunnypilot.ai |
+|   `dev-c3`   | https://dev-c3.sunnypilot.ai     |
+
+</details>
+

 ## 🎆 Pull Requests
 We welcome both pull requests and issues on GitHub. Bug fixes are encouraged.
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,45 +1,13 @@
-Version 0.11.1 (2026-04-22)
-========================
-* New driver monitoring model
-* Improved image processing pipeline for driver camera
-* Rivian R1S and R1T 2025 support thanks to lukasloetkolben!
-
-Version 0.11.0 (2026-03-17)
-========================
-* New driving model #36798
-  * Fully trained using a learned simulator
-  * Improved longitudinal performance in Experimental mode
-* Reduce comma four standby power usage by 77% to 52 mW
-* Kia K7 2017 support thanks to royjr!
-* Lexus LS 2018 support thanks to Hacheoy!
-
-Version 0.10.3 (2025-12-17)
-========================
-* New driving model #36249
-  * New temporal policy architecture
-  * New on-policy training physics noise model
-* New driver monitoring model #36409
-  * Trained on a new dataset, including comma four data
-* Improved inter-process communication memory efficiency
-
-Version 0.10.2 (2025-11-19)
-========================
-* comma four support
-
 Version 0.10.1 (2025-09-08)
 ========================
-* New driving model #36276
+* 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
-  * VAE Compression Model: new architecture and training objective
  * Driving Vision Model: trained on 4x the number of segments
-* New Driver Monitoring model #36198
-* Acura TLX 2021 support thanks to MVL!
 * 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!
-* Honda Passport 2026 support thanks to vanillagorillaa and MVL!

 Version 0.10.0 (2025-08-05)
 ========================
--- a/403
+++ b/403
@@ -3,223 +3,343 @@ import subprocess
 import sys
 import sysconfig
 import platform
-import shlex
-import importlib
 import numpy as np

 import SCons.Errors
-from SCons.Defaults import _stripixes

 SCons.Warnings.warningAsException(True)

+# pending upstream fix - https://github.com/SCons/scons/issues/4461
+#SetOption('warn', 'all')
+
+TICI = os.path.isfile('/TICI')
+AGNOS = TICI
+
 Decider('MD5-timestamp')

 SetOption('num_jobs', max(1, int(os.cpu_count()/2)))

-AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
-AddOption('--verbose', action='store_true', default=False, help='show full build commands')
+AddOption('--kaitai',
+          action='store_true',
+          help='Regenerate kaitai struct parsers')
+
+AddOption('--asan',
+          action='store_true',
+          help='turn on ASAN')
+
+AddOption('--ubsan',
+          action='store_true',
+          help='turn on UBSan')
+
+AddOption('--coverage',
+          action='store_true',
+          help='build with test coverage options')
+
+AddOption('--clazy',
+          action='store_true',
+          help='build with clazy')
+
+AddOption('--ccflags',
+          action='store',
+          type='string',
+          default='',
+          help='pass arbitrary flags over the command line')
+
+AddOption('--external-sconscript',
+          action='store',
+          metavar='FILE',
+          dest='external_sconscript',
+          help='add an external SConscript to the build')
+
+AddOption('--mutation',
+          action='store_true',
+          help='generate mutation-ready code')
+
 AddOption('--minimal',
          action='store_false',
          dest='extras',
-          default=os.path.exists(File('#.gitattributes').abspath), # minimal by default on release branch (where there's no LFS)
+          default=os.path.exists(File('#.lfsconfig').abspath), # minimal by default on release branch (where there's no LFS)
          help='the minimum build to run openpilot. no tests, tools, etc.')

-# Detect platform
-arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
+AddOption('--stock-ui',
+          action='store_true',
+          dest='stock_ui',
+          default=False,
+          help='Build stock openpilot UI instead of sunnypilot UI')
+
+## Architecture name breakdown (arch)
+## - larch64: linux tici aarch64
+## - aarch64: linux pc aarch64
+## - x86_64:  linux pc x64
+## - Darwin:  mac x64 or arm64
+real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
  arch = "Darwin"
-elif arch == "aarch64" and os.path.isfile('/TICI'):
+  brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
+elif arch == "aarch64" and AGNOS:
  arch = "larch64"
-assert arch in [
-  "larch64",  # linux tici arm64
-  "aarch64",  # linux pc arm64
-  "x86_64",   # linux pc x64
-  "Darwin",   # macOS arm64 (x86 not supported)
-]
+assert arch in ["larch64", "aarch64", "x86_64", "Darwin"]

-pkg_names = ['bzip2', 'capnproto', 'eigen', 'ffmpeg', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
-pkgs = [importlib.import_module(name) for name in pkg_names]
+lenv = {
+  "PATH": os.environ['PATH'],
+  "PYTHONPATH": Dir("#").abspath + ':' + Dir(f"#third_party/acados").abspath,

-
-# ***** enforce a whitelist of system libraries *****
-# this prevents silently relying on a 3rd party package,
-# e.g. apt-installed libusb. all libraries should either
-# be distributed with all Linux distros and macOS, or
-# vendored in commaai/dependencies.
-allowed_system_libs = {
-  "EGL", "GLESv2", "GL",
-  "Qt5Charts", "Qt5Core", "Qt5Gui", "Qt5Widgets",
-  "dl", "drm", "gbm", "m", "pthread",
+  "ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
+  "ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
+  "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
 }

-def _resolve_lib(env, name):
-  for d in env.Flatten(env.get('LIBPATH', [])):
-    p = Dir(str(d)).abspath
-    for ext in ('.a', '.so', '.dylib'):
-      f = File(os.path.join(p, f'lib{name}{ext}'))
-      if f.exists() or f.has_builder():
-        return name
-  if name in allowed_system_libs:
-    return name
-  raise SCons.Errors.UserError(f"Unexpected non-vendored library '{name}'")
+rpath = []

-def _libflags(target, source, env, for_signature):
-  libs = []
-  lp = env.subst('$LIBLITERALPREFIX')
-  for lib in env.Flatten(env.get('LIBS', [])):
-    if isinstance(lib, str):
-      if os.sep in lib or lib.startswith('#'):
-        libs.append(File(lib))
-      elif lib.startswith('-') or (lp and lib.startswith(lp)):
-        libs.append(lib)
-      else:
-        libs.append(_resolve_lib(env, lib))
-    else:
-      libs.append(lib)
-  return _stripixes(env['LIBLINKPREFIX'], libs, env['LIBLINKSUFFIX'],
-                    env['LIBPREFIXES'], env['LIBSUFFIXES'], env, env['LIBLITERALPREFIX'])
+if arch == "larch64":
+  cpppath = [
+    "#third_party/opencl/include",
+  ]
+
+  libpath = [
+    "/usr/local/lib",
+    "/system/vendor/lib64",
+    f"#third_party/acados/{arch}/lib",
+  ]
+
+  libpath += [
+    "#third_party/snpe/larch64",
+    "#third_party/libyuv/larch64/lib",
+    "/usr/lib/aarch64-linux-gnu"
+  ]
+  cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
+  cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
+  rpath += ["/usr/local/lib"]
+else:
+  cflags = []
+  cxxflags = []
+  cpppath = []
+  rpath += []
+
+  # MacOS
+  if arch == "Darwin":
+    libpath = [
+      f"#third_party/libyuv/{arch}/lib",
+      f"#third_party/acados/{arch}/lib",
+      f"{brew_prefix}/lib",
+      f"{brew_prefix}/opt/openssl@3.0/lib",
+      "/System/Library/Frameworks/OpenGL.framework/Libraries",
+    ]
+
+    cflags += ["-DGL_SILENCE_DEPRECATION"]
+    cxxflags += ["-DGL_SILENCE_DEPRECATION"]
+    cpppath += [
+      f"{brew_prefix}/include",
+      f"{brew_prefix}/opt/openssl@3.0/include",
+    ]
+  # Linux
+  else:
+    libpath = [
+      f"#third_party/acados/{arch}/lib",
+      f"#third_party/libyuv/{arch}/lib",
+      "/usr/lib",
+      "/usr/local/lib",
+    ]
+
+    if arch == "x86_64":
+      libpath += [
+        f"#third_party/snpe/{arch}"
+      ]
+      rpath += [
+        Dir(f"#third_party/snpe/{arch}").abspath,
+      ]
+
+if GetOption('asan'):
+  ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
+  ldflags = ["-fsanitize=address"]
+elif GetOption('ubsan'):
+  ccflags = ["-fsanitize=undefined"]
+  ldflags = ["-fsanitize=undefined"]
+else:
+  ccflags = []
+  ldflags = []
+
+# no --as-needed on mac linker
+if arch != "Darwin":
+  ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
+
+if not GetOption('stock_ui'):
+  cflags += ["-DSUNNYPILOT"]
+  cxxflags += ["-DSUNNYPILOT"]
+
+ccflags_option = GetOption('ccflags')
+if ccflags_option:
+  ccflags += ccflags_option.split(' ')

 env = Environment(
-  ENV={
-    "PATH": os.environ['PATH'],
-    "PYTHONPATH": Dir("#").abspath + ':' + Dir(f"#third_party/acados").abspath,
-    "ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
-    "ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
-    "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
-  },
+  ENV=lenv,
  CCFLAGS=[
    "-g",
    "-fPIC",
    "-O2",
    "-Wunused",
    "-Werror",
-    "-Wshadow" if arch in ("Darwin", "larch64") else "-Wshadow=local",
+    "-Wshadow",
    "-Wno-unknown-warning-option",
    "-Wno-inconsistent-missing-override",
    "-Wno-c99-designator",
    "-Wno-reorder-init-list",
    "-Wno-vla-cxx-extension",
-  ],
-  CFLAGS=["-std=gnu11"],
-  CXXFLAGS=["-std=c++1z"],
-  CPPPATH=[
+  ] + cflags + ccflags,
+
+  CPPPATH=cpppath + [
    "#",
-    "#msgq",
-    "#third_party",
-    "#third_party/json11",
-    "#third_party/linux/include",
    "#third_party/acados/include",
    "#third_party/acados/include/blasfeo/include",
    "#third_party/acados/include/hpipm/include",
    "#third_party/catch2/include",
-    [x.INCLUDE_DIR for x in pkgs],
+    "#third_party/libyuv/include",
+    "#third_party/json11",
+    "#third_party/linux/include",
+    "#third_party/snpe/include",
+    "#third_party",
+    "#msgq",
  ],
-  LIBPATH=[
-    "#common",
+
+  CC='clang',
+  CXX='clang++',
+  LINKFLAGS=ldflags,
+
+  RPATH=rpath,
+
+  CFLAGS=["-std=gnu11"] + cflags,
+  CXXFLAGS=["-std=c++1z"] + cxxflags,
+  LIBPATH=libpath + [
    "#msgq_repo",
    "#third_party",
    "#selfdrive/pandad",
+    "#common",
    "#rednose/helpers",
-    f"#third_party/acados/{arch}/lib",
-    [x.LIB_DIR for x in pkgs],
  ],
-  RPATH=[],
  CYTHONCFILESUFFIX=".cpp",
  COMPILATIONDB_USE_ABSPATH=True,
  REDNOSE_ROOT="#",
  tools=["default", "cython", "compilation_db", "rednose_filter"],
  toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
 )
-if arch != "larch64":
-  env['_LIBFLAGS'] = _libflags

-# Arch-specific flags and paths
-if arch == "larch64":
-  env["CC"] = "clang"
-  env["CXX"] = "clang++"
-  env.Append(LIBPATH=[
-    "/usr/lib/aarch64-linux-gnu",
-  ])
-  arch_flags = ["-D__TICI__", "-mcpu=cortex-a57", "-DQCOM2"]
-  env.Append(CCFLAGS=arch_flags)
-  env.Append(CXXFLAGS=arch_flags)
-elif arch == "Darwin":
-  env.Append(LIBPATH=[
-    "/System/Library/Frameworks/OpenGL.framework/Libraries",
-  ])
-  env.Append(CCFLAGS=["-DGL_SILENCE_DEPRECATION"])
-  env.Append(CXXFLAGS=["-DGL_SILENCE_DEPRECATION"])
+if arch == "Darwin":
+  # RPATH is not supported on macOS, instead use the linker flags
+  darwin_rpath_link_flags = [f"-Wl,-rpath,{path}" for path in env["RPATH"]]
+  env["LINKFLAGS"] += darwin_rpath_link_flags

-_extra_cc = shlex.split(GetOption('ccflags') or '')
-if _extra_cc:
-  env.Append(CCFLAGS=_extra_cc)
+env.CompilationDatabase('compile_commands.json')

-# no --as-needed on mac linker
-if arch != "Darwin":
-  env.Append(LINKFLAGS=["-Wl,--as-needed", "-Wl,--no-undefined"])
+# Setup cache dir
+default_cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache'
+cache_dir = ARGUMENTS.get('cache_dir', default_cache_dir)
+CacheDir(cache_dir)
+Clean(["."], cache_dir)

-# Shorter build output: show brief descriptions instead of full commands.
-# Full command lines are still printed on failure by scons.
-if not GetOption('verbose'):
-  for action, short in (
-    ("CC",     "CC"),
-    ("CXX",    "CXX"),
-    ("LINK",   "LINK"),
-    ("SHCC",   "CC"),
-    ("SHCXX",  "CXX"),
-    ("SHLINK", "LINK"),
-    ("AR",     "AR"),
-    ("RANLIB", "RANLIB"),
-    ("AS",     "AS"),
-  ):
-    env[f"{action}COMSTR"] = f"  [{short}] $TARGET"
-
-# progress output
 node_interval = 5
 node_count = 0
 def progress_function(node):
  global node_count
  node_count += node_interval
  sys.stderr.write("progress: %d\n" % node_count)
+
 if os.environ.get('SCONS_PROGRESS'):
  Progress(progress_function, interval=node_interval)

-# ********** Cython build environment **********
+# Cython build environment
+py_include = sysconfig.get_paths()['include']
 envCython = env.Clone()
-envCython["CPPPATH"] += [sysconfig.get_paths()['include'], np.get_include()]
-envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-cpp", "-Wno-shadow", "-Wno-deprecated-declarations"]
+envCython["CPPPATH"] += [py_include, np.get_include()]
+envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
 envCython["CCFLAGS"].remove("-Werror")

 envCython["LIBS"] = []
 if arch == "Darwin":
-  envCython["LINKFLAGS"] = env["LINKFLAGS"] + ["-bundle", "-undefined", "dynamic_lookup"]
+  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"] + darwin_rpath_link_flags
 else:
  envCython["LINKFLAGS"] = ["-pthread", "-shared"]

 np_version = SCons.Script.Value(np.__version__)
 Export('envCython', 'np_version')

-Export('env', 'arch')
+# Qt build environment
+qt_env = env.Clone()
+qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "DBus", "Xml"]

-# Setup cache dir
-default_cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
-cache_dir = ARGUMENTS.get('cache_dir', default_cache_dir)
-CacheDir(cache_dir)
-Clean(["."], cache_dir)
+qt_libs = []
+if arch == "Darwin":
+  qt_env['QTDIR'] = f"{brew_prefix}/opt/qt@5"
+  qt_dirs = [
+    os.path.join(qt_env['QTDIR'], "include"),
+  ]
+  qt_dirs += [f"{qt_env['QTDIR']}/include/Qt{m}" for m in qt_modules]
+  qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")]
+  qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
+  qt_env.AppendENVPath('PATH', os.path.join(qt_env['QTDIR'], "bin"))
+else:
+  qt_install_prefix = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_PREFIX'], encoding='utf8').strip()
+  qt_install_headers = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_HEADERS'], encoding='utf8').strip()

-# ********** start building stuff **********
+  qt_env['QTDIR'] = qt_install_prefix
+  qt_dirs = [
+    f"{qt_install_headers}",
+  ]
+
+  qt_gui_path = os.path.join(qt_install_headers, "QtGui")
+  qt_gui_dirs = [d for d in os.listdir(qt_gui_path) if os.path.isdir(os.path.join(qt_gui_path, d))]
+  qt_dirs += [f"{qt_install_headers}/QtGui/{qt_gui_dirs[0]}/QtGui", ] if qt_gui_dirs else []
+  qt_dirs += [f"{qt_install_headers}/Qt{m}" for m in qt_modules]
+
+  qt_libs = [f"Qt5{m}" for m in qt_modules]
+  if arch == "larch64":
+    qt_libs += ["GLESv2", "wayland-client"]
+    qt_env.PrependENVPath('PATH', Dir("#third_party/qt5/larch64/bin/").abspath)
+  elif arch != "Darwin":
+    qt_libs += ["GL"]
+qt_env['QT3DIR'] = qt_env['QTDIR']
+qt_env.Tool('qt3')
+
+qt_env['CPPPATH'] += qt_dirs + ["#third_party/qrcode"]
+qt_flags = [
+  "-D_REENTRANT",
+  "-DQT_NO_DEBUG",
+  "-DQT_WIDGETS_LIB",
+  "-DQT_GUI_LIB",
+  "-DQT_CORE_LIB",
+  "-DQT_MESSAGELOGCONTEXT",
+]
+qt_env['CXXFLAGS'] += qt_flags
+qt_env['LIBPATH'] += ['#selfdrive/ui', ]
+qt_env['LIBS'] = qt_libs
+
+if GetOption("clazy"):
+  checks = [
+    "level0",
+    "level1",
+    "no-range-loop",
+    "no-non-pod-global-static",
+  ]
+  qt_env['CXX'] = 'clazy'
+  qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
+  qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
+
+Export('env', 'qt_env', 'arch', 'real_arch')

 # Build common module
 SConscript(['common/SConscript'])
-Import('_common')
+Import('_common', '_gpucommon')
+
 common = [_common, 'json11', 'zmq']
-Export('common')
+gpucommon = [_gpucommon]
+
+Export('common', 'gpucommon')

 # Build messaging (cereal + msgq + socketmaster + their dependencies)
 # Enable swaglog include in submodules
 env_swaglog = env.Clone()
 env_swaglog['CXXFLAGS'].append('-DSWAGLOG="\\"common/swaglog.h\\""')
 SConscript(['msgq_repo/SConscript'], exports={'env': env_swaglog})
+SConscript(['opendbc_repo/SConscript'], exports={'env': env_swaglog})

 SConscript(['cereal/SConscript'])

@@ -236,6 +356,7 @@ SConscript(['rednose/SConscript'])

 # Build system services
 SConscript([
+  'system/ubloxd/SConscript',
  'system/loggerd/SConscript',
 ])

@@ -245,25 +366,15 @@ if arch == "larch64":
 # Build openpilot
 SConscript(['third_party/SConscript'])

-# Build selfdrive
-SConscript([
-  'selfdrive/pandad/SConscript',
-  'selfdrive/controls/lib/lateral_mpc_lib/SConscript',
-  'selfdrive/controls/lib/longitudinal_mpc_lib/SConscript',
-  'selfdrive/locationd/SConscript',
-  'selfdrive/modeld/SConscript',
-  'selfdrive/ui/SConscript',
-])
+SConscript(['selfdrive/SConscript'])

 SConscript(['sunnypilot/SConscript'])

-# Build tools
-if arch != "larch64":
-  SConscript([
-    'tools/replay/SConscript',
-    'tools/cabana/SConscript',
-    'tools/jotpluggler/SConscript',
-  ])
+if Dir('#tools/cabana/').exists() and GetOption('extras'):
+  SConscript(['tools/replay/SConscript'])
+  if arch != "larch64":
+    SConscript(['tools/cabana/SConscript'])

-
-env.CompilationDatabase('compile_commands.json')
+external_sconscript = GetOption('external_sconscript')
+if external_sconscript:
+  SConscript([external_sconscript])
--- a/cereal/SConscript
+++ b/cereal/SConscript
@@ -4,7 +4,7 @@ cereal_dir = Dir('.')
 gen_dir = Dir('gen')

 # Build cereal
-schema_files = ['log.capnp', 'car.capnp', 'deprecated.capnp', 'custom.capnp']
+schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp']
 env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
            schema_files,
            f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
@@ -13,7 +13,7 @@ cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in schema_files])

 # Build messaging
 services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
-env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc', 'messaging/bridge_zmq.cc'], LIBS=[msgq, common, 'pthread'])
+env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc'], LIBS=[msgq, common, 'pthread'])

 socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc'])

--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -153,8 +153,6 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
      navigation @1;
      vision @2;
      policy @3;
-      offPolicy @4;
-      onPolicy @5;
    }
  }

@@ -267,9 +265,6 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
      active @2 :Bool;
      vTarget @3 :Float32;
      aTarget @4 :Float32;
-      capDelta @5 :Float32; # Difference between cluster set-speed and cap (m/s), positive = driver above cap
-      targetCap @6 :Float32; # Speed limit cap being enforced (m/s)
-      disableReason @7 :AssistDisableReason;
    }

    enum Source {
@@ -285,19 +280,6 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
      pending @3; # Awaiting new speed limit.
      adapting @4; # Reducing speed to match new speed limit.
      active @5; # Cruising at speed limit.
-      capping @6; # Silently capping speed based on limit.
-      tempPaused @7; # Temporarily paused by user.
-    }
-
-    enum AssistDisableReason {
-      none @0;
-      userCancel @1;
-      userTempPause @2;
-      longOverride @3;
-      belowFloor @4;
-      autoResume @5;
-      mapGap @6;
-      gateDisabled @7;
    }
  }

@@ -358,7 +340,6 @@ struct OnroadEventSP @0xda96579883444c35 {
    speedLimitChanged @21;
    speedLimitPending @22;
    e2eChime @23;
-    speedLimitCapActive @24;
  }
 }

@@ -473,7 +454,20 @@ struct ModelDataV2SP @0xa1680744031fdb2d {
  }
 }

-struct CustomReserved10 @0xcb9fd56c7057593a {
+struct Navigationd @0xcb9fd56c7057593a {
+  upcomingTurn @0 :Text;
+  currentSpeedLimit @1 :UInt64;
+  bannerInstructions @2 :Text;
+  distanceFromRoute @3 :Float64;
+  allManeuvers @4 :List(Maneuver);
+  valid @5 :Bool;
+
+  struct Maneuver {
+    distance @0 :Float64;
+    type @1 :Text;
+    modifier @2 :Text;
+    instruction @3 :Text;
+  }
 }

 struct CustomReserved11 @0xc2243c65e0340384 {
--- a/cereal/deprecated.capnp
+++ b/cereal/deprecated.capnp
@@ -3,7 +3,7 @@ $Cxx.namespace("cereal");

@0x80ef1ec4889c2a63;

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

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

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

-struct LiveMpcData @0x92a5e332a85f32a0 {
-  x @0 :List(Float32);
-  y @1 :List(Float32);
-  psi @2 :List(Float32);
-  curvature @3 :List(Float32);
-  qpIterations @4 :UInt32;
-  calculationTime @5 :UInt64;
-  cost @6 :Float64;
-}
-
-struct LiveLongitudinalMpcData @0xe7e17c434f865ae2 {
-  xEgo @0 :List(Float32);
-  vEgo @1 :List(Float32);
-  aEgo @2 :List(Float32);
-  xLead @3 :List(Float32);
-  vLead @4 :List(Float32);
-  aLead @5 :List(Float32);
-  aLeadTau @6 :Float32;    # lead accel time constant
-  qpIterations @7 :UInt32;
-  mpcId @8 :UInt32;
-  calculationTime @9 :UInt64;
-  cost @10 :Float64;
-}
-
-struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 {
-  frameId @0 :UInt32;
-  modelExecutionTime @14 :Float32;
-  dspExecutionTime @16 :Float32;
-  rawPredictions @15 :Data;
-
-  faceOrientation @3 :List(Float32);
-  facePosition @4 :List(Float32);
-  faceProb @5 :Float32;
-  leftEyeProb @6 :Float32;
-  rightEyeProb @7 :Float32;
-  leftBlinkProb @8 :Float32;
-  rightBlinkProb @9 :Float32;
-  faceOrientationStd @11 :List(Float32);
-  facePositionStd @12 :List(Float32);
-  sunglassesProb @13 :Float32;
-  poorVision @17 :Float32;
-  partialFace @18 :Float32;
-  distractedPose @19 :Float32;
-  distractedEyes @20 :Float32;
-  eyesOnRoad @21 :Float32;
-  phoneUse @22 :Float32;
-  occludedProb @23 :Float32;
-
-  readyProb @24 :List(Float32);
-  notReadyProb @25 :List(Float32);
-
-  irPwrDEPRECATED @10 :Float32;
-  descriptorDEPRECATED @1 :List(Float32);
-  stdDEPRECATED @2 :Float32;
-}
-
-struct NavModelData @0xac3de5c437be057a {
-  frameId @0 :UInt32;
-  locationMonoTime @6 :UInt64;
-  modelExecutionTime @1 :Float32;
-  dspExecutionTime @2 :Float32;
-  features @3 :List(Float32);
-  # predicted future position
-  position @4 :XYData;
-  desirePrediction @5 :List(Float32);
-
-  # All SI units and in device frame
-  struct XYData @0xbe09e615b2507e26 {
-    x @0 :List(Float32);
-    y @1 :List(Float32);
-    xStd @2 :List(Float32);
-    yStd @3 :List(Float32);
-  }
-}
-
-struct AndroidBuildInfo @0xfe2919d5c21f426c {
-  board @0 :Text;
-  bootloader @1 :Text;
-  brand @2 :Text;
-  device @3 :Text;
-  display @4 :Text;
-  fingerprint @5 :Text;
-  hardware @6 :Text;
-  host @7 :Text;
-  id @8 :Text;
-  manufacturer @9 :Text;
-  model @10 :Text;
-  product @11 :Text;
-  radioVersion @12 :Text;
-  serial @13 :Text;
-  supportedAbis @14 :List(Text);
-  tags @15 :Text;
-  time @16 :Int64;
-  type @17 :Text;
-  user @18 :Text;
-
-  versionCodename @19 :Text;
-  versionRelease @20 :Text;
-  versionSdk @21 :Int32;
-  versionSecurityPatch @22 :Text;
-}
-
-struct AndroidSensor @0x9b513b93a887dbcd {
-  id @0 :Int32;
-  name @1 :Text;
-  vendor @2 :Text;
-  version @3 :Int32;
-  handle @4 :Int32;
-  type @5 :Int32;
-  maxRange @6 :Float32;
-  resolution @7 :Float32;
-  power @8 :Float32;
-  minDelay @9 :Int32;
-  fifoReservedEventCount @10 :UInt32;
-  fifoMaxEventCount @11 :UInt32;
-  stringType @12 :Text;
-  maxDelay @13 :Int32;
-}
-
-struct IosBuildInfo @0xd97e3b28239f5580 {
-  appVersion @0 :Text;
-  appBuild @1 :UInt32;
-  osVersion @2 :Text;
-  deviceModel @3 :Text;
-}
-
-enum FrameTypeDEPRECATED @0xa37f0d8558e193fd {
-  unknown @0;
-  neo @1;
-  chffrAndroid @2;
-  front @3;
-}
-
-struct AndroidCaptureResult @0xbcc3efbac41d2048 {
-  sensitivity @0 :Int32;
-  frameDuration @1 :Int64;
-  exposureTime @2 :Int64;
-  rollingShutterSkew @3 :UInt64;
-  colorCorrectionTransform @4 :List(Int32);
-  colorCorrectionGains @5 :List(Float32);
-  displayRotation @6 :Int8;
-}
-
-enum UsbPowerModeDEPRECATED @0xa8883583b32c9877 {
-  none @0;
-  client @1;
-  cdp @2;
-  dcp @3;
-}
-
-struct LateralINDIState @0x939463348632375e {
-  active @0 :Bool;
-  steeringAngleDeg @1 :Float32;
-  steeringRateDeg @2 :Float32;
-  steeringAccelDeg @3 :Float32;
-  rateSetPoint @4 :Float32;
-  accelSetPoint @5 :Float32;
-  accelError @6 :Float32;
-  delayedOutput @7 :Float32;
-  delta @8 :Float32;
-  output @9 :Float32;
-  saturated @10 :Bool;
-  steeringAngleDesiredDeg @11 :Float32;
-  steeringRateDesiredDeg @12 :Float32;
-}
-
-struct LateralLQRState @0x9024e2d790c82ade {
-  active @0 :Bool;
-  steeringAngleDeg @1 :Float32;
-  i @2 :Float32;
-  output @3 :Float32;
-  lqrOutput @4 :Float32;
-  saturated @5 :Bool;
-  steeringAngleDesiredDeg @6 :Float32;
-}
-
-struct LateralCurvatureState @0xad9d8095c06f7c61 {
-  active @0 :Bool;
-  actualCurvature @1 :Float32;
-  desiredCurvature @2 :Float32;
-  error @3 :Float32;
-  p @4 :Float32;
-  i @5 :Float32;
-  f @6 :Float32;
-  output @7 :Float32;
-  saturated @8 :Bool;
-}
-
-struct LateralPlannerSolution @0x84caeca5a6b4acfe {
-  x @0 :List(Float32);
-  y @1 :List(Float32);
-  yaw @2 :List(Float32);
-  yawRate @3 :List(Float32);
-  xStd @4 :List(Float32);
-  yStd @5 :List(Float32);
-  yawStd @6 :List(Float32);
-  yawRateStd @7 :List(Float32);
-}
-
-struct GpsTrajectory @0x8cfeb072f5301000 {
-  x @0 :List(Float32);
-  y @1 :List(Float32);
-}
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
--- a/cereal/messaging/init.py
+++ b/cereal/messaging/init.py
@@ -1,8 +1,10 @@
 # must be built with scons
-from msgq import fake_event_handle, drain_sock_raw, MultiplePublishersError, IpcError, \
-                 Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
-                 set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
+from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
+                                set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
+from msgq.ipc_pyx import MultiplePublishersError, IpcError
+from msgq import fake_event_handle, pub_sock, sub_sock, drain_sock_raw
 import msgq
+
 import os
 import capnp
 import time
@@ -11,25 +13,11 @@ from typing import Optional, List, Union, Dict

 from cereal import log
 from cereal.services import SERVICE_LIST
-from openpilot.common.utils import MovingAverage
+from openpilot.common.util import MovingAverage

 NO_TRAVERSAL_LIMIT = 2**64-1


-def pub_sock(endpoint: str) -> PubSocket:
-  service = SERVICE_LIST.get(endpoint)
-  segment_size = service.queue_size if service else 0
-  return msgq.pub_sock(endpoint, segment_size)
-
-
-def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
-             conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
-  service = SERVICE_LIST.get(endpoint)
-  segment_size = service.queue_size if service else 0
-  return msgq.sub_sock(endpoint, poller=poller, addr=addr, conflate=conflate,
-                       timeout=timeout, segment_size=segment_size)
-
-
 def reset_context():
  msgq.context = Context()

--- a/cereal/messaging/bridge.cc
+++ b/cereal/messaging/bridge.cc
@@ -25,16 +25,15 @@ void msgq_to_zmq(const std::vector<std::string> &endpoints, const std::string &i
 }

 void zmq_to_msgq(const std::vector<std::string> &endpoints, const std::string &ip) {
-  auto poller = std::make_unique<BridgeZmqPoller>();
-  auto pub_context = std::make_unique<Context>();
-  auto sub_context = std::make_unique<BridgeZmqContext>();
-  std::map<BridgeZmqSubSocket *, PubSocket *> sub2pub;
+  auto poller = std::make_unique<ZMQPoller>();
+  auto pub_context = std::make_unique<MSGQContext>();
+  auto sub_context = std::make_unique<ZMQContext>();
+  std::map<SubSocket *, PubSocket *> sub2pub;

  for (auto endpoint : endpoints) {
-    auto pub_sock = new PubSocket();
-    auto sub_sock = new BridgeZmqSubSocket();
-    size_t queue_size = services.at(endpoint).queue_size;
-    pub_sock->connect(pub_context.get(), endpoint, true, queue_size);
+    auto pub_sock = new MSGQPubSocket();
+    auto sub_sock = new ZMQSubSocket();
+    pub_sock->connect(pub_context.get(), endpoint);
    sub_sock->connect(sub_context.get(), endpoint, ip, false);

    poller->registerSocket(sub_sock);
--- a/cereal/messaging/bridge_zmq.cc
+++ b/cereal/messaging/bridge_zmq.cc
@@ -1,170 +0,0 @@
-#include "cereal/messaging/bridge_zmq.h"
-
-#include <cassert>
-#include <cstring>
-#include <unistd.h>
-
-static size_t fnv1a_hash(const std::string &str) {
-  const size_t fnv_prime = 0x100000001b3;
-  size_t hash_value = 0xcbf29ce484222325;
-  for (char c : str) {
-    hash_value ^= (unsigned char)c;
-    hash_value *= fnv_prime;
-  }
-  return hash_value;
-}
-
-// FIXME: This is a hack to get the port number from the socket name, might have collisions.
-static int get_port(std::string endpoint) {
-  size_t hash_value = fnv1a_hash(endpoint);
-  int start_port = 8023;
-  int max_port = 65535;
-  return start_port + (hash_value % (max_port - start_port));
-}
-
-BridgeZmqContext::BridgeZmqContext() {
-  context = zmq_ctx_new();
-}
-
-BridgeZmqContext::~BridgeZmqContext() {
-  if (context != nullptr) {
-    zmq_ctx_term(context);
-  }
-}
-
-void BridgeZmqMessage::init(size_t sz) {
-  size = sz;
-  data = new char[size];
-}
-
-void BridgeZmqMessage::init(char *d, size_t sz) {
-  size = sz;
-  data = new char[size];
-  memcpy(data, d, size);
-}
-
-void BridgeZmqMessage::close() {
-  if (size > 0) {
-    delete[] data;
-  }
-  data = nullptr;
-  size = 0;
-}
-
-BridgeZmqMessage::~BridgeZmqMessage() {
-  close();
-}
-
-int BridgeZmqSubSocket::connect(BridgeZmqContext *context, std::string endpoint, std::string address, bool conflate, bool check_endpoint) {
-  sock = zmq_socket(context->getRawContext(), ZMQ_SUB);
-  if (sock == nullptr) {
-    return -1;
-  }
-
-  zmq_setsockopt(sock, ZMQ_SUBSCRIBE, "", 0);
-
-  if (conflate) {
-    int arg = 1;
-    zmq_setsockopt(sock, ZMQ_CONFLATE, &arg, sizeof(int));
-  }
-
-  int reconnect_ivl = 500;
-  zmq_setsockopt(sock, ZMQ_RECONNECT_IVL_MAX, &reconnect_ivl, sizeof(reconnect_ivl));
-
-  full_endpoint = "tcp://" + address + ":";
-  if (check_endpoint) {
-    full_endpoint += std::to_string(get_port(endpoint));
-  } else {
-    full_endpoint += endpoint;
-  }
-
-  return zmq_connect(sock, full_endpoint.c_str());
-}
-
-void BridgeZmqSubSocket::setTimeout(int timeout) {
-  zmq_setsockopt(sock, ZMQ_RCVTIMEO, &timeout, sizeof(int));
-}
-
-Message *BridgeZmqSubSocket::receive(bool non_blocking) {
-  zmq_msg_t msg;
-  assert(zmq_msg_init(&msg) == 0);
-
-  int flags = non_blocking ? ZMQ_DONTWAIT : 0;
-  int rc = zmq_msg_recv(&msg, sock, flags);
-
-  Message *ret = nullptr;
-  if (rc >= 0) {
-    ret = new BridgeZmqMessage;
-    ret->init((char *)zmq_msg_data(&msg), zmq_msg_size(&msg));
-  }
-
-  zmq_msg_close(&msg);
-  return ret;
-}
-
-BridgeZmqSubSocket::~BridgeZmqSubSocket() {
-  if (sock != nullptr) {
-    zmq_close(sock);
-  }
-}
-
-int BridgeZmqPubSocket::connect(BridgeZmqContext *context, std::string endpoint, bool check_endpoint) {
-  sock = zmq_socket(context->getRawContext(), ZMQ_PUB);
-  if (sock == nullptr) {
-    return -1;
-  }
-
-  full_endpoint = "tcp://*:";
-  if (check_endpoint) {
-    full_endpoint += std::to_string(get_port(endpoint));
-  } else {
-    full_endpoint += endpoint;
-  }
-
-  // ZMQ pub sockets cannot be shared between processes, so we need to ensure pid stays the same.
-  pid = getpid();
-
-  return zmq_bind(sock, full_endpoint.c_str());
-}
-
-int BridgeZmqPubSocket::sendMessage(Message *message) {
-  assert(pid == getpid());
-  return zmq_send(sock, message->getData(), message->getSize(), ZMQ_DONTWAIT);
-}
-
-int BridgeZmqPubSocket::send(char *data, size_t size) {
-  assert(pid == getpid());
-  return zmq_send(sock, data, size, ZMQ_DONTWAIT);
-}
-
-BridgeZmqPubSocket::~BridgeZmqPubSocket() {
-  if (sock != nullptr) {
-    zmq_close(sock);
-  }
-}
-
-void BridgeZmqPoller::registerSocket(BridgeZmqSubSocket *socket) {
-  assert(num_polls + 1 < (sizeof(polls) / sizeof(polls[0])));
-  polls[num_polls].socket = socket->getRawSocket();
-  polls[num_polls].events = ZMQ_POLLIN;
-
-  sockets.push_back(socket);
-  num_polls++;
-}
-
-std::vector<BridgeZmqSubSocket *> BridgeZmqPoller::poll(int timeout) {
-  std::vector<BridgeZmqSubSocket *> ret;
-
-  int rc = zmq_poll(polls, num_polls, timeout);
-  if (rc < 0) {
-    return ret;
-  }
-
-  for (size_t i = 0; i < num_polls; i++) {
-    if (polls[i].revents) {
-      ret.push_back(sockets[i]);
-    }
-  }
-
-  return ret;
-}
--- a/cereal/messaging/bridge_zmq.h
+++ b/cereal/messaging/bridge_zmq.h
@@ -1,72 +0,0 @@
-#pragma once
-
-#include <cstddef>
-#include <string>
-#include <vector>
-
-#include <zmq.h>
-
-#include "msgq/ipc.h"
-
-class BridgeZmqContext {
-public:
-  BridgeZmqContext();
-  void *getRawContext() { return context; }
-  ~BridgeZmqContext();
-
-private:
-  void *context = nullptr;
-};
-
-class BridgeZmqMessage : public Message {
-public:
-  void init(size_t size);
-  void init(char *data, size_t size);
-  void close();
-  size_t getSize() { return size; }
-  char *getData() { return data; }
-  ~BridgeZmqMessage();
-
-private:
-  char *data = nullptr;
-  size_t size = 0;
-};
-
-class BridgeZmqSubSocket {
-public:
-  int connect(BridgeZmqContext *context, std::string endpoint, std::string address, bool conflate = false, bool check_endpoint = true);
-  void setTimeout(int timeout);
-  Message *receive(bool non_blocking = false);
-  void *getRawSocket() { return sock; }
-  ~BridgeZmqSubSocket();
-
-private:
-  void *sock = nullptr;
-  std::string full_endpoint;
-};
-
-class BridgeZmqPubSocket {
-public:
-  int connect(BridgeZmqContext *context, std::string endpoint, bool check_endpoint = true);
-  int sendMessage(Message *message);
-  int send(char *data, size_t size);
-  void *getRawSocket() { return sock; }
-  ~BridgeZmqPubSocket();
-
-private:
-  void *sock = nullptr;
-  std::string full_endpoint;
-  int pid = -1;
-};
-
-class BridgeZmqPoller {
-public:
-  void registerSocket(BridgeZmqSubSocket *socket);
-  std::vector<BridgeZmqSubSocket *> poll(int timeout);
-
-private:
-  static constexpr size_t MAX_BRIDGE_ZMQ_POLLERS = 128;
-  std::vector<BridgeZmqSubSocket *> sockets;
-  zmq_pollitem_t polls[MAX_BRIDGE_ZMQ_POLLERS] = {};
-  size_t num_polls = 0;
-};
--- a/cereal/messaging/msgq_to_zmq.cc
+++ b/cereal/messaging/msgq_to_zmq.cc
@@ -2,7 +2,6 @@

 #include <cassert>

-#include "cereal/services.h"
 #include "common/util.h"

 extern ExitHandler do_exit;
@@ -22,14 +21,14 @@ static std::string recv_zmq_msg(void *sock) {
 }

 void MsgqToZmq::run(const std::vector<std::string> &endpoints, const std::string &ip) {
-  zmq_context = std::make_unique<BridgeZmqContext>();
-  msgq_context = std::make_unique<Context>();
+  zmq_context = std::make_unique<ZMQContext>();
+  msgq_context = std::make_unique<MSGQContext>();

  // Create ZMQPubSockets for each endpoint
  for (const auto &endpoint : endpoints) {
    auto &socket_pair = socket_pairs.emplace_back();
    socket_pair.endpoint = endpoint;
-    socket_pair.pub_sock = std::make_unique<BridgeZmqPubSocket>();
+    socket_pair.pub_sock = std::make_unique<ZMQPubSocket>();
    int ret = socket_pair.pub_sock->connect(zmq_context.get(), endpoint);
    if (ret != 0) {
      printf("Failed to create ZMQ publisher for [%s]: %s\n", endpoint.c_str(), zmq_strerror(zmq_errno()));
@@ -49,7 +48,7 @@ void MsgqToZmq::run(const std::vector<std::string> &endpoints, const std::string

      for (auto sub_sock : msgq_poller->poll(100)) {
        // Process messages for each socket
-        BridgeZmqPubSocket *pub_sock = sub2pub.at(sub_sock);
+        ZMQPubSocket *pub_sock = sub2pub.at(sub_sock);
        for (int i = 0; i < MAX_MESSAGES_PER_SOCKET; ++i) {
          auto msg = std::unique_ptr<Message>(sub_sock->receive(true));
          if (!msg) break;
@@ -72,7 +71,7 @@ void MsgqToZmq::zmqMonitorThread() {
  // Set up ZMQ monitor for each pub socket
  for (int i = 0; i < socket_pairs.size(); ++i) {
    std::string addr = "inproc://op-bridge-monitor-" + std::to_string(i);
-    zmq_socket_monitor(socket_pairs[i].pub_sock->getRawSocket(), addr.c_str(), ZMQ_EVENT_ACCEPTED | ZMQ_EVENT_DISCONNECTED);
+    zmq_socket_monitor(socket_pairs[i].pub_sock->sock, addr.c_str(), ZMQ_EVENT_ACCEPTED | ZMQ_EVENT_DISCONNECTED);

    void *monitor_socket = zmq_socket(zmq_context->getRawContext(), ZMQ_PAIR);
    zmq_connect(monitor_socket, addr.c_str());
@@ -109,8 +108,7 @@ void MsgqToZmq::zmqMonitorThread() {
          if (++pair.connected_clients == 1) {
            // Create new MSGQ subscriber socket and map to ZMQ publisher
            pair.sub_sock = std::make_unique<MSGQSubSocket>();
-            size_t queue_size = services.at(pair.endpoint).queue_size;
-            pair.sub_sock->connect(msgq_context.get(), pair.endpoint, "127.0.0.1", false, true, queue_size);
+            pair.sub_sock->connect(msgq_context.get(), pair.endpoint, "127.0.0.1");
            sub2pub[pair.sub_sock.get()] = pair.pub_sock.get();
            registerSockets();
          }
@@ -130,7 +128,7 @@ void MsgqToZmq::zmqMonitorThread() {

  // Clean up monitor sockets
  for (int i = 0; i < pollitems.size(); ++i) {
-    zmq_socket_monitor(socket_pairs[i].pub_sock->getRawSocket(), nullptr, 0);
+    zmq_socket_monitor(socket_pairs[i].pub_sock->sock, nullptr, 0);
    zmq_close(pollitems[i].socket);
  }
  cv.notify_one();
--- a/cereal/messaging/msgq_to_zmq.h
+++ b/cereal/messaging/msgq_to_zmq.h
@@ -7,8 +7,9 @@
 #include <string>
 #include <vector>

+#define private public
 #include "msgq/impl_msgq.h"
-#include "cereal/messaging/bridge_zmq.h"
+#include "msgq/impl_zmq.h"

 class MsgqToZmq {
 public:
@@ -21,16 +22,16 @@ protected:

  struct SocketPair {
    std::string endpoint;
-    std::unique_ptr<BridgeZmqPubSocket> pub_sock;
+    std::unique_ptr<ZMQPubSocket> pub_sock;
    std::unique_ptr<MSGQSubSocket> sub_sock;
    int connected_clients = 0;
  };

-  std::unique_ptr<Context> msgq_context;
-  std::unique_ptr<BridgeZmqContext> zmq_context;
+  std::unique_ptr<MSGQContext> msgq_context;
+  std::unique_ptr<ZMQContext> zmq_context;
  std::mutex mutex;
  std::condition_variable cv;
  std::unique_ptr<MSGQPoller> msgq_poller;
-  std::map<SubSocket *, BridgeZmqPubSocket *> sub2pub;
+  std::map<SubSocket *, ZMQPubSocket *> sub2pub;
  std::vector<SocketPair> socket_pairs;
 };
--- a/cereal/messaging/socketmaster.cc
+++ b/cereal/messaging/socketmaster.cc
@@ -50,7 +50,7 @@ SubMaster::SubMaster(const std::vector<const char *> &service_list, const std::v
    assert(services.count(std::string(name)) > 0);

    service serv = services.at(std::string(name));
-    SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true, true, serv.queue_size);
+    SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true);
    assert(socket != 0);
    bool is_polled = inList(poll, name) || poll.empty();
    if (is_polled) poller_->registerSocket(socket);
@@ -187,8 +187,7 @@ SubMaster::~SubMaster() {
 PubMaster::PubMaster(const std::vector<const char *> &service_list) {
  for (auto name : service_list) {
    assert(services.count(name) > 0);
-    service serv = services.at(std::string(name));
-    PubSocket *socket = PubSocket::create(message_context.context(), name, true, serv.queue_size);
+    PubSocket *socket = PubSocket::create(message_context.context(), name);
    assert(socket);
    sockets_[name] = socket;
  }
--- a/cereal/messaging/tests/test_messaging.py
+++ b/cereal/messaging/tests/test_messaging.py
@@ -5,7 +5,7 @@ import numbers
 import random
 import threading
 import time
-from openpilot.common.parameterized import parameterized
+from parameterized import parameterized
 import pytest

 from cereal import log, car
--- a/cereal/messaging/tests/test_services.py
+++ b/cereal/messaging/tests/test_services.py
@@ -1,7 +1,7 @@
 import os
 import tempfile
 from typing import Dict
-from openpilot.common.parameterized import parameterized
+from parameterized import parameterized

 import cereal.services as services
 from cereal.services import SERVICE_LIST
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -1,46 +1,39 @@
 #!/usr/bin/env python3
-from enum import IntEnum
 from typing import Optional


-# TODO: this should be automatically determined using the capnp schema
-class QueueSize(IntEnum):
-  BIG = 10 * 1024 * 1024      # 10MB - video frames, large AI outputs
-  MEDIUM = 2 * 1024 * 1024    # 2MB - high freq (CAN), livestream
-  SMALL = 250 * 1024          # 250KB - most services
-
-
 class Service:
-  def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None,
-               queue_size: QueueSize = QueueSize.SMALL):
+  def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None):
    self.should_log = should_log
    self.frequency = frequency
    self.decimation = decimation
-    self.queue_size = queue_size


 _services: dict[str, tuple] = {
  # service: (should_log, frequency, qlog decimation (optional))
  # note: the "EncodeIdx" packets will still be in the log
  "gyroscope": (True, 104., 104),
+  "gyroscope2": (True, 100., 100),
  "accelerometer": (True, 104., 104),
+  "accelerometer2": (True, 100., 100),
  "magnetometer": (True, 25.),
  "lightSensor": (True, 100., 100),
  "temperatureSensor": (True, 2., 200),
+  "temperatureSensor2": (True, 2., 200),
  "gpsNMEA": (True, 9.),
  "deviceState": (True, 2., 1),
  "touch": (True, 20., 1),
-  "can": (True, 100., 2053, QueueSize.BIG),  # decimation gives ~3 msgs in a full segment
-  "controlsState": (True, 100., 10, QueueSize.MEDIUM),
+  "can": (True, 100., 2053),  # decimation gives ~3 msgs in a full segment
+  "controlsState": (True, 100., 10),
  "selfdriveState": (True, 100., 10),
  "pandaStates": (True, 10., 1),
  "peripheralState": (True, 2., 1),
  "radarState": (True, 20., 5),
  "roadEncodeIdx": (False, 20., 1),
  "liveTracks": (True, 20.),
-  "sendcan": (True, 100., 139, QueueSize.MEDIUM),
-  "logMessage": (True, 0., None, QueueSize.BIG),
-  "errorLogMessage": (True, 0., 1, QueueSize.BIG),
+  "sendcan": (True, 100., 139),
+  "logMessage": (True, 0.),
+  "errorLogMessage": (True, 0., 1),
  "liveCalibration": (True, 4., 4),
  "liveTorqueParameters": (True, 4., 1),
  "liveDelay": (True, 4., 1),
@@ -49,9 +42,8 @@ _services: dict[str, tuple] = {
  "carControl": (True, 100., 10),
  "carOutput": (True, 100., 10),
  "longitudinalPlan": (True, 20., 10),
-  "lateralManeuverPlan": (True, 20.),
  "driverAssistance": (True, 20., 20),
-  "procLog": (True, 0.5, 15, QueueSize.BIG),
+  "procLog": (True, 0.5, 15),
  "gpsLocationExternal": (True, 10., 10),
  "gpsLocation": (True, 1., 1),
  "ubloxGnss": (True, 10.),
@@ -73,7 +65,7 @@ _services: dict[str, tuple] = {
  "wideRoadEncodeIdx": (False, 20., 1),
  "wideRoadCameraState": (True, 20., 20),
  "drivingModelData": (True, 20., 10),
-  "modelV2": (True, 20., None, QueueSize.BIG),
+  "modelV2": (True, 20.),
  "managerState": (True, 2., 1),
  "uploaderState": (True, 0., 1),
  "navInstruction": (True, 1., 10),
@@ -85,14 +77,10 @@ _services: dict[str, tuple] = {
  "rawAudioData": (False, 20.),
  "bookmarkButton": (True, 0., 1),
  "audioFeedback": (True, 0., 1),
-  "roadEncodeData": (False, 20., None, QueueSize.BIG),
-  "driverEncodeData": (False, 20., None, QueueSize.BIG),
-  "wideRoadEncodeData": (False, 20., None, QueueSize.BIG),
-  "qRoadEncodeData": (False, 20., None, QueueSize.BIG),

  # sunnypilot
-  "modelManagerSP": (False, 1., 1, QueueSize.BIG),
-  "backupManagerSP": (False, 1., 1, QueueSize.BIG),
+  "modelManagerSP": (False, 1., 1),
+  "backupManagerSP": (False, 1., 1),
  "selfdriveStateSP": (True, 100., 10),
  "longitudinalPlanSP": (True, 20., 10),
  "onroadEventsSP": (True, 1., 1),
@@ -100,19 +88,24 @@ _services: dict[str, tuple] = {
  "carControlSP": (True, 100., 10),
  "carStateSP": (True, 100., 10),
  "liveMapDataSP": (True, 1., 1),
-  "modelDataV2SP": (True, 20., None, QueueSize.BIG),
+  "modelDataV2SP": (True, 20.),
+  "navigationd": (True, 3.),
  "liveLocationKalman": (True, 20.),

  # debug
  "uiDebug": (True, 0., 1),
  "testJoystick": (True, 0.),
  "alertDebug": (True, 20., 5),
+  "roadEncodeData": (False, 20.),
+  "driverEncodeData": (False, 20.),
+  "wideRoadEncodeData": (False, 20.),
+  "qRoadEncodeData": (False, 20.),
  "livestreamWideRoadEncodeIdx": (False, 20.),
  "livestreamRoadEncodeIdx": (False, 20.),
  "livestreamDriverEncodeIdx": (False, 20.),
-  "livestreamWideRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
-  "livestreamRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
-  "livestreamDriverEncodeData": (False, 20., None, QueueSize.MEDIUM),
+  "livestreamWideRoadEncodeData": (False, 20.),
+  "livestreamRoadEncodeData": (False, 20.),
+  "livestreamDriverEncodeData": (False, 20.),
  "customReservedRawData0": (True, 0.),
  "customReservedRawData1": (True, 0.),
  "customReservedRawData2": (True, 0.),
@@ -130,13 +123,13 @@ def build_header():
  h += "#include <map>\n"
  h += "#include <string>\n"

-  h += "struct service { std::string name; bool should_log; float frequency; int decimation; size_t queue_size; };\n"
+  h += "struct service { std::string name; bool should_log; float 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, %d}},\n' % \
-         (k, k, should_log, v.frequency, decimation, v.queue_size)
+    h += '  { "%s", {"%s", %s, %f, %d}},\n' % \
+         (k, k, should_log, v.frequency, decimation)
  h += "};\n"

  h += "#endif\n"
--- a/common/.gitignore
+++ b/common/.gitignore
@@ -0,0 +1 @@
+*.cpp
--- a/common/SConscript
+++ b/common/SConscript
@@ -1,14 +1,21 @@
-Import('env', 'envCython')
+Import('env', 'envCython', 'arch')

 common_libs = [
  'params.cc',
  'swaglog.cc',
  'util.cc',
-  'ratekeeper.cc',
+  'watchdog.cc',
+  'ratekeeper.cc'
 ]

 _common = env.Library('common', common_libs, LIBS="json11")
-Export('_common')
+
+files = [
+  'clutil.cc',
+]
+
+_gpucommon = env.Library('gpucommon', files)
+Export('_common', '_gpucommon')

 if GetOption('extras'):
  env.Program('tests/test_common',
@@ -18,6 +25,11 @@ if GetOption('extras'):
 # Cython bindings
 params_python = envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11'])

-common_python = [params_python]
+SConscript([
+  'transformations/SConscript',
+])
+
+Import('transformations_python')
+common_python = [params_python, transformations_python]

 Export('common_python')
--- a/common/api/init.py
+++ b/common/api/init.py
@@ -14,13 +14,9 @@ class Api:
  def post(self, *args, **kwargs):
    return self.service.post(*args, **kwargs)

-  def get_token(self, payload_extra=None, expiry_hours=1):
-    return self.service.get_token(payload_extra, expiry_hours)
+  def get_token(self, expiry_hours=1):
+    return self.service.get_token(expiry_hours)


-def api_get(endpoint, method='GET', timeout=None, access_token=None, session=None, **params):
-  return CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, session, **params)
-
-
-def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:
-  return CommaConnectApi(None).get_key_pair()
+def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
+  return CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, **params)
--- a/common/api/base.py
+++ b/common/api/base.py
@@ -1,22 +1,18 @@
 import jwt
-import os
 import requests
 import unicodedata
 from datetime import datetime, timedelta, UTC
 from openpilot.system.hardware.hw import Paths
 from openpilot.system.version import get_version

-# name: jwt signature algorithm
-KEYS = {"id_rsa": "RS256",
-        "id_ecdsa": "ES256"}
-

 class BaseApi:
  def __init__(self, dongle_id, api_host, user_agent="openpilot-"):
    self.dongle_id = dongle_id
    self.api_host = api_host
    self.user_agent = user_agent
-    self.jwt_algorithm, self.private_key, _ = self.get_key_pair()
+    with open(f'{Paths.persist_root()}/comma/id_rsa') as f:
+      self.private_key = f.read()

  def get(self, *args, **kwargs):
    return self.request('GET', *args, **kwargs)
@@ -27,7 +23,7 @@ class BaseApi:
  def request(self, method, endpoint, timeout=None, access_token=None, **params):
    return self.api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)

-  def _get_token(self, payload_extra=None, expiry_hours=1, **extra_payload):
+  def _get_token(self, expiry_hours=1, **extra_payload):
    now = datetime.now(UTC).replace(tzinfo=None)
    payload = {
      'identity': self.dongle_id,
@@ -36,22 +32,20 @@ class BaseApi:
      'exp': now + timedelta(hours=expiry_hours),
      **extra_payload
    }
-    if payload_extra is not None:
-      payload.update(payload_extra)
-    token = jwt.encode(payload, self.private_key, algorithm=self.jwt_algorithm)
+    token = jwt.encode(payload, self.private_key, algorithm='RS256')
    if isinstance(token, bytes):
      token = token.decode('utf8')
    return token

-  def get_token(self, payload_extra=None, expiry_hours=1):
-    return self._get_token(payload_extra, expiry_hours)
+  def get_token(self, expiry_hours=1):
+    return self._get_token(expiry_hours)

  def remove_non_ascii_chars(self, text):
    normalized_text = unicodedata.normalize('NFD', text)
    ascii_encoded_text = normalized_text.encode('ascii', 'ignore')
    return ascii_encoded_text.decode()

-  def api_get(self, endpoint, method='GET', timeout=None, access_token=None, session=None, json=None, **params):
+  def api_get(self, endpoint, method='GET', timeout=None, access_token=None, json=None, **params):
    headers = {}
    if access_token is not None:
      headers['Authorization'] = "JWT " + access_token
@@ -59,14 +53,4 @@ class BaseApi:
    version = self.remove_non_ascii_chars(get_version())
    headers['User-Agent'] = self.user_agent + version

-    # TODO: add session to Api
-    req = requests if session is None else session
-    return req.request(method, f"{self.api_host}/{endpoint}", timeout=timeout, headers=headers, json=json, params=params)
-
-  @staticmethod
-  def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:
-    for key in KEYS:
-      if os.path.isfile(Paths.persist_root() + f'/comma/{key}') and os.path.isfile(Paths.persist_root() + f'/comma/{key}.pub'):
-        with open(Paths.persist_root() + f'/comma/{key}') as private, open(Paths.persist_root() + f'/comma/{key}.pub') as public:
-          return KEYS[key], private.read(), public.read()
-    return None, None, None
+    return requests.request(method, f"{self.api_host}/{endpoint}", timeout=timeout, headers=headers, json=json, params=params)
--- a/common/clutil.cc
+++ b/common/clutil.cc
@@ -0,0 +1,98 @@
+#include "common/clutil.h"
+
+#include <cassert>
+#include <iostream>
+#include <memory>
+
+#include "common/util.h"
+#include "common/swaglog.h"
+
+namespace {  // helper functions
+
+template <typename Func, typename Id, typename Name>
+std::string get_info(Func get_info_func, Id id, Name param_name) {
+  size_t size = 0;
+  CL_CHECK(get_info_func(id, param_name, 0, NULL, &size));
+  std::string info(size, '\0');
+  CL_CHECK(get_info_func(id, param_name, size, info.data(), NULL));
+  return info;
+}
+inline std::string get_platform_info(cl_platform_id id, cl_platform_info name) { return get_info(&clGetPlatformInfo, id, name); }
+inline std::string get_device_info(cl_device_id id, cl_device_info name) { return get_info(&clGetDeviceInfo, id, name); }
+
+void cl_print_info(cl_platform_id platform, cl_device_id device) {
+  size_t work_group_size = 0;
+  cl_device_type device_type = 0;
+  clGetDeviceInfo(device, CL_DEVICE_MAX_WORK_GROUP_SIZE, sizeof(work_group_size), &work_group_size, NULL);
+  clGetDeviceInfo(device, CL_DEVICE_TYPE, sizeof(device_type), &device_type, NULL);
+  const char *type_str = "Other...";
+  switch (device_type) {
+    case CL_DEVICE_TYPE_CPU: type_str ="CL_DEVICE_TYPE_CPU"; break;
+    case CL_DEVICE_TYPE_GPU: type_str = "CL_DEVICE_TYPE_GPU"; break;
+    case CL_DEVICE_TYPE_ACCELERATOR: type_str = "CL_DEVICE_TYPE_ACCELERATOR"; break;
+  }
+
+  LOGD("vendor: %s", get_platform_info(platform, CL_PLATFORM_VENDOR).c_str());
+  LOGD("platform version: %s", get_platform_info(platform, CL_PLATFORM_VERSION).c_str());
+  LOGD("profile: %s", get_platform_info(platform, CL_PLATFORM_PROFILE).c_str());
+  LOGD("extensions: %s", get_platform_info(platform, CL_PLATFORM_EXTENSIONS).c_str());
+  LOGD("name: %s", get_device_info(device, CL_DEVICE_NAME).c_str());
+  LOGD("device version: %s", get_device_info(device, CL_DEVICE_VERSION).c_str());
+  LOGD("max work group size: %zu", work_group_size);
+  LOGD("type = %d, %s", (int)device_type, type_str);
+}
+
+void cl_print_build_errors(cl_program program, cl_device_id device) {
+  cl_build_status status;
+  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_STATUS, sizeof(status), &status, NULL);
+  size_t log_size;
+  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, 0, NULL, &log_size);
+  std::string log(log_size, '\0');
+  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, log_size, &log[0], NULL);
+
+  LOGE("build failed; status=%d, log: %s", status, log.c_str());
+}
+
+}  // namespace
+
+cl_device_id cl_get_device_id(cl_device_type device_type) {
+  cl_uint num_platforms = 0;
+  CL_CHECK(clGetPlatformIDs(0, NULL, &num_platforms));
+  std::unique_ptr<cl_platform_id[]> platform_ids = std::make_unique<cl_platform_id[]>(num_platforms);
+  CL_CHECK(clGetPlatformIDs(num_platforms, &platform_ids[0], NULL));
+
+  for (size_t i = 0; i < num_platforms; ++i) {
+    LOGD("platform[%zu] CL_PLATFORM_NAME: %s", i, get_platform_info(platform_ids[i], CL_PLATFORM_NAME).c_str());
+
+    // Get first device
+    if (cl_device_id device_id = NULL; clGetDeviceIDs(platform_ids[i], device_type, 1, &device_id, NULL) == 0 && device_id) {
+      cl_print_info(platform_ids[i], device_id);
+      return device_id;
+    }
+  }
+  LOGE("No valid openCL platform found");
+  assert(0);
+  return nullptr;
+}
+
+cl_context cl_create_context(cl_device_id device_id) {
+  return CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
+}
+
+void cl_release_context(cl_context context) {
+  clReleaseContext(context);
+}
+
+cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args) {
+  return cl_program_from_source(ctx, device_id, util::read_file(path), args);
+}
+
+cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args) {
+  const char *csrc = src.c_str();
+  cl_program prg = CL_CHECK_ERR(clCreateProgramWithSource(ctx, 1, &csrc, NULL, &err));
+  if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) {
+    cl_print_build_errors(prg, device_id);
+    assert(0);
+  }
+  return prg;
+}
--- a/common/clutil.h
+++ b/common/clutil.h
@@ -0,0 +1,28 @@
+#pragma once
+
+#ifdef __APPLE__
+#include <OpenCL/cl.h>
+#else
+#include <CL/cl.h>
+#endif
+
+#include <string>
+
+#define CL_CHECK(_expr)          \
+  do {                           \
+    assert(CL_SUCCESS == (_expr)); \
+  } while (0)
+
+#define CL_CHECK_ERR(_expr)           \
+  ({                                  \
+    cl_int err = CL_INVALID_VALUE;    \
+    __typeof__(_expr) _ret = _expr;   \
+    assert(_ret&& err == CL_SUCCESS); \
+    _ret;                             \
+  })
+
+cl_device_id cl_get_device_id(cl_device_type device_type);
+cl_context cl_create_context(cl_device_id device_id);
+void cl_release_context(cl_context context);
+cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr);
+cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args);
--- a/common/dict_helpers.py
+++ b/common/dict_helpers.py
@@ -0,0 +1,9 @@
+# remove all keys that end in DEPRECATED
+def strip_deprecated_keys(d):
+  for k in list(d.keys()):
+    if isinstance(k, str):
+      if k.endswith('DEPRECATED'):
+        d.pop(k)
+      elif isinstance(d[k], dict):
+        strip_deprecated_keys(d[k])
+  return d
--- a/common/file_chunker.py
+++ b/common/file_chunker.py
@@ -1,37 +0,0 @@
-import math
-import os
-from pathlib import Path
-
-CHUNK_SIZE = 45 * 1024 * 1024  # 45MB, under GitHub's 50MB limit
-
-def get_chunk_name(name, idx, num_chunks):
-  return f"{name}.chunk{idx+1:02d}of{num_chunks:02d}"
-
-def get_manifest_path(name):
-  return f"{name}.chunkmanifest"
-
-def get_chunk_paths(path, file_size):
-  num_chunks = math.ceil(file_size / CHUNK_SIZE)
-  return [get_manifest_path(path)] + [get_chunk_name(path, i, num_chunks) for i in range(num_chunks)]
-
-def chunk_file(path, targets):
-  manifest_path, *chunk_paths = targets
-  with open(path, 'rb') as f:
-    data = f.read()
-  actual_num_chunks = max(1, math.ceil(len(data) / CHUNK_SIZE))
-  assert len(chunk_paths) >= actual_num_chunks, f"Allowed {len(chunk_paths)} chunks but needs at least {actual_num_chunks}, for path {path}"
-  for i, chunk_path in enumerate(chunk_paths):
-    with open(chunk_path, 'wb') as f:
-      f.write(data[i * CHUNK_SIZE:(i + 1) * CHUNK_SIZE])
-  Path(manifest_path).write_text(str(len(chunk_paths)))
-  os.remove(path)
-
-
-def read_file_chunked(path):
-  manifest_path = get_manifest_path(path)
-  if os.path.isfile(manifest_path):
-    num_chunks = int(Path(manifest_path).read_text().strip())
-    return b''.join(Path(get_chunk_name(path, i, num_chunks)).read_bytes() for i in range(num_chunks))
-  if os.path.isfile(path):
-    return Path(path).read_bytes()
-  raise FileNotFoundError(path)
--- a/common/file_helpers.py
+++ b/common/file_helpers.py
@@ -0,0 +1,58 @@
+import io
+import os
+import tempfile
+import contextlib
+import zstandard as zstd
+
+LOG_COMPRESSION_LEVEL = 10 # little benefit up to level 15. level ~17 is a small step change
+
+
+class CallbackReader:
+  """Wraps a file, but overrides the read method to also
+  call a callback function with the number of bytes read so far."""
+  def __init__(self, f, callback, *args):
+    self.f = f
+    self.callback = callback
+    self.cb_args = args
+    self.total_read = 0
+
+  def __getattr__(self, attr):
+    return getattr(self.f, attr)
+
+  def read(self, *args, **kwargs):
+    chunk = self.f.read(*args, **kwargs)
+    self.total_read += len(chunk)
+    self.callback(*self.cb_args, self.total_read)
+    return chunk
+
+
+@contextlib.contextmanager
+def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: str = None, newline: str = None,
+                        overwrite: bool = False):
+  """Write to a file atomically using a temporary file in the same directory as the destination file."""
+  dir_name = os.path.dirname(path)
+
+  if not overwrite and os.path.exists(path):
+    raise FileExistsError(f"File '{path}' already exists. To overwrite it, set 'overwrite' to True.")
+
+  with tempfile.NamedTemporaryFile(mode=mode, buffering=buffering, encoding=encoding, newline=newline, dir=dir_name, delete=False) as tmp_file:
+    yield tmp_file
+    tmp_file_name = tmp_file.name
+  os.replace(tmp_file_name, path)
+
+
+def get_upload_stream(filepath: str, should_compress: bool) -> tuple[io.BufferedIOBase, int]:
+  if not should_compress:
+    file_size = os.path.getsize(filepath)
+    file_stream = open(filepath, "rb")
+    return file_stream, file_size
+
+  # Compress the file on the fly
+  compressed_stream = io.BytesIO()
+  compressor = zstd.ZstdCompressor(level=LOG_COMPRESSION_LEVEL)
+
+  with open(filepath, "rb") as f:
+    compressor.copy_stream(f, compressed_stream)
+    compressed_size = compressed_stream.tell()
+    compressed_stream.seek(0)
+    return compressed_stream, compressed_size
--- a/common/filter_simple.py
+++ b/common/filter_simple.py
@@ -15,20 +15,3 @@ class FirstOrderFilter:
      self.initialized = True
      self.x = x
    return self.x
-
-
-class BounceFilter(FirstOrderFilter):
-  def __init__(self, x0, rc, dt, initialized=True, bounce=2):
-    self.velocity = FirstOrderFilter(0.0, 0.15, dt)
-    self.bounce = bounce
-    super().__init__(x0, rc, dt, initialized)
-
-  def update(self, x):
-    super().update(x)
-    scale = self.dt / (1.0 / 60.0)  # tuned at 60 fps
-    self.velocity.x += (x - self.x) * self.bounce * scale * self.dt
-    self.velocity.update(0.0)
-    if abs(self.velocity.x) < 1e-3:
-      self.velocity.x = 0.0
-    self.x += self.velocity.x
-    return self.x
--- a/common/git.py
+++ b/common/git.py
@@ -1,30 +1,30 @@
 from functools import cache
 import subprocess
-from openpilot.common.utils import run_cmd, run_cmd_default
+from openpilot.common.run import run_cmd, run_cmd_default


@cache
-def get_commit(cwd: str | None = None, branch: str = "HEAD") -> str:
+def get_commit(cwd: str = None, branch: str = "HEAD") -> str:
  return run_cmd_default(["git", "rev-parse", branch], cwd=cwd)


@cache
-def get_commit_date(cwd: str | None = None, commit: str = "HEAD") -> str:
+def get_commit_date(cwd: str = None, commit: str = "HEAD") -> str:
  return run_cmd_default(["git", "show", "--no-patch", "--format='%ct %ci'", commit], cwd=cwd)


@cache
-def get_short_branch(cwd: str | None = None) -> str:
+def get_short_branch(cwd: str = None) -> str:
  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"], cwd=cwd)


@cache
-def get_branch(cwd: str | None = None) -> str:
+def get_branch(cwd: str = None) -> str:
  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"], cwd=cwd)


@cache
-def get_origin(cwd: str | None = None) -> str:
+def get_origin(cwd: str = None) -> str:
  try:
    local_branch = run_cmd(["git", "name-rev", "--name-only", "HEAD"], cwd=cwd)
    tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"], cwd=cwd)
@@ -34,7 +34,7 @@ def get_origin(cwd: str | None = None) -> str:


@cache
-def get_normalized_origin(cwd: str | None = None) -> str:
+def get_normalized_origin(cwd: str = None) -> str:
  return get_origin(cwd) \
    .replace("git@", "", 1) \
    .replace(".git", "", 1) \
--- a/common/i2c.py
+++ b/common/i2c.py
@@ -1,81 +0,0 @@
-import os
-import fcntl
-import ctypes
-
-# I2C constants from /usr/include/linux/i2c-dev.h
-I2C_SLAVE = 0x0703
-I2C_SLAVE_FORCE = 0x0706
-I2C_SMBUS = 0x0720
-
-# SMBus transfer types
-I2C_SMBUS_READ = 1
-I2C_SMBUS_WRITE = 0
-I2C_SMBUS_BYTE_DATA = 2
-I2C_SMBUS_I2C_BLOCK_DATA = 8
-
-I2C_SMBUS_BLOCK_MAX = 32
-
-
-class _I2cSmbusData(ctypes.Union):
-  _fields_ = [
-    ("byte", ctypes.c_uint8),
-    ("word", ctypes.c_uint16),
-    ("block", ctypes.c_uint8 * (I2C_SMBUS_BLOCK_MAX + 2)),
-  ]
-
-
-class _I2cSmbusIoctlData(ctypes.Structure):
-  _fields_ = [
-    ("read_write", ctypes.c_uint8),
-    ("command", ctypes.c_uint8),
-    ("size", ctypes.c_uint32),
-    ("data", ctypes.POINTER(_I2cSmbusData)),
-  ]
-
-
-class SMBus:
-  def __init__(self, bus: int):
-    self._fd = os.open(f'/dev/i2c-{bus}', os.O_RDWR)
-
-  def __enter__(self) -> 'SMBus':
-    return self
-
-  def __exit__(self, *args) -> None:
-    self.close()
-
-  def close(self) -> None:
-    if hasattr(self, '_fd') and self._fd >= 0:
-      os.close(self._fd)
-      self._fd = -1
-
-  def _set_address(self, addr: int, force: bool = False) -> None:
-    ioctl_arg = I2C_SLAVE_FORCE if force else I2C_SLAVE
-    fcntl.ioctl(self._fd, ioctl_arg, addr)
-
-  def _smbus_access(self, read_write: int, command: int, size: int, data: _I2cSmbusData) -> None:
-    ioctl_data = _I2cSmbusIoctlData(read_write, command, size, ctypes.pointer(data))
-    fcntl.ioctl(self._fd, I2C_SMBUS, ioctl_data)
-
-  def read_byte_data(self, addr: int, register: int, force: bool = False) -> int:
-    self._set_address(addr, force)
-    data = _I2cSmbusData()
-    self._smbus_access(I2C_SMBUS_READ, register, I2C_SMBUS_BYTE_DATA, data)
-    return int(data.byte)
-
-  def write_byte_data(self, addr: int, register: int, value: int, force: bool = False) -> None:
-    self._set_address(addr, force)
-    data = _I2cSmbusData()
-    data.byte = value & 0xFF
-    self._smbus_access(I2C_SMBUS_WRITE, register, I2C_SMBUS_BYTE_DATA, data)
-
-  def read_i2c_block_data(self, addr: int, register: int, length: int, force: bool = False) -> list[int]:
-    self._set_address(addr, force)
-    if not (0 <= length <= I2C_SMBUS_BLOCK_MAX):
-      raise ValueError(f"length must be 0..{I2C_SMBUS_BLOCK_MAX}")
-
-    data = _I2cSmbusData()
-    data.block[0] = length
-    self._smbus_access(I2C_SMBUS_READ, register, I2C_SMBUS_I2C_BLOCK_DATA, data)
-    read_len = int(data.block[0]) or length
-    read_len = min(read_len, length)
-    return [int(b) for b in data.block[1 : read_len + 1]]
--- a/common/mat.h
+++ b/common/mat.h
@@ -0,0 +1,85 @@
+#pragma once
+
+typedef struct vec3 {
+  float v[3];
+} vec3;
+
+typedef struct vec4 {
+  float v[4];
+} vec4;
+
+typedef struct mat3 {
+  float v[3*3];
+} mat3;
+
+typedef struct mat4 {
+  float v[4*4];
+} mat4;
+
+static inline mat3 matmul3(const mat3 &a, const mat3 &b) {
+  mat3 ret = {{0.0}};
+  for (int r=0; r<3; r++) {
+    for (int c=0; c<3; c++) {
+      float v = 0.0;
+      for (int k=0; k<3; k++) {
+        v += a.v[r*3+k] * b.v[k*3+c];
+      }
+      ret.v[r*3+c] = v;
+    }
+  }
+  return ret;
+}
+
+static inline vec3 matvecmul3(const mat3 &a, const vec3 &b) {
+  vec3 ret = {{0.0}};
+  for (int r=0; r<3; r++) {
+    for (int c=0; c<3; c++) {
+      ret.v[r] += a.v[r*3+c] * b.v[c];
+    }
+  }
+  return ret;
+}
+
+static inline mat4 matmul(const mat4 &a, const mat4 &b) {
+  mat4 ret = {{0.0}};
+  for (int r=0; r<4; r++) {
+    for (int c=0; c<4; c++) {
+      float v = 0.0;
+      for (int k=0; k<4; k++) {
+        v += a.v[r*4+k] * b.v[k*4+c];
+      }
+      ret.v[r*4+c] = v;
+    }
+  }
+  return ret;
+}
+
+static inline vec4 matvecmul(const mat4 &a, const vec4 &b) {
+  vec4 ret = {{0.0}};
+  for (int r=0; r<4; r++) {
+    for (int c=0; c<4; c++) {
+      ret.v[r] += a.v[r*4+c] * b.v[c];
+    }
+  }
+  return ret;
+}
+
+// scales the input and output space of a transformation matrix
+// that assumes pixel-center origin.
+static inline mat3 transform_scale_buffer(const mat3 &in, float s) {
+  // in_pt = ( transform(out_pt/s + 0.5) - 0.5) * s
+
+  mat3 transform_out = {{
+    1.0f/s, 0.0f, 0.5f,
+    0.0f, 1.0f/s, 0.5f,
+    0.0f, 0.0f, 1.0f,
+  }};
+
+  mat3 transform_in = {{
+    s,  0.0f, -0.5f*s,
+    0.0f, s, -0.5f*s,
+    0.0f, 0.0f, 1.0f,
+  }};
+
+  return matmul3(transform_in, matmul3(in, transform_out));
+}
--- a/common/model.h
+++ b/common/model.h
@@ -1 +1 @@
-#define DEFAULT_MODEL "POP model (Default)"
+#define DEFAULT_MODEL "Firehose (Default)"
--- a/common/parameterized.py
+++ b/common/parameterized.py
@@ -1,47 +0,0 @@
-import sys
-import pytest
-import inspect
-
-
-class parameterized:
-  @staticmethod
-  def expand(cases):
-    cases = list(cases)
-
-    if not cases:
-      return lambda func: pytest.mark.skip("no parameterized cases")(func)
-
-    def decorator(func):
-      params = [p for p in inspect.signature(func).parameters if p != 'self']
-      normalized = [c if isinstance(c, tuple) else (c,) for c in cases]
-      # Infer arg count from first case so extra params (e.g. from @given) are left untouched
-      expand_params = params[: len(normalized[0])]
-      if len(expand_params) == 1:
-        return pytest.mark.parametrize(expand_params[0], [c[0] for c in normalized])(func)
-      return pytest.mark.parametrize(', '.join(expand_params), normalized)(func)
-
-    return decorator
-
-
-def parameterized_class(attrs, input_list=None):
-  if isinstance(attrs, list) and (not attrs or isinstance(attrs[0], dict)):
-    params_list = attrs
-  else:
-    assert input_list is not None
-    attr_names = (attrs,) if isinstance(attrs, str) else tuple(attrs)
-    params_list = [dict(zip(attr_names, v if isinstance(v, (tuple, list)) else (v,), strict=False)) for v in input_list]
-
-  def decorator(cls):
-    globs = sys._getframe(1).f_globals
-    for i, params in enumerate(params_list):
-      name = f"{cls.__name__}_{i}"
-      new_cls = type(name, (cls,), dict(params))
-      new_cls.__module__ = cls.__module__
-      new_cls.__test__ = True  # override inherited False so pytest collects this subclass
-      globs[name] = new_cls
-    # Don't collect the un-parametrised base, but return it so outer decorators
-    # (e.g. @pytest.mark.skip) land on it and propagate to subclasses via MRO.
-    cls.__test__ = False
-    return cls
-
-  return decorator
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -66,12 +66,11 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"IsTakingSnapshot", {CLEAR_ON_MANAGER_START, BOOL}},
    {"IsTestedBranch", {CLEAR_ON_MANAGER_START, BOOL}},
    {"JoystickDebugMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
-    {"LanguageSetting", {PERSISTENT | BACKUP, STRING, "en"}},
+    {"LanguageSetting", {PERSISTENT | BACKUP, STRING, "main_en"}},
    {"LastAthenaPingTime", {CLEAR_ON_MANAGER_START, INT}},
    {"LastGPSPosition", {PERSISTENT, STRING}},
    {"LastManagerExitReason", {CLEAR_ON_MANAGER_START, STRING}},
    {"LastOffroadStatusPacket", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, JSON}},
-    {"LastAgnosPowerMonitorShutdown", {CLEAR_ON_MANAGER_START, STRING}},
    {"LastPowerDropDetected", {CLEAR_ON_MANAGER_START, STRING}},
    {"LastUpdateException", {CLEAR_ON_MANAGER_START, STRING}},
    {"LastUpdateRouteCount", {PERSISTENT, INT, "0"}},
@@ -82,7 +81,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"LiveParametersV2", {PERSISTENT, BYTES}},
    {"LiveTorqueParameters", {PERSISTENT | DONT_LOG, BYTES}},
    {"LocationFilterInitialState", {PERSISTENT, BYTES}},
-    {"LateralManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
    {"LongitudinalManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
    {"LongitudinalPersonality", {PERSISTENT | BACKUP, INT, std::to_string(static_cast<int>(cereal::LongitudinalPersonality::STANDARD))}},
    {"NetworkMetered", {PERSISTENT | BACKUP, BOOL}},
@@ -99,7 +97,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"Offroad_TemperatureTooHigh", {CLEAR_ON_MANAGER_START, JSON}},
    {"Offroad_UnregisteredHardware", {CLEAR_ON_MANAGER_START, JSON}},
    {"Offroad_UpdateFailed", {CLEAR_ON_MANAGER_START, JSON}},
-    {"Offroad_DriverMonitoringUncertain", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
    {"OnroadCycleRequested", {CLEAR_ON_MANAGER_START, BOOL}},
    {"OpenpilotEnabledToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
    {"PandaHeartbeatLost", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
@@ -111,12 +108,10 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"RecordFront", {PERSISTENT | BACKUP, BOOL}},
    {"RecordFrontLock", {PERSISTENT, BOOL}},  // for the internal fleet
    {"SecOCKey", {PERSISTENT | DONT_LOG | BACKUP, STRING}},
-    {"ShowDebugInfo", {PERSISTENT, BOOL}},
    {"RouteCount", {PERSISTENT, INT, "0"}},
    {"SnoozeUpdate", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
    {"SshEnabled", {PERSISTENT | BACKUP, BOOL}},
    {"TermsVersion", {PERSISTENT, STRING}},
-    {"TorqueBar", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"TrainingVersion", {PERSISTENT, STRING}},
    {"UbloxAvailable", {PERSISTENT, BOOL}},
    {"UpdateAvailable", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
@@ -138,17 +133,14 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"ApiCache_DriveStats", {PERSISTENT, JSON}},
    {"AutoLaneChangeBsmDelay", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"AutoLaneChangeTimer", {PERSISTENT | BACKUP, INT, "0"}},
-    {"BlinkerLateralReengageDelay", {PERSISTENT | BACKUP, INT, "0"}},  // seconds
    {"BlinkerMinLateralControlSpeed", {PERSISTENT | BACKUP, INT, "20"}},  // MPH or km/h
    {"BlinkerPauseLateralControl", {PERSISTENT | BACKUP, INT, "0"}},
    {"Brightness", {PERSISTENT | BACKUP, INT, "0"}},
-    {"CarList", {PERSISTENT, JSON}},
    {"CarParamsSP", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BYTES}},
    {"CarParamsSPCache", {CLEAR_ON_MANAGER_START, BYTES}},
    {"CarParamsSPPersistent", {PERSISTENT, BYTES}},
    {"CarPlatformBundle", {PERSISTENT | BACKUP, JSON}},
    {"ChevronInfo", {PERSISTENT | BACKUP, INT, "4"}},
-    {"CompletedSunnylinkConsentVersion", {PERSISTENT, STRING, "0"}},
    {"CustomAccIncrementsEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"CustomAccLongPressIncrement", {PERSISTENT | BACKUP, INT, "5"}},
    {"CustomAccShortPressIncrement", {PERSISTENT | BACKUP, INT, "1"}},
@@ -158,7 +150,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
    {"GreenLightAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},
-    {"HasAcceptedTermsSP", {PERSISTENT, STRING, "0"}},
    {"HideVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"IntelligentCruiseButtonManagement", {PERSISTENT | BACKUP , BOOL}},
    {"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
@@ -171,18 +162,24 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}},
    {"Offroad_TiciSupport", {CLEAR_ON_MANAGER_START, JSON}},
    {"OnroadScreenOffBrightness", {PERSISTENT | BACKUP, INT, "0"}},
-    {"OnroadScreenOffBrightnessMigrated", {PERSISTENT | BACKUP, STRING, "0.0"}},
+    {"OnroadScreenOffControl", {PERSISTENT | BACKUP, BOOL}},
    {"OnroadScreenOffTimer", {PERSISTENT | BACKUP, INT, "15"}},
-    {"OnroadScreenOffTimerMigrated", {PERSISTENT | BACKUP, STRING, "0.0"}},
    {"OnroadUploads", {PERSISTENT | BACKUP, BOOL, "1"}},
    {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"RocketFuel", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"VisualRadarTracks", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"VisualRadarTracksDelay", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
+    {"VisualWideCam", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"VisualStyle", {PERSISTENT | BACKUP, INT, "0"}},
+    {"VisualStyleZoom", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"VisualStyleOverhead", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"VisualStyleOverheadZoom", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"VisualStyleOverheadThreshold", {PERSISTENT | BACKUP, INT, "20"}},

    // MADS params
    {"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
@@ -193,11 +190,19 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    // Model Manager params
    {"ModelManager_ActiveBundle", {PERSISTENT, JSON}},
    {"ModelManager_ClearCache", {CLEAR_ON_MANAGER_START, BOOL}},
-    {"ModelManager_DownloadIndex", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, INT}},
+    {"ModelManager_DownloadIndex", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, INT, "0"}},
    {"ModelManager_Favs", {PERSISTENT | BACKUP, STRING}},
    {"ModelManager_LastSyncTime", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
    {"ModelManager_ModelsCache", {PERSISTENT | BACKUP, JSON}},

+    // Navigation params
+    {"AllowNavigation", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"MapboxToken", {PERSISTENT | BACKUP, STRING}},
+    {"MapboxSettings", {CLEAR_ON_MANAGER_START, JSON}},
+    {"MapboxRoute", {PERSISTENT, STRING}},
+    {"MapboxRecompute", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"NavDesiresAllowed", {PERSISTENT | BACKUP, BOOL, "0"}},
+
    // Neural Network Lateral Control
    {"NeuralNetworkLateralControl", {PERSISTENT | BACKUP, BOOL, "0"}},

@@ -220,20 +225,16 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"SubaruStopAndGo", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"TeslaCoopSteering", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"ToyotaEnforceStockLongitudinal", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"ToyotaStopAndGoHack", {PERSISTENT | BACKUP, BOOL, "0"}},

    {"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},

    // sunnypilot model params
-    {"CameraOffset", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
    {"LagdToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
    {"LagdToggleDelay", {PERSISTENT | BACKUP, FLOAT, "0.2"}},
    {"LagdValueCache", {PERSISTENT, FLOAT, "0.2"}},
    {"LaneTurnDesire", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"LaneTurnValue", {PERSISTENT | BACKUP, FLOAT, "19.0"}},
-    {"PlanplusControl", {PERSISTENT | BACKUP, FLOAT, "1.0"}},

    // mapd
    {"MapAdvisorySpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT}},
@@ -254,16 +255,13 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"OsmStateTitle", {PERSISTENT, STRING}},
    {"OsmWayTest", {PERSISTENT, STRING}},
    {"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
-    {"RoadNameToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"RoadNameToggle", {PERSISTENT, STRING}},

    // Speed Limit
    {"SpeedLimitMode", {PERSISTENT | BACKUP, INT, "1"}},
    {"SpeedLimitOffsetType", {PERSISTENT | BACKUP, INT, "0"}},
    {"SpeedLimitPolicy", {PERSISTENT | BACKUP, INT, "3"}},
    {"SpeedLimitValueOffset", {PERSISTENT | BACKUP, INT, "0"}},
-    {"SpeedLimitUpshiftAccept", {PERSISTENT | BACKUP, INT, "0"}},
-    {"SpeedLimitMinCapFloor", {PERSISTENT | BACKUP, INT, "25"}},
-    {"SpeedLimitCapAudioCue", {PERSISTENT | BACKUP, INT, "1"}},

    // Smart Cruise Control
    {"MapTargetVelocities", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
@@ -275,7 +273,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"EnforceTorqueControl", {PERSISTENT | BACKUP, BOOL}},
    {"LiveTorqueParamsToggle", {PERSISTENT | BACKUP , BOOL}},
    {"LiveTorqueParamsRelaxedToggle", {PERSISTENT | BACKUP , BOOL}},
-    {"TorqueControlTune", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
    {"TorqueParamsOverrideEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"TorqueParamsOverrideFriction", {PERSISTENT | BACKUP, FLOAT, "0.1"}},
    {"TorqueParamsOverrideLatAccelFactor", {PERSISTENT | BACKUP, FLOAT, "2.5"}},
--- a/common/pid.py
+++ b/common/pid.py
@@ -2,14 +2,21 @@ import numpy as np
 from numbers import Number

 class PIDController:
-  def __init__(self, k_p, k_i, k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
-    self._k_p: list[list[float]] = [[0], [k_p]] if isinstance(k_p, Number) else k_p
-    self._k_i: list[list[float]] = [[0], [k_i]] if isinstance(k_i, Number) else k_i
-    self._k_d: list[list[float]] = [[0], [k_d]] if isinstance(k_d, Number) else k_d
+  def __init__(self, k_p, k_i, k_f=0., k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
+    self._k_p = k_p
+    self._k_i = k_i
+    self._k_d = k_d
+    self.k_f = k_f   # feedforward gain
+    if isinstance(self._k_p, Number):
+      self._k_p = [[0], [self._k_p]]
+    if isinstance(self._k_i, Number):
+      self._k_i = [[0], [self._k_i]]
+    if isinstance(self._k_d, Number):
+      self._k_d = [[0], [self._k_d]]

    self.set_limits(pos_limit, neg_limit)

-    self.i_dt = 1.0 / rate
+    self.i_rate = 1.0 / rate
    self.speed = 0.0

    self.reset()
@@ -39,12 +46,12 @@ class PIDController:

  def update(self, error, error_rate=0.0, speed=0.0, feedforward=0., freeze_integrator=False):
    self.speed = speed
-    self.p = self.k_p * float(error)
-    self.d = self.k_d * error_rate
-    self.f = feedforward
+    self.p = float(error) * self.k_p
+    self.f = feedforward * self.k_f
+    self.d = error_rate * self.k_d

    if not freeze_integrator:
-      i = self.i + self.k_i * self.i_dt * error
+      i = self.i + error * self.k_i * self.i_rate

      # Don't allow windup if already clipping
      test_control = self.p + i + self.d + self.f
--- a/common/prefix.h
+++ b/common/prefix.h
@@ -13,11 +13,7 @@ public:
    if (prefix.empty()) {
      prefix = util::random_string(15);
    }
-#ifdef __APPLE__
-    msgq_path = "/tmp/msgq_" + prefix;
-#else
-    msgq_path = "/dev/shm/msgq_" + prefix;
-#endif
+    msgq_path = Path::shm_path() + "/" + prefix;
    bool ret = util::create_directories(msgq_path, 0777);
    assert(ret);
    setenv("OPENPILOT_PREFIX", prefix.c_str(), 1);
@@ -27,14 +23,14 @@ public:
    auto param_path = Params().getParamPath();
    if (util::file_exists(param_path)) {
      std::string real_path = util::readlink(param_path);
-      util::check_system(util::string_format("rm %s -rf", real_path.c_str()));
+      system(util::string_format("rm %s -rf", real_path.c_str()).c_str());
      unlink(param_path.c_str());
    }
    if (getenv("COMMA_CACHE") == nullptr) {
-      util::check_system(util::string_format("rm %s -rf", Path::download_cache_root().c_str()));
+      system(util::string_format("rm %s -rf", Path::download_cache_root().c_str()).c_str());
    }
-    util::check_system(util::string_format("rm %s -rf", Path::comma_home().c_str()));
-    util::check_system(util::string_format("rm %s -rf", msgq_path.c_str()));
+    system(util::string_format("rm %s -rf", Path::comma_home().c_str()).c_str());
+    system(util::string_format("rm %s -rf", msgq_path.c_str()).c_str());
    unsetenv("OPENPILOT_PREFIX");
  }

--- a/common/prefix.py
+++ b/common/prefix.py
@@ -1,5 +1,4 @@
 import os
-import platform
 import shutil
 import uuid

@@ -10,10 +9,9 @@ from openpilot.system.hardware.hw import Paths
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT

 class OpenpilotPrefix:
-  def __init__(self, prefix: str | None = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
+  def __init__(self, prefix: str = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
    self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15])
-    shm_path = "/tmp" if platform.system() == "Darwin" else "/dev/shm"
-    self.msgq_path = os.path.join(shm_path, "msgq_" + self.prefix)
+    self.msgq_path = os.path.join(Paths.shm_path(), self.prefix)
    self.create_dirs_on_enter = create_dirs_on_enter
    self.clean_dirs_on_exit = clean_dirs_on_exit
    self.shared_download_cache = shared_download_cache
--- a/common/ratekeeper.cc
+++ b/common/ratekeeper.cc
@@ -6,9 +6,9 @@
 #include "common/timing.h"
 #include "common/util.h"

-RateKeeper::RateKeeper(const std::string &name_, float rate, float print_delay_threshold_)
-    : name(name_),
-      print_delay_threshold(std::max(0.f, print_delay_threshold_)) {
+RateKeeper::RateKeeper(const std::string &name, float rate, float print_delay_threshold)
+    : name(name),
+      print_delay_threshold(std::max(0.f, print_delay_threshold)) {
  interval = 1 / rate;
  last_monitor_time = seconds_since_boot();
  next_frame_time = last_monitor_time + interval;
--- a/common/realtime.py
+++ b/common/realtime.py
@@ -6,7 +6,7 @@ import time

 from setproctitle import getproctitle

-from openpilot.common.utils import MovingAverage
+from openpilot.common.util import MovingAverage
 from openpilot.system.hardware import PC


--- a/common/retry.py
+++ b/common/retry.py
@@ -0,0 +1,30 @@
+import time
+import functools
+
+from openpilot.common.swaglog import cloudlog
+
+
+def retry(attempts=3, delay=1.0, ignore_failure=False):
+  def decorator(func):
+    @functools.wraps(func)
+    def wrapper(*args, **kwargs):
+      for _ in range(attempts):
+        try:
+          return func(*args, **kwargs)
+        except Exception:
+          cloudlog.exception(f"{func.__name__} failed, trying again")
+          time.sleep(delay)
+
+      if ignore_failure:
+        cloudlog.error(f"{func.__name__} failed after retry")
+      else:
+        raise Exception(f"{func.__name__} failed after retry")
+    return wrapper
+  return decorator
+
+
+if __name__ == "__main__":
+  @retry(attempts=10)
+  def abc():
+    raise ValueError("abc failed :(")
+  abc()
--- a/common/run.py
+++ b/common/run.py
@@ -0,0 +1,28 @@
+import subprocess
+from contextlib import contextmanager
+from subprocess import Popen, PIPE, TimeoutExpired
+
+
+def run_cmd(cmd: list[str], cwd=None, env=None) -> str:
+  return subprocess.check_output(cmd, encoding='utf8', cwd=cwd, env=env).strip()
+
+
+def run_cmd_default(cmd: list[str], default: str = "", cwd=None, env=None) -> str:
+  try:
+    return run_cmd(cmd, cwd=cwd, env=env)
+  except subprocess.CalledProcessError:
+    return default
+
+
+@contextmanager
+def managed_proc(cmd: list[str], env: dict[str, str]):
+  proc = Popen(cmd, env=env, stdout=PIPE, stderr=PIPE)
+  try:
+    yield proc
+  finally:
+    if proc.poll() is None:
+      proc.terminate()
+    try:
+      proc.wait(timeout=5)
+    except TimeoutExpired:
+      proc.kill()
--- a/common/tests/test_file_helpers.py
+++ b/common/tests/test_file_helpers.py
@@ -1,7 +1,7 @@
 import os
 from uuid import uuid4

-from openpilot.common.utils import atomic_write
+from openpilot.common.file_helpers import atomic_write_in_dir


 class TestFileHelpers:
@@ -15,5 +15,5 @@ class TestFileHelpers:
      assert f.read() == "test"
    os.remove(path)

-  def test_atomic_write(self):
-    self.run_atomic_write_func(atomic_write)
+  def test_atomic_write_in_dir(self):
+    self.run_atomic_write_func(atomic_write_in_dir)
--- a/common/tests/test_util.cc
+++ b/common/tests/test_util.cc
@@ -36,7 +36,7 @@ TEST_CASE("util::read_file") {
    REQUIRE(util::read_file(filename).empty());

    std::string content = random_bytes(64 * 1024);
-    REQUIRE(write(fd, content.c_str(), content.size()) == (ssize_t)content.size());
+    write(fd, content.c_str(), content.size());
    std::string ret = util::read_file(filename);
    bool equal = (ret == content);
    REQUIRE(equal);
@@ -114,12 +114,12 @@ TEST_CASE("util::safe_fwrite") {
 }

 TEST_CASE("util::create_directories") {
-  REQUIRE(system("rm /tmp/test_create_directories -rf") == 0);
+  system("rm /tmp/test_create_directories -rf");
  std::string dir = "/tmp/test_create_directories/a/b/c/d/e/f";

-  auto check_dir_permissions = [](const std::string &path, mode_t mode) -> bool {
+  auto check_dir_permissions = [](const std::string &dir, mode_t mode) -> bool {
    struct stat st = {};
-    return stat(path.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR && (st.st_mode & (S_IRWXU | S_IRWXG | S_IRWXO)) == mode;
+    return stat(dir.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR && (st.st_mode & (S_IRWXU | S_IRWXG | S_IRWXO)) == mode;
  };

  SECTION("create_directories") {
@@ -132,7 +132,7 @@ TEST_CASE("util::create_directories") {
  }
  SECTION("a file exists with the same name") {
    REQUIRE(util::create_directories(dir, 0755));
-    int f = open((dir + "/file").c_str(), O_RDWR | O_CREAT, 0644);
+    int f = open((dir + "/file").c_str(), O_RDWR | O_CREAT);
    REQUIRE(f != -1);
    close(f);
    REQUIRE(util::create_directories(dir + "/file", 0755) == false);
--- a/common/time_helpers.py
+++ b/common/time_helpers.py
@@ -2,7 +2,6 @@ import datetime
 from pathlib import Path

 MIN_DATE = datetime.datetime(year=2025, month=2, day=21)
-MAX_DATE = datetime.datetime(year=2035, month=1, day=1)

 def min_date():
  # on systemd systems, the default time is the systemd build time
@@ -13,4 +12,4 @@ def min_date():
  return MIN_DATE

 def system_time_valid():
-  return min_date() < datetime.datetime.now() < MAX_DATE
+  return datetime.datetime.now() > min_date()
--- a/common/transformations/.gitignore
+++ b/common/transformations/.gitignore
@@ -0,0 +1,2 @@
+transformations
+transformations.cpp
--- a/common/transformations/SConscript
+++ b/common/transformations/SConscript
@@ -0,0 +1,5 @@
+Import('env', 'envCython')
+
+transformations = env.Library('transformations', ['orientation.cc', 'coordinates.cc'])
+transformations_python = envCython.Program('transformations.so', 'transformations.pyx')
+Export('transformations', 'transformations_python')
--- a/sunnypilot/common/transformations/coordinates.cc
+++ b/sunnypilot/common/transformations/coordinates.cc
@@ -1,6 +1,6 @@
 #define _USE_MATH_DEFINES

-#include "sunnypilot/common/transformations/coordinates.hpp"
+#include "common/transformations/coordinates.hpp"

 #include <iostream>
 #include <cmath>
--- a/sunnypilot/common/transformations/coordinates.hpp
+++ b/sunnypilot/common/transformations/coordinates.hpp
--- a/sunnypilot/common/transformations/orientation.cc
+++ b/sunnypilot/common/transformations/orientation.cc
@@ -4,8 +4,8 @@
 #include <cmath>
 #include <eigen3/Eigen/Dense>

-#include "sunnypilot/common/transformations/orientation.hpp"
-#include "sunnypilot/common/transformations/coordinates.hpp"
+#include "common/transformations/orientation.hpp"
+#include "common/transformations/coordinates.hpp"

 Eigen::Quaterniond ensure_unique(const Eigen::Quaterniond &quat) {
  if (quat.w() > 0){
@@ -141,3 +141,4 @@ Eigen::Vector3d ned_euler_from_ecef(const ECEF &ecef_init, const Eigen::Vector3d

  return {phi, theta, psi};
 }
+
--- a/sunnypilot/common/transformations/orientation.hpp
+++ b/sunnypilot/common/transformations/orientation.hpp
@@ -1,6 +1,6 @@
 #pragma once
 #include <eigen3/Eigen/Dense>
-#include "sunnypilot/common/transformations/coordinates.hpp"
+#include "common/transformations/coordinates.hpp"


 Eigen::Quaterniond ensure_unique(const Eigen::Quaterniond &quat);
--- a/common/transformations/tests/test_coordinates.py
+++ b/common/transformations/tests/test_coordinates.py
@@ -102,36 +102,3 @@ class TestNED:
    np.testing.assert_allclose(converter.ned2ecef(ned_offsets_batch),
                                                           ecef_positions_offset_batch,
                                                           rtol=1e-9, atol=1e-7)
-
-  def test_errors(self):
-    # Test wrong shape/type for geodetic2ecef
-    # numpy_wrap raises IndexError for scalar input
-    with np.testing.assert_raises(IndexError):
-      coord.geodetic2ecef(1.0)
-
-    with np.testing.assert_raises_regex(ValueError, "Geodetic must be size 3"):
-      coord.geodetic2ecef([0, 0])
-
-    with np.testing.assert_raises_regex(ValueError, "Geodetic must be size 3"):
-      coord.geodetic2ecef([0, 0, 0, 0])
-
-    with np.testing.assert_raises(TypeError):
-      coord.geodetic2ecef(['a', 'b', 'c'])
-
-    # Test LocalCoord constructor errors
-    with np.testing.assert_raises(ValueError):
-      coord.LocalCoord.from_geodetic([0, 0])
-
-    with np.testing.assert_raises(ValueError):
-      coord.LocalCoord.from_geodetic(1)
-
-    with np.testing.assert_raises(TypeError):
-      coord.LocalCoord.from_geodetic(['a', 'b', 'c'])
-
-    # Test wrong shape/type for ecef2geodetic
-    with np.testing.assert_raises(ValueError):
-      coord.ecef2geodetic([1, 2])
-    with np.testing.assert_raises(ValueError):
-      coord.ecef2geodetic([1, 2, 3, 4])
-    with np.testing.assert_raises(IndexError):
-      coord.ecef2geodetic(1.0)
--- a/common/transformations/tests/test_orientation.py
+++ b/common/transformations/tests/test_orientation.py
@@ -1,5 +1,4 @@
 import numpy as np
-import pytest

 from openpilot.common.transformations.orientation import euler2quat, quat2euler, euler2rot, rot2euler, \
                                               rot2quat, quat2rot, \
@@ -60,32 +59,3 @@ class TestOrientation:
      np.testing.assert_allclose(ned_eulers[i], ned_euler_from_ecef(ecef_positions[i], eulers[i]), rtol=1e-7)
      #np.testing.assert_allclose(eulers[i], ecef_euler_from_ned(ecef_positions[i], ned_eulers[i]), rtol=1e-7)
    # np.testing.assert_allclose(ned_eulers, ned_euler_from_ecef(ecef_positions, eulers), rtol=1e-7)
-
-  def test_inputs(self):
-    with pytest.raises(ValueError):
-      euler2quat([1, 2])
-
-    with pytest.raises(ValueError):
-      quat2rot([1, 2, 3])
-
-    with pytest.raises(IndexError):
-      rot2quat(np.zeros((2, 2)))
-
-  def test_euler_rot_consistency(self):
-    rpy = [0.1, 0.2, 0.3]
-    R = euler2rot(rpy)
-
-    # R -> q -> R
-    q = rot2quat(R)
-    R_new = quat2rot(q)
-    np.testing.assert_allclose(R, R_new, atol=1e-15)
-
-    # q -> R -> Euler (quat2euler) -> R
-    rpy_new = quat2euler(q)
-    R_new2 = euler2rot(rpy_new)
-    np.testing.assert_allclose(R, R_new2, atol=1e-15)
-
-    # R -> Euler (rot2euler) -> R
-    rpy_from_rot = rot2euler(R)
-    R_new3 = euler2rot(rpy_from_rot)
-    np.testing.assert_allclose(R, R_new3, atol=1e-15)
--- a/common/transformations/transformations.pxd
+++ b/common/transformations/transformations.pxd
@@ -0,0 +1,72 @@
+# cython: language_level=3
+from libcpp cimport bool
+
+cdef extern from "orientation.cc":
+  pass
+
+cdef extern from "orientation.hpp":
+  cdef cppclass Quaternion "Eigen::Quaterniond":
+    Quaternion()
+    Quaternion(double, double, double, double)
+    double w()
+    double x()
+    double y()
+    double z()
+
+  cdef cppclass Vector3 "Eigen::Vector3d":
+    Vector3()
+    Vector3(double, double, double)
+    double operator()(int)
+
+  cdef cppclass Matrix3 "Eigen::Matrix3d":
+    Matrix3()
+    Matrix3(double*)
+
+    double operator()(int, int)
+
+  Quaternion euler2quat(const Vector3 &)
+  Vector3 quat2euler(const Quaternion &)
+  Matrix3 quat2rot(const Quaternion &)
+  Quaternion rot2quat(const Matrix3 &)
+  Vector3 rot2euler(const Matrix3 &)
+  Matrix3 euler2rot(const Vector3 &)
+  Matrix3 rot_matrix(double, double, double)
+  Vector3 ecef_euler_from_ned(const ECEF &, const Vector3 &)
+  Vector3 ned_euler_from_ecef(const ECEF &, const Vector3 &)
+
+
+cdef extern from "coordinates.cc":
+  cdef struct ECEF:
+    double x
+    double y
+    double z
+
+  cdef struct NED:
+    double n
+    double e
+    double d
+
+  cdef struct Geodetic:
+    double lat
+    double lon
+    double alt
+    bool radians
+
+  ECEF geodetic2ecef(const Geodetic &)
+  Geodetic ecef2geodetic(const ECEF &)
+
+  cdef cppclass LocalCoord_c "LocalCoord":
+    Matrix3 ned2ecef_matrix
+    Matrix3 ecef2ned_matrix
+
+    LocalCoord_c(const Geodetic &, const ECEF &)
+    LocalCoord_c(const Geodetic &)
+    LocalCoord_c(const ECEF &)
+
+    NED ecef2ned(const ECEF &)
+    ECEF ned2ecef(const NED &)
+    NED geodetic2ned(const Geodetic &)
+    Geodetic ned2geodetic(const NED &)
+
+cdef extern from "coordinates.hpp":
+  pass
--- a/common/transformations/transformations.py
+++ b/common/transformations/transformations.py
@@ -1,342 +0,0 @@
-import numpy as np
-
-
-# Constants
-a = 6378137.0
-b = 6356752.3142
-esq = 6.69437999014e-3
-e1sq = 6.73949674228e-3
-
-
-def geodetic2ecef_single(g):
-  """
-  Convert geodetic coordinates (latitude, longitude, altitude) to ECEF.
-  """
-  try:
-    if len(g) != 3:
-      raise ValueError("Geodetic must be size 3")
-  except TypeError:
-    raise ValueError("Geodetic must be a sequence of length 3") from None
-
-  lat, lon, alt = g
-  lat = np.radians(lat)
-  lon = np.radians(lon)
-  xi = np.sqrt(1.0 - esq * np.sin(lat)**2)
-  x = (a / xi + alt) * np.cos(lat) * np.cos(lon)
-  y = (a / xi + alt) * np.cos(lat) * np.sin(lon)
-  z = (a / xi * (1.0 - esq) + alt) * np.sin(lat)
-  return np.array([x, y, z])
-
-
-def ecef2geodetic_single(e):
-  """
-  Convert ECEF to geodetic coordinates using Ferrari's solution.
-  """
-  x, y, z = e
-  r = np.sqrt(x**2 + y**2)
-  Esq = a**2 - b**2
-  F = 54 * b**2 * z**2
-  G = r**2 + (1 - esq) * z**2 - esq * Esq
-  C = (esq**2 * F * r**2) / (G**3)
-  S = np.cbrt(1 + C + np.sqrt(C**2 + 2 * C))
-  P = F / (3 * (S + 1 / S + 1)**2 * G**2)
-  Q = np.sqrt(1 + 2 * esq**2 * P)
-  r_0 = -(P * esq * r) / (1 + Q) + np.sqrt(0.5 * a**2 * (1 + 1.0 / Q) - P * (1 - esq) * z**2 / (Q * (1 + Q)) - 0.5 * P * r**2)
-  U = np.sqrt((r - esq * r_0)**2 + z**2)
-  V = np.sqrt((r - esq * r_0)**2 + (1 - esq) * z**2)
-  Z_0 = b**2 * z / (a * V)
-  h = U * (1 - b**2 / (a * V))
-  lat = np.arctan((z + e1sq * Z_0) / r)
-  lon = np.arctan2(y, x)
-  return np.array([np.degrees(lat), np.degrees(lon), h])
-
-
-def euler2quat_single(euler):
-  """
-  Convert Euler angles (roll, pitch, yaw) to a quaternion.
-  Rotation order: Z-Y-X (yaw, pitch, roll).
-  """
-  phi, theta, psi = euler
-
-  c_phi, s_phi = np.cos(phi / 2), np.sin(phi / 2)
-  c_theta, s_theta = np.cos(theta / 2), np.sin(theta / 2)
-  c_psi, s_psi = np.cos(psi / 2), np.sin(psi / 2)
-
-  w = c_phi * c_theta * c_psi + s_phi * s_theta * s_psi
-  x = s_phi * c_theta * c_psi - c_phi * s_theta * s_psi
-  y = c_phi * s_theta * c_psi + s_phi * c_theta * s_psi
-  z = c_phi * c_theta * s_psi - s_phi * s_theta * c_psi
-
-  if w < 0:
-    return np.array([-w, -x, -y, -z])
-  return np.array([w, x, y, z])
-
-
-def quat2euler_single(q):
-  """
-  Convert a quaternion to Euler angles (roll, pitch, yaw).
-  """
-  w, x, y, z = q
-  gamma = np.arctan2(2 * (w * x + y * z), 1 - 2 * (x**2 + y**2))
-  sin_arg = 2 * (w * y - z * x)
-  sin_arg = np.clip(sin_arg, -1.0, 1.0)
-  theta = np.arcsin(sin_arg)
-  psi = np.arctan2(2 * (w * z + x * y), 1 - 2 * (y**2 + z**2))
-  return np.array([gamma, theta, psi])
-
-
-def quat2rot_single(q):
-  """
-  Convert a quaternion to a 3x3 rotation matrix.
-  """
-  w, x, y, z = q
-  xx, yy, zz = x * x, y * y, z * z
-  xy, xz, yz = x * y, x * z, y * z
-  wx, wy, wz = w * x, w * y, w * z
-
-  mat = np.array([
-    [1 - 2 * (yy + zz), 2 * (xy - wz), 2 * (xz + wy)],
-    [2 * (xy + wz), 1 - 2 * (xx + zz), 2 * (yz - wx)],
-    [2 * (xz - wy), 2 * (yz + wx), 1 - 2 * (xx + yy)]
-  ])
-  return mat
-
-
-def rot2quat_single(rot):
-  """
-  Convert a 3x3 rotation matrix to a quaternion.
-  """
-  trace = np.trace(rot)
-  if trace > 0:
-    s = 0.5 / np.sqrt(trace + 1.0)
-    w = 0.25 / s
-    x = (rot[2, 1] - rot[1, 2]) * s
-    y = (rot[0, 2] - rot[2, 0]) * s
-    z = (rot[1, 0] - rot[0, 1]) * s
-  else:
-    if rot[0, 0] > rot[1, 1] and rot[0, 0] > rot[2, 2]:
-      s = 2.0 * np.sqrt(1.0 + rot[0, 0] - rot[1, 1] - rot[2, 2])
-      w = (rot[2, 1] - rot[1, 2]) / s
-      x = 0.25 * s
-      y = (rot[0, 1] + rot[1, 0]) / s
-      z = (rot[0, 2] + rot[2, 0]) / s
-    elif rot[1, 1] > rot[2, 2]:
-      s = 2.0 * np.sqrt(1.0 + rot[1, 1] - rot[0, 0] - rot[2, 2])
-      w = (rot[0, 2] - rot[2, 0]) / s
-      x = (rot[0, 1] + rot[1, 0]) / s
-      y = 0.25 * s
-      z = (rot[1, 2] + rot[2, 1]) / s
-    else:
-      s = 2.0 * np.sqrt(1.0 + rot[2, 2] - rot[0, 0] - rot[1, 1])
-      w = (rot[1, 0] - rot[0, 1]) / s
-      x = (rot[0, 2] + rot[2, 0]) / s
-      y = (rot[1, 2] + rot[2, 1]) / s
-      z = 0.25 * s
-
-  if w < 0:
-    return np.array([-w, -x, -y, -z])
-  return np.array([w, x, y, z])
-
-
-def euler2rot_single(euler):
-  """
-  Convert Euler angles (roll, pitch, yaw) to a 3x3 rotation matrix.
-  Rotation order: Z-Y-X (yaw, pitch, roll).
-  """
-  phi, theta, psi = euler
-
-  cx, sx = np.cos(phi), np.sin(phi)
-  cy, sy = np.cos(theta), np.sin(theta)
-  cz, sz = np.cos(psi), np.sin(psi)
-
-  Rx = np.array([[1, 0, 0], [0, cx, -sx], [0, sx, cx]])
-  Ry = np.array([[cy, 0, sy], [0, 1, 0], [-sy, 0, cy]])
-  Rz = np.array([[cz, -sz, 0], [sz, cz, 0], [0, 0, 1]])
-
-  return Rz @ Ry @ Rx
-
-
-def rot2euler_single(rot):
-  """
-  Convert a 3x3 rotation matrix to Euler angles (roll, pitch, yaw).
-  """
-  return quat2euler_single(rot2quat_single(rot))
-
-
-def rot_matrix(roll, pitch, yaw):
-  """
-  Create a 3x3 rotation matrix from roll, pitch, and yaw angles.
-  """
-  return euler2rot_single([roll, pitch, yaw])
-
-
-def axis_angle_to_rot(axis, angle):
-  """
-  Convert an axis-angle representation to a 3x3 rotation matrix.
-  """
-  c = np.cos(angle / 2)
-  s = np.sin(angle / 2)
-  q = np.array([c, s*axis[0], s*axis[1], s*axis[2]])
-  return quat2rot_single(q)
-
-
-class LocalCoord:
-  """
-  A class to handle conversions between ECEF and local NED coordinates.
-  """
-  def __init__(self, geodetic=None, ecef=None):
-    """
-    Initialize LocalCoord with either geodetic or ECEF coordinates.
-    """
-    if geodetic is not None:
-      self.init_ecef = geodetic2ecef_single(geodetic)
-      lat, lon, _ = geodetic
-    elif ecef is not None:
-      self.init_ecef = np.array(ecef)
-      lat, lon, _ = ecef2geodetic_single(ecef)
-    else:
-      raise ValueError("Must provide geodetic or ecef")
-
-    lat = np.radians(lat)
-    lon = np.radians(lon)
-
-    self.ned2ecef_matrix = np.array([
-      [-np.sin(lat) * np.cos(lon), -np.sin(lon), -np.cos(lat) * np.cos(lon)],
-      [-np.sin(lat) * np.sin(lon), np.cos(lon), -np.cos(lat) * np.sin(lon)],
-      [np.cos(lat), 0, -np.sin(lat)]
-    ])
-    self.ecef2ned_matrix = self.ned2ecef_matrix.T
-
-  @classmethod
-  def from_geodetic(cls, geodetic):
-    """
-    Create a LocalCoord instance from geodetic coordinates.
-    """
-    return cls(geodetic=geodetic)
-
-  @classmethod
-  def from_ecef(cls, ecef):
-    """
-    Create a LocalCoord instance from ECEF coordinates.
-    """
-    return cls(ecef=ecef)
-
-  def ecef2ned_single(self, ecef):
-    """
-    Convert a single ECEF point to NED coordinates relative to the origin.
-    """
-    return self.ecef2ned_matrix @ (ecef - self.init_ecef)
-
-  def ned2ecef_single(self, ned):
-    """
-    Convert a single NED point to ECEF coordinates.
-    """
-    return self.ned2ecef_matrix @ ned + self.init_ecef
-
-  def geodetic2ned_single(self, geodetic):
-    """
-    Convert a single geodetic point to NED coordinates.
-    """
-    ecef = geodetic2ecef_single(geodetic)
-    return self.ecef2ned_single(ecef)
-
-  def ned2geodetic_single(self, ned):
-    """
-    Convert a single NED point to geodetic coordinates.
-    """
-    ecef = self.ned2ecef_single(ned)
-    return ecef2geodetic_single(ecef)
-
-  @property
-  def ned_from_ecef_matrix(self):
-    """
-    Returns the rotation matrix from ECEF to NED coordinates.
-    """
-    return self.ecef2ned_matrix
-
-  @property
-  def ecef_from_ned_matrix(self):
-    """
-    Returns the rotation matrix from NED to ECEF coordinates.
-    """
-    return self.ned2ecef_matrix
-
-
-def ecef_euler_from_ned_single(ecef_init, ned_pose):
-  """
-  Convert NED Euler angles (roll, pitch, yaw) at a given ECEF origin
-  to equivalent ECEF Euler angles.
-  """
-  converter = LocalCoord(ecef=ecef_init)
-  zero = np.array(ecef_init)
-
-  x0 = converter.ned2ecef_single([1, 0, 0]) - zero
-  y0 = converter.ned2ecef_single([0, 1, 0]) - zero
-  z0 = converter.ned2ecef_single([0, 0, 1]) - zero
-
-  phi, theta, psi = ned_pose
-
-  x1 = axis_angle_to_rot(z0, psi) @ x0
-  y1 = axis_angle_to_rot(z0, psi) @ y0
-  z1 = axis_angle_to_rot(z0, psi) @ z0
-
-  x2 = axis_angle_to_rot(y1, theta) @ x1
-  y2 = axis_angle_to_rot(y1, theta) @ y1
-  z2 = axis_angle_to_rot(y1, theta) @ z1
-
-  x3 = axis_angle_to_rot(x2, phi) @ x2
-  y3 = axis_angle_to_rot(x2, phi) @ y2
-
-  x0 = np.array([1.0, 0, 0])
-  y0 = np.array([0, 1.0, 0])
-  z0 = np.array([0, 0, 1.0])
-
-  psi_out = np.arctan2(np.dot(x3, y0), np.dot(x3, x0))
-  theta_out = np.arctan2(-np.dot(x3, z0), np.sqrt(np.dot(x3, x0)**2 + np.dot(x3, y0)**2))
-
-  y2 = axis_angle_to_rot(z0, psi_out) @ y0
-  z2 = axis_angle_to_rot(y2, theta_out) @ z0
-
-  phi_out = np.arctan2(np.dot(y3, z2), np.dot(y3, y2))
-
-  return np.array([phi_out, theta_out, psi_out])
-
-
-def ned_euler_from_ecef_single(ecef_init, ecef_pose):
-  """
-  Convert ECEF Euler angles (roll, pitch, yaw) at a given ECEF origin
-  to equivalent NED Euler angles.
-  """
-  converter = LocalCoord(ecef=ecef_init)
-
-  x0 = np.array([1.0, 0, 0])
-  y0 = np.array([0, 1.0, 0])
-  z0 = np.array([0, 0, 1.0])
-
-  phi, theta, psi = ecef_pose
-
-  x1 = axis_angle_to_rot(z0, psi) @ x0
-  y1 = axis_angle_to_rot(z0, psi) @ y0
-  z1 = axis_angle_to_rot(z0, psi) @ z0
-
-  x2 = axis_angle_to_rot(y1, theta) @ x1
-  y2 = axis_angle_to_rot(y1, theta) @ y1
-  z2 = axis_angle_to_rot(y1, theta) @ z1
-
-  x3 = axis_angle_to_rot(x2, phi) @ x2
-  y3 = axis_angle_to_rot(x2, phi) @ y2
-
-  zero = np.array(ecef_init)
-  x0 = converter.ned2ecef_single([1, 0, 0]) - zero
-  y0 = converter.ned2ecef_single([0, 1, 0]) - zero
-  z0 = converter.ned2ecef_single([0, 0, 1]) - zero
-
-  psi_out = np.arctan2(np.dot(x3, y0), np.dot(x3, x0))
-  theta_out = np.arctan2(-np.dot(x3, z0), np.sqrt(np.dot(x3, x0)**2 + np.dot(x3, y0)**2))
-
-  y2 = axis_angle_to_rot(z0, psi_out) @ y0
-  z2 = axis_angle_to_rot(y2, theta_out) @ z0
-
-  phi_out = np.arctan2(np.dot(y3, z2), np.dot(y3, y2))
-
-  return np.array([phi_out, theta_out, psi_out])
--- a/common/transformations/transformations.pyx
+++ b/common/transformations/transformations.pyx
@@ -0,0 +1,173 @@
+# distutils: language = c++
+# cython: language_level = 3
+from openpilot.common.transformations.transformations cimport Matrix3, Vector3, Quaternion
+from openpilot.common.transformations.transformations cimport ECEF, NED, Geodetic
+
+from openpilot.common.transformations.transformations cimport euler2quat as euler2quat_c
+from openpilot.common.transformations.transformations cimport quat2euler as quat2euler_c
+from openpilot.common.transformations.transformations cimport quat2rot as quat2rot_c
+from openpilot.common.transformations.transformations cimport rot2quat as rot2quat_c
+from openpilot.common.transformations.transformations cimport euler2rot as euler2rot_c
+from openpilot.common.transformations.transformations cimport rot2euler as rot2euler_c
+from openpilot.common.transformations.transformations cimport rot_matrix as rot_matrix_c
+from openpilot.common.transformations.transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c
+from openpilot.common.transformations.transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c
+from openpilot.common.transformations.transformations cimport geodetic2ecef as geodetic2ecef_c
+from openpilot.common.transformations.transformations cimport ecef2geodetic as ecef2geodetic_c
+from openpilot.common.transformations.transformations cimport LocalCoord_c
+
+
+import numpy as np
+cimport numpy as np
+
+cdef np.ndarray[double, ndim=2] matrix2numpy(Matrix3 m):
+    return np.array([
+        [m(0, 0), m(0, 1), m(0, 2)],
+        [m(1, 0), m(1, 1), m(1, 2)],
+        [m(2, 0), m(2, 1), m(2, 2)],
+    ])
+
+cdef Matrix3 numpy2matrix(np.ndarray[double, ndim=2, mode="fortran"] m):
+    assert m.shape[0] == 3
+    assert m.shape[1] == 3
+    return Matrix3(<double*>m.data)
+
+cdef ECEF list2ecef(ecef):
+    cdef ECEF e
+    e.x = ecef[0]
+    e.y = ecef[1]
+    e.z = ecef[2]
+    return e
+
+cdef NED list2ned(ned):
+    cdef NED n
+    n.n = ned[0]
+    n.e = ned[1]
+    n.d = ned[2]
+    return n
+
+cdef Geodetic list2geodetic(geodetic):
+    cdef Geodetic g
+    g.lat = geodetic[0]
+    g.lon = geodetic[1]
+    g.alt = geodetic[2]
+    return g
+
+def euler2quat_single(euler):
+    cdef Vector3 e = Vector3(euler[0], euler[1], euler[2])
+    cdef Quaternion q = euler2quat_c(e)
+    return [q.w(), q.x(), q.y(), q.z()]
+
+def quat2euler_single(quat):
+    cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3])
+    cdef Vector3 e = quat2euler_c(q)
+    return [e(0), e(1), e(2)]
+
+def quat2rot_single(quat):
+    cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3])
+    cdef Matrix3 r = quat2rot_c(q)
+    return matrix2numpy(r)
+
+def rot2quat_single(rot):
+    cdef Matrix3 r = numpy2matrix(np.asfortranarray(rot, dtype=np.double))
+    cdef Quaternion q = rot2quat_c(r)
+    return [q.w(), q.x(), q.y(), q.z()]
+
+def euler2rot_single(euler):
+    cdef Vector3 e = Vector3(euler[0], euler[1], euler[2])
+    cdef Matrix3 r = euler2rot_c(e)
+    return matrix2numpy(r)
+
+def rot2euler_single(rot):
+    cdef Matrix3 r = numpy2matrix(np.asfortranarray(rot, dtype=np.double))
+    cdef Vector3 e = rot2euler_c(r)
+    return [e(0), e(1), e(2)]
+
+def rot_matrix(roll, pitch, yaw):
+    return matrix2numpy(rot_matrix_c(roll, pitch, yaw))
+
+def ecef_euler_from_ned_single(ecef_init, ned_pose):
+    cdef ECEF init = list2ecef(ecef_init)
+    cdef Vector3 pose = Vector3(ned_pose[0], ned_pose[1], ned_pose[2])
+
+    cdef Vector3 e = ecef_euler_from_ned_c(init, pose)
+    return [e(0), e(1), e(2)]
+
+def ned_euler_from_ecef_single(ecef_init, ecef_pose):
+    cdef ECEF init = list2ecef(ecef_init)
+    cdef Vector3 pose = Vector3(ecef_pose[0], ecef_pose[1], ecef_pose[2])
+
+    cdef Vector3 e = ned_euler_from_ecef_c(init, pose)
+    return [e(0), e(1), e(2)]
+
+def geodetic2ecef_single(geodetic):
+    cdef Geodetic g = list2geodetic(geodetic)
+    cdef ECEF e = geodetic2ecef_c(g)
+    return [e.x, e.y, e.z]
+
+def ecef2geodetic_single(ecef):
+    cdef ECEF e = list2ecef(ecef)
+    cdef Geodetic g = ecef2geodetic_c(e)
+    return [g.lat, g.lon, g.alt]
+
+
+cdef class LocalCoord:
+    cdef LocalCoord_c * lc
+
+    def __init__(self, geodetic=None, ecef=None):
+        assert (geodetic is not None) or (ecef is not None)
+        if geodetic is not None:
+            self.lc = new LocalCoord_c(list2geodetic(geodetic))
+        elif ecef is not None:
+            self.lc = new LocalCoord_c(list2ecef(ecef))
+
+    @property
+    def ned2ecef_matrix(self):
+        return matrix2numpy(self.lc.ned2ecef_matrix)
+
+    @property
+    def ecef2ned_matrix(self):
+        return matrix2numpy(self.lc.ecef2ned_matrix)
+
+    @property
+    def ned_from_ecef_matrix(self):
+        return self.ecef2ned_matrix
+
+    @property
+    def ecef_from_ned_matrix(self):
+        return self.ned2ecef_matrix
+
+    @classmethod
+    def from_geodetic(cls, geodetic):
+        return cls(geodetic=geodetic)
+
+    @classmethod
+    def from_ecef(cls, ecef):
+        return cls(ecef=ecef)
+
+    def ecef2ned_single(self, ecef):
+        assert self.lc
+        cdef ECEF e = list2ecef(ecef)
+        cdef NED n = self.lc.ecef2ned(e)
+        return [n.n, n.e, n.d]
+
+    def ned2ecef_single(self, ned):
+        assert self.lc
+        cdef NED n = list2ned(ned)
+        cdef ECEF e = self.lc.ned2ecef(n)
+        return [e.x, e.y, e.z]
+
+    def geodetic2ned_single(self, geodetic):
+        assert self.lc
+        cdef Geodetic g = list2geodetic(geodetic)
+        cdef NED n = self.lc.geodetic2ned(g)
+        return [n.n, n.e, n.d]
+
+    def ned2geodetic_single(self, ned):
+        assert self.lc
+        cdef NED n = list2ned(ned)
+        cdef Geodetic g = self.lc.ned2geodetic(n)
+        return [g.lat, g.lon, g.alt]
+
+    def __dealloc__(self):
+        del self.lc
--- a/common/util.cc
+++ b/common/util.cc
@@ -181,9 +181,9 @@ bool file_exists(const std::string& fn) {
 }

 static bool createDirectory(std::string dir, mode_t mode) {
-  auto verify_dir = [](const std::string& path) -> bool {
+  auto verify_dir = [](const std::string& dir) -> bool {
    struct stat st = {};
-    return (stat(path.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR);
+    return (stat(dir.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR);
  };
  // remove trailing /'s
  while (dir.size() > 1 && dir.back() == '/') {
@@ -288,7 +288,7 @@ std::string strip(const std::string &str) {
 std::string check_output(const std::string& command) {
  char buffer[128];
  std::string result;
-  std::unique_ptr<FILE, int(*)(FILE*)> pipe(popen(command.c_str(), "r"), pclose);
+  std::unique_ptr<FILE, decltype(&pclose)> pipe(popen(command.c_str(), "r"), pclose);

  if (!pipe) {
    return "";
@@ -303,7 +303,7 @@ std::string check_output(const std::string& command) {

 bool system_time_valid() {
  // Default to August 26, 2024
-  tm min_tm = {.tm_mday = 26, .tm_mon = 7, .tm_year = 2024 - 1900};
+  tm min_tm = {.tm_year = 2024 - 1900, .tm_mon = 7, .tm_mday = 26};
  time_t min_date = mktime(&min_tm);

  struct stat st;
--- a/common/util.h
+++ b/common/util.h
@@ -97,13 +97,6 @@ bool create_directories(const std::string &dir, mode_t mode);

 std::string check_output(const std::string& command);

-inline void check_system(const std::string& cmd) {
-  int ret = std::system(cmd.c_str());
-  if (ret != 0) {
-    fprintf(stderr, "system command failed (%d): %s\n", ret, cmd.c_str());
-  }
-}
-
 bool system_time_valid();

 inline void sleep_for(const int milliseconds) {
--- a/common/util.py
+++ b/common/util.py
@@ -0,0 +1,46 @@
+import os
+import subprocess
+
+def sudo_write(val: str, path: str) -> None:
+  try:
+    with open(path, 'w') as f:
+      f.write(str(val))
+  except PermissionError:
+    os.system(f"sudo chmod a+w {path}")
+    try:
+      with open(path, 'w') as f:
+        f.write(str(val))
+    except PermissionError:
+      # fallback for debugfs files
+      os.system(f"sudo su -c 'echo {val} > {path}'")
+
+def sudo_read(path: str) -> str:
+  try:
+    return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8').strip()
+  except Exception:
+    return ""
+
+class MovingAverage:
+  def __init__(self, window_size: int):
+    self.window_size: int = window_size
+    self.buffer: list[float] = [0.0] * window_size
+    self.index: int = 0
+    self.count: int = 0
+    self.sum: float = 0.0
+
+  def add_value(self, new_value: float):
+    # Update the sum: subtract the value being replaced and add the new value
+    self.sum -= self.buffer[self.index]
+    self.buffer[self.index] = new_value
+    self.sum += new_value
+
+    # Update the index in a circular manner
+    self.index = (self.index + 1) % self.window_size
+
+    # Track the number of added values (for partial windows)
+    self.count = min(self.count + 1, self.window_size)
+
+  def get_average(self) -> float:
+    if self.count == 0:
+      return float('nan')
+    return self.sum / self.count
--- a/common/utils.py
+++ b/common/utils.py
@@ -1,272 +0,0 @@
-import io
-import os
-import tempfile
-import contextlib
-import subprocess
-import time
-import functools
-from subprocess import Popen, PIPE, TimeoutExpired
-import zstandard as zstd
-
-LOG_COMPRESSION_LEVEL = 10  # little benefit up to level 15. level ~17 is a small step change
-
-class Timer:
-  """Simple lap timer for profiling sequential operations."""
-
-  def __init__(self):
-    self._start = self._lap = time.monotonic()
-    self._sections = {}
-
-  def lap(self, name):
-    now = time.monotonic()
-    self._sections[name] = now - self._lap
-    self._lap = now
-
-  @property
-  def total(self):
-    return time.monotonic() - self._start
-
-  def fmt(self, duration):
-    parts = ", ".join(f"{k}={v:.2f}s" + (f" ({duration/v:.0f}x)" if k == 'render' and v > 0 else "") for k, v in self._sections.items())
-    total = self.total
-    realtime = f"{duration/total:.1f}x realtime" if total > 0 else "N/A"
-    return f"{duration}s in {total:.1f}s ({realtime}) | {parts}"
-
-def sudo_write(val: str, path: str) -> None:
-  try:
-    with open(path, 'w') as f:
-      f.write(str(val))
-  except PermissionError:
-    os.system(f"sudo chmod a+w {path}")
-    try:
-      with open(path, 'w') as f:
-        f.write(str(val))
-    except PermissionError:
-      # fallback for debugfs files
-      os.system(f"sudo su -c 'echo {val} > {path}'")
-
-
-def sudo_read(path: str) -> str:
-  try:
-    return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8').strip()
-  except Exception:
-    return ""
-
-
-class MovingAverage:
-  def __init__(self, window_size: int):
-    self.window_size: int = window_size
-    self.buffer: list[float] = [0.0] * window_size
-    self.index: int = 0
-    self.count: int = 0
-    self.sum: float = 0.0
-
-  def add_value(self, new_value: float):
-    # Update the sum: subtract the value being replaced and add the new value
-    self.sum -= self.buffer[self.index]
-    self.buffer[self.index] = new_value
-    self.sum += new_value
-
-    # Update the index in a circular manner
-    self.index = (self.index + 1) % self.window_size
-
-    # Track the number of added values (for partial windows)
-    self.count = min(self.count + 1, self.window_size)
-
-  def get_average(self) -> float:
-    if self.count == 0:
-      return float('nan')
-    return self.sum / self.count
-
-
-class CallbackReader:
-  """Wraps a file, but overrides the read method to also
-  call a callback function with the number of bytes read so far."""
-
-  def __init__(self, f, callback, *args):
-    self.f = f
-    self.callback = callback
-    self.cb_args = args
-    self.total_read = 0
-
-  def __getattr__(self, attr):
-    return getattr(self.f, attr)
-
-  def read(self, *args, **kwargs):
-    chunk = self.f.read(*args, **kwargs)
-    self.total_read += len(chunk)
-    self.callback(*self.cb_args, self.total_read)
-    return chunk
-
-
-@contextlib.contextmanager
-def atomic_write(path: str, mode: str = 'w', buffering: int = -1, encoding: str | None = None, newline: str | None = None,
-                 overwrite: bool = False):
-  """Write to a file atomically using a temporary file in the same directory as the destination file."""
-  dir_name = os.path.dirname(path)
-
-  if not overwrite and os.path.exists(path):
-    raise FileExistsError(f"File '{path}' already exists. To overwrite it, set 'overwrite' to True.")
-
-  with tempfile.NamedTemporaryFile(mode=mode, buffering=buffering, encoding=encoding, newline=newline, dir=dir_name, delete=False) as tmp_file:
-    yield tmp_file
-    tmp_file_name = tmp_file.name
-  os.replace(tmp_file_name, path)
-
-
-def get_upload_stream(filepath: str, should_compress: bool) -> tuple[io.BufferedIOBase, int]:
-  if not should_compress:
-    file_size = os.path.getsize(filepath)
-    file_stream = open(filepath, "rb")
-    return file_stream, file_size
-
-  # Compress the file on the fly
-  compressed_stream = io.BytesIO()
-  compressor = zstd.ZstdCompressor(level=LOG_COMPRESSION_LEVEL)
-
-  with open(filepath, "rb") as f:
-    compressor.copy_stream(f, compressed_stream)
-    compressed_size = compressed_stream.tell()
-    compressed_stream.seek(0)
-    return compressed_stream, compressed_size
-
-
-# remove all keys that end in DEPRECATED, plus any "deprecated" group
-def strip_deprecated_keys(d):
-  for k in list(d.keys()):
-    if isinstance(k, str):
-      if k.endswith('DEPRECATED') or k == 'deprecated':
-        d.pop(k)
-      elif isinstance(d[k], dict):
-        strip_deprecated_keys(d[k])
-  return d
-
-
-def run_cmd(cmd: list[str], cwd=None, env=None) -> str:
-  return subprocess.check_output(cmd, encoding='utf8', cwd=cwd, env=env).strip()
-
-
-def run_cmd_default(cmd: list[str], default: str = "", cwd=None, env=None) -> str:
-  try:
-    return run_cmd(cmd, cwd=cwd, env=env)
-  except subprocess.CalledProcessError:
-    return default
-
-
-@contextlib.contextmanager
-def managed_proc(cmd: list[str], env: dict[str, str]):
-  proc = Popen(cmd, env=env, stdout=PIPE, stderr=PIPE)
-  try:
-    yield proc
-  finally:
-    if proc.poll() is None:
-      proc.terminate()
-    try:
-      proc.wait(timeout=5)
-    except TimeoutExpired:
-      proc.kill()
-
-
-def tabulate(tabular_data, headers=(), tablefmt="simple", floatfmt="g", stralign="left", numalign=None):
-  rows = [list(row) for row in tabular_data]
-
-  def fmt(val):
-    if isinstance(val, str):
-      return val
-    if isinstance(val, (bool, int)):
-      return str(val)
-    try:
-      return format(val, floatfmt)
-    except (TypeError, ValueError):
-      return str(val)
-
-  formatted = [[fmt(c) for c in row] for row in rows]
-  hdrs = [str(h) for h in headers] if headers else None
-
-  ncols = max((len(r) for r in formatted), default=0)
-  if hdrs:
-    ncols = max(ncols, len(hdrs))
-  if ncols == 0:
-    return ""
-
-  for r in formatted:
-    r.extend([""] * (ncols - len(r)))
-  if hdrs:
-    hdrs.extend([""] * (ncols - len(hdrs)))
-
-  widths = [0] * ncols
-  if hdrs:
-    for i in range(ncols):
-      widths[i] = len(hdrs[i])
-  for row in formatted:
-    for i in range(ncols):
-      widths[i] = max(widths[i], max(len(ln) for ln in row[i].split('\n')))
-
-  def _align(s, w):
-    if stralign == "center":
-      return s.center(w)
-    return s.ljust(w)
-
-  if tablefmt == "html":
-    parts = ["<table>"]
-    if hdrs:
-      parts.append("<thead>")
-      parts.append("<tr>" + "".join(f"<th>{h}</th>" for h in hdrs) + "</tr>")
-      parts.append("</thead>")
-    parts.append("<tbody>")
-    for row in formatted:
-      parts.append("<tr>" + "".join(f"<td>{c}</td>" for c in row) + "</tr>")
-    parts.append("</tbody>")
-    parts.append("</table>")
-    return "\n".join(parts)
-
-  if tablefmt == "simple_grid":
-    def _sep(left, mid, right):
-      return left + mid.join("\u2500" * (w + 2) for w in widths) + right
-
-    top, mid_sep, bot = _sep("\u250c", "\u252c", "\u2510"), _sep("\u251c", "\u253c", "\u2524"), _sep("\u2514", "\u2534", "\u2518")
-
-    def _fmt_row(cells):
-      split = [c.split('\n') for c in cells]
-      nlines = max(len(s) for s in split)
-      for s in split:
-        s.extend([""] * (nlines - len(s)))
-      return ["\u2502" + "\u2502".join(f" {_align(split[i][li], widths[i])} " for i in range(ncols)) + "\u2502" for li in range(nlines)]
-
-    lines = [top]
-    if hdrs:
-      lines.extend(_fmt_row(hdrs))
-      lines.append(mid_sep)
-    for ri, row in enumerate(formatted):
-      lines.extend(_fmt_row(row))
-      lines.append(mid_sep if ri < len(formatted) - 1 else bot)
-    return "\n".join(lines)
-
-  # simple
-  gap = "  "
-  lines = []
-  if hdrs:
-    lines.append(gap.join(h.ljust(w) for h, w in zip(hdrs, widths, strict=True)))
-    lines.append(gap.join("-" * w for w in widths))
-  for row in formatted:
-    lines.append(gap.join(_align(row[i], widths[i]) for i in range(ncols)))
-  return "\n".join(lines)
-
-
-def retry(attempts=3, delay=1.0, ignore_failure=False):
-  def decorator(func):
-    @functools.wraps(func)
-    def wrapper(*args, **kwargs):
-      for _ in range(attempts):
-        try:
-          return func(*args, **kwargs)
-        except Exception:
-          print(f"{func.__name__} failed, trying again")
-          time.sleep(delay)
-
-      if ignore_failure:
-        print(f"{func.__name__} failed after retry")
-      else:
-        raise Exception(f"{func.__name__} failed after retry")
-    return wrapper
-  return decorator
--- a/Show More
+++ b/Show More