Merge branch 'sync-20260902' into ccnc-port-sync-20260902

Merge commit '6249f4d5b0e63c05f08bce12ca3afebda9f764a3' into sync-20260902
# Conflicts: # openpilot/selfdrive/modeld/SConscript # openpilot/selfdrive/modeld/modeld.py # openpilot/selfdrive/pandad/pandad.cc # openpilot/selfdrive/selfdrived/alerts_offroad.json # openpilot/selfdrive/ui/layouts/onboarding.py # openpilot/selfdrive/ui/mici/layouts/home.py # openpilot/system/hardware/hardwared.py # panda # tinygrad_repo
2026-09-12 04:33:43 +08:00 · 2026-09-02 13:24:57 -04:00 · 2026-09-02 13:17:53 -04:00 · 2026-08-30 16:21:17 -04:00 · 2026-08-28 20:28:33 -04:00 · 2026-08-24 14:19:36 -04:00
30 changed files with 614 additions and 1622 deletions
@@ -0,0 +1,11 @@
+*       @sunnypilot/dev-internal
+/.github/ @devtekve @sunnyhaibin
+/release/ci/ @devtekve @sunnyhaibin
+/tinygrad_repo @devtekve @Discountchubbs
+/tinygrad/ @devtekve @Discountchubbs
+/selfdrive/controls/lib/longitudinal_planner.py @devtekve @Discountchubbs
+/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @devtekve @Discountchubbs
+/selfdrive/modeld/ @devtekve @Discountchubbs
+/sunnypilot/model* @devtekve @Discountchubbs
+/sunnypilot/sunnylink/ @devtekve
+/system/athena/ @devtekve
@@ -78,7 +78,6 @@ jobs:
      - name: Get next recompiled dir number
        id: create-recompiled-dir
        env:
-          HF_TOKEN: ${{ secrets.HF_TOKEN }}
          HF_REPO: ${{ github.event.inputs.hf_repo }}
        run: |
          pip install huggingface_hub
@@ -30,7 +30,6 @@ jobs:
    runs-on: ubuntu-24.04
    outputs:
      model_name: ${{ steps.resolve.outputs.model_name }}
-      safe_model_name: ${{ steps.resolve.outputs.safe_model_name }}
      onnx_ref: ${{ steps.resolve.outputs.onnx_ref }}
      onnx_path: ${{ steps.resolve.outputs.onnx_path }}
      hf_defaults_path: ${{ steps.resolve.outputs.hf_defaults_path }}
@@ -65,9 +64,7 @@ jobs:
            exit 1
          fi

-          SAFE_NAME="${NAME// /-}"
          echo "model_name=${NAME}" >> $GITHUB_OUTPUT
-          echo "safe_model_name=${SAFE_NAME}" >> $GITHUB_OUTPUT
          echo "onnx_ref=${ONNX_REF}" >> $GITHUB_OUTPUT
          echo "onnx_path=${ONNX_PATH}" >> $GITHUB_OUTPUT
          echo "hf_defaults_path=${HF_DEFAULTS_PATH}" >> $GITHUB_OUTPUT
@@ -138,7 +135,7 @@ jobs:

      - name: Prepare output
        env:
-          MODEL_NAME: ${{ needs.resolve.outputs.safe_model_name }}
+          MODEL_NAME: ${{ needs.resolve.outputs.model_name }}
        run: |
          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
          export PYTHONPATH=${{ github.workspace }}
@@ -161,13 +158,13 @@ jobs:
      - name: Upload small model artifact
        uses: actions/upload-artifact@v4
        with:
-          name: model-${{ needs.resolve.outputs.safe_model_name }}-${{ github.run_number }}
+          name: model-${{ needs.resolve.outputs.model_name }}-${{ github.run_number }}
          path: ${{ github.workspace }}/small_output/

      - name: Upload artifact name file
        uses: actions/upload-artifact@v4
        with:
-          name: artifact-name-${{ needs.resolve.outputs.safe_model_name }}
+          name: artifact-name-${{ needs.resolve.outputs.model_name }}
          path: ${{ github.workspace }}/small_output/artifact_name.txt

      - name: Re-enable powersave
@@ -257,7 +254,7 @@ jobs:

      - name: Prepare output
        env:
-          MODEL_NAME: ${{ needs.resolve.outputs.safe_model_name }}
+          MODEL_NAME: ${{ needs.resolve.outputs.model_name }}
        run: |
          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
          export PYTHONPATH=${{ github.workspace }}
@@ -280,13 +277,13 @@ jobs:
      - name: Upload big model artifact
        uses: actions/upload-artifact@v4
        with:
-          name: model-${{ needs.resolve.outputs.safe_model_name }}-${{ github.run_number }}
+          name: model-${{ needs.resolve.outputs.model_name }}-${{ github.run_number }}
          path: ${{ github.workspace }}/big_output/

      - name: Upload artifact name file
        uses: actions/upload-artifact@v4
        with:
-          name: artifact-name-${{ needs.resolve.outputs.safe_model_name }}
+          name: artifact-name-${{ needs.resolve.outputs.model_name }}
          path: ${{ github.workspace }}/big_output/artifact_name.txt

      - name: Re-enable powersave
@@ -321,7 +318,7 @@ jobs:
        if: ${{ inputs.target == 'small' || inputs.target == 'big' }}
        uses: actions/download-artifact@v4
        with:
-          name: artifact-name-${{ needs.resolve.outputs.safe_model_name }}
+          name: artifact-name-${{ needs.resolve.outputs.model_name }}
          path: artifact_name

      - name: Read artifact name
@@ -341,7 +338,7 @@ jobs:
      - name: Upload model to HF
        if: ${{ inputs.target == 'small' || inputs.target == 'big' }}
        env:
-          HF_TOKEN: ${{ secrets.HF_TOKEN }}
+          HF_OIDC_RESOURCE: datasets/${{ env.HF_REPO }}
          ARTIFACT_NAME: ${{ steps.artifact.outputs.artifact_name }}
        run: |
          rm -f output/artifact_name.txt
@@ -367,7 +364,7 @@ jobs:
      - name: Generate DM metadata and upload to HF
        if: ${{ inputs.target == 'dm' }}
        env:
-          HF_TOKEN: ${{ secrets.HF_TOKEN }}
+          HF_OIDC_RESOURCE: datasets/${{ env.HF_REPO }}
        run: |
          export PYTHONPATH=$(pwd)
          python3 -c "
@@ -484,29 +481,11 @@ jobs:
          print(f'Chunked {pkl} into {len(targets)} chunks')
          "

-      - name: Compile DM warp
-        run: |
-          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
-          export PYTHONPATH="${PYTHONPATH}:${{ github.workspace }}/tinygrad_repo:${{ github.workspace }}"
-
-          TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
-          MODEL_DIR="${{ github.workspace }}/openpilot/selfdrive/modeld"
-          DM_SIZE=$(python3 -c "from openpilot.common.transformations.model import DM_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
-
-          for res in $(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')"); do
-            WARP_PKL="${MODEL_DIR}/models/dm_warp_${res}_tinygrad.pkl"
-            taskset -c 7 env ${TG_FLAGS} python3 ${MODEL_DIR}/compile_dm_warp.py \
-              --camera-resolution ${res} \
-              --warp-to ${DM_SIZE} \
-              --output ${WARP_PKL}
-          done
-
      - name: Prepare DM output
        run: |
          mkdir -p dm_output
          cp ${{ github.workspace }}/${{ env.DM_PKL }}.chunk* dm_output/
          cp ${{ github.workspace }}/${{ env.DM_PKL }}.chunkmanifest dm_output/
-          cp ${{ github.workspace }}/openpilot/selfdrive/modeld/models/dm_warp_* dm_output/

      - name: Upload DM artifact
        uses: actions/upload-artifact@v4
@@ -146,7 +146,7 @@ jobs:

      - name: Validate hf_repo and JSON version
        env:
-          HF_TOKEN: ${{ secrets.HF_TOKEN }}
+          HF_OIDC_RESOURCE: datasets/${{ inputs.hf_repo }}
        run: |
          if [ ! -f "$JSON_FILE" ]; then
            echo "JSON file $JSON_FILE does not exist!"
@@ -155,8 +155,13 @@ jobs:
          python3 -c "
          import sys
          from huggingface_hub import HfApi
-          HfApi().repo_info(repo_id=sys.argv[1], repo_type='dataset')
-          print(f'Success: Repo {sys.argv[1]} exists.')
+          try:
+              api = HfApi()
+              api.repo_info(repo_id=sys.argv[1], repo_type='dataset')
+              print(f'Success: Repo {sys.argv[1]} exists.')
+          except Exception as e:
+              print('HF validation failed:', e)
+              sys.exit(1)
          " "${{ inputs.hf_repo }}"

      - name: Download artifact name file
@@ -187,7 +192,7 @@ jobs:

      - name: Upload to Hugging Face
        env:
-          HF_TOKEN: ${{ secrets.HF_TOKEN }}
+          HF_OIDC_RESOURCE: datasets/${{ inputs.hf_repo }}
          ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
        run: |
          hf upload ${{ inputs.hf_repo }} \
@@ -46,13 +46,6 @@ runs:
            printf '%s\t%s\n' "$ENCODED_URL" "${DEST_DIR}/${CANONICAL}.chunk${CHUNK_IDX}" >> "$DOWNLOAD_LIST"
          done < <(echo "$ARTIFACT" | jq -r '.chunks[].file_name')
          echo "$NUM_CHUNKS" > "${DEST_DIR}/${CANONICAL}.chunkmanifest"
-
-          if [ "$CANONICAL" = "dmonitoring_model_tinygrad.pkl" ]; then
-            for warp in dm_warp_1928x1208_tinygrad.pkl dm_warp_1344x760_tinygrad.pkl; do
-              ENCODED_URL=$(python3 -c "import urllib.parse; print(urllib.parse.quote('${BASE_URL}/${warp}', safe=':/'))")
-              printf '%s\t%s\n' "$ENCODED_URL" "${DEST_DIR}/${warp}" >> "$DOWNLOAD_LIST"
-            done
-          fi
        }

        echo "$MODELS_JSON" | jq -c '.[]' | while IFS= read -r model; do
@@ -188,7 +188,7 @@ jobs:
          if [ "${{ inputs.target_hardware }}" == "chestnut" ]; then
            echo "CHESTNUT build"
            export CHESTNUT=1
-            TG_FLAGS="DEBUG=1 DEV=USB+AMD:LLVM FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2 TC_OCCUPANCY_OPT=1"
+            TG_FLAGS="DEBUG=1 DEV=USB+AMD:LLVM WARP_DEV=QCOM FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2"
            OUTPUT_PKL="${{ env.MODELS_DIR }}/big_driving_tinygrad.pkl"
          else
            echo "QCOM build"
@@ -216,9 +216,6 @@ jobs:
    needs: [ prepare_strategy ]
    runs-on: ubuntu-24.04
    if: ${{ needs.prepare_strategy.outputs.include_big_model == 'true' }}
-    concurrency:
-      group: prepare-chestnut
-      cancel-in-progress: false
    outputs:
      onnx_sha256: ${{ steps.resolve.outputs.onnx_sha256 }}
    env:
@@ -231,10 +228,8 @@ jobs:
        run: |
          REF="${{ github.head_ref || github.ref_name }}"

-          BLOB_SHA=$(gh api "repos/${GH_REPO}/contents/openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx?ref=${REF}" --jq '.sha')
-          ONNX_HASH=$(gh api "repos/${GH_REPO}/git/blobs/${BLOB_SHA}" --jq '.content' | base64 -d | grep '^oid sha256:' | cut -d: -f2)
+          ONNX_HASH=$(gh api "repos/${GH_REPO}/contents/openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx?ref=${REF}" --jq '.content' | base64 -d | grep '^oid sha256:' | cut -d: -f2)
          echo "ONNX hash: $ONNX_HASH"
-          [ -n "$ONNX_HASH" ] || { echo "::error::Failed to extract ONNX hash"; exit 1; }
          echo "onnx_sha256=$ONNX_HASH" >> $GITHUB_OUTPUT

          TINYGRAD_REF=$(gh api "repos/${GH_REPO}/contents/tinygrad_repo?ref=${REF}" --jq '.sha')
@@ -243,7 +238,7 @@ jobs:
          JSON_URL="https://huggingface.co/datasets/${HF_REPO}/resolve/main/${HF_DEFAULTS_PATH}/default_models.json"

          check_defaults() {
-            DEFAULTS=$(curl -fsSL "${JSON_URL}?t=$(date +%s)" 2>/dev/null) || return 1
+            DEFAULTS=$(curl -fsSL "$JSON_URL" 2>/dev/null) || return 1
            TINYGRAD_MATCH=$(echo "$DEFAULTS" | jq -r --arg ref "$TINYGRAD_REF" '.tinygrad_ref == $ref' 2>/dev/null)
            [ "$TINYGRAD_MATCH" = "true" ] || return 1
            BUNDLE=$(echo "$DEFAULTS" | jq --arg hash "$ONNX_HASH" '.bundles[] | select(.onnx_sha256 == $hash)' 2>/dev/null)
@@ -257,35 +252,18 @@ jobs:

          echo "No matching model on HF — dispatching build"
          gh workflow run build-default-models.yaml --ref "$REF" -f target=big
-          sleep 10

-          BUILD_RUN_ID=$(gh run list --workflow build-default-models.yaml --branch "$REF" --limit 1 --json databaseId --jq '.[0].databaseId')
-          echo "Dispatched build run: $BUILD_RUN_ID"
-
-          echo "Waiting for build run to complete..."
+          echo "Polling HF for big model availability..."
          for i in $(seq 1 90); do
            sleep 30
-            STATUS=$(gh api "repos/${GH_REPO}/actions/runs/${BUILD_RUN_ID}" --jq '.status')
-            CONCLUSION=$(gh api "repos/${GH_REPO}/actions/runs/${BUILD_RUN_ID}" --jq '.conclusion')
-            echo "Poll $i/90: status=$STATUS conclusion=$CONCLUSION"
-            if [ "$STATUS" = "completed" ]; then
-              if [ "$CONCLUSION" = "success" ]; then
-                echo "Build run succeeded, verifying HF..."
-                sleep 10
-                if check_defaults; then
-                  echo "Big model verified on HF"
-                  exit 0
-                fi
-                echo "::error::Build succeeded but model not found on HF"
-                exit 1
-              else
-                echo "::error::Build run failed with conclusion=$CONCLUSION"
-                exit 1
-              fi
+            if check_defaults; then
+              echo "Big model available on HF after $((i * 30))s"
+              exit 0
            fi
+            echo "Poll $i/90: not yet available"
          done

-          echo "::error::Build run did not complete within 45 minutes"
+          echo "::error::Big model not available on HF after 45 minutes"
          exit 1
        env:
          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
@@ -299,9 +277,6 @@ jobs:
  prepare_small_model:
    needs: [ prepare_strategy ]
    runs-on: ubuntu-24.04
-    concurrency:
-      group: prepare-small-model
-      cancel-in-progress: false
    outputs:
      driving_onnx_sha256: ${{ steps.resolve.outputs.driving_onnx_sha256 }}
    env:
@@ -314,10 +289,8 @@ jobs:
        run: |
          REF="${{ github.head_ref || github.ref_name }}"

-          BLOB_SHA=$(gh api "repos/${GH_REPO}/contents/openpilot/selfdrive/modeld/models/driving_supercombo.onnx?ref=${REF}" --jq '.sha')
-          DRIVING_HASH=$(gh api "repos/${GH_REPO}/git/blobs/${BLOB_SHA}" --jq '.content' | base64 -d | grep '^oid sha256:' | cut -d: -f2)
+          DRIVING_HASH=$(gh api "repos/${GH_REPO}/contents/openpilot/selfdrive/modeld/models/driving_supercombo.onnx?ref=${REF}" --jq '.content' | base64 -d | grep '^oid sha256:' | cut -d: -f2)
          echo "Driving ONNX hash: $DRIVING_HASH"
-          [ -n "$DRIVING_HASH" ] || { echo "::error::Failed to extract driving ONNX hash"; exit 1; }
          echo "driving_onnx_sha256=$DRIVING_HASH" >> $GITHUB_OUTPUT

          TINYGRAD_REF=$(gh api "repos/${GH_REPO}/contents/tinygrad_repo?ref=${REF}" --jq '.sha')
@@ -326,7 +299,7 @@ jobs:
          JSON_URL="https://huggingface.co/datasets/${HF_REPO}/resolve/main/${HF_DEFAULTS_PATH}/default_models.json"

          check_defaults() {
-            DEFAULTS=$(curl -fsSL "${JSON_URL}?t=$(date +%s)" 2>/dev/null) || return 1
+            DEFAULTS=$(curl -fsSL "$JSON_URL" 2>/dev/null) || return 1
            TINYGRAD_MATCH=$(echo "$DEFAULTS" | jq -r --arg ref "$TINYGRAD_REF" '.tinygrad_ref == $ref' 2>/dev/null)
            [ "$TINYGRAD_MATCH" = "true" ] || return 1
            DRIVING=$(echo "$DEFAULTS" | jq --arg hash "$DRIVING_HASH" '.bundles[] | select(.onnx_sha256 == $hash)' 2>/dev/null)
@@ -340,35 +313,18 @@ jobs:

          echo "No matching model on HF — dispatching build"
          gh workflow run build-default-models.yaml --ref "$REF" -f target=small
-          sleep 10

-          BUILD_RUN_ID=$(gh run list --workflow build-default-models.yaml --branch "$REF" --limit 1 --json databaseId --jq '.[0].databaseId')
-          echo "Dispatched build run: $BUILD_RUN_ID"
-
-          echo "Waiting for build run to complete..."
+          echo "Polling HF for model availability..."
          for i in $(seq 1 60); do
            sleep 30
-            STATUS=$(gh api "repos/${GH_REPO}/actions/runs/${BUILD_RUN_ID}" --jq '.status')
-            CONCLUSION=$(gh api "repos/${GH_REPO}/actions/runs/${BUILD_RUN_ID}" --jq '.conclusion')
-            echo "Poll $i/60: status=$STATUS conclusion=$CONCLUSION"
-            if [ "$STATUS" = "completed" ]; then
-              if [ "$CONCLUSION" = "success" ]; then
-                echo "Build run succeeded, verifying HF..."
-                sleep 10
-                if check_defaults; then
-                  echo "Small model verified on HF"
-                  exit 0
-                fi
-                echo "::error::Build succeeded but model not found on HF"
-                exit 1
-              else
-                echo "::error::Build run failed with conclusion=$CONCLUSION"
-                exit 1
-              fi
+            if check_defaults; then
+              echo "Model available on HF after $((i * 30))s"
+              exit 0
            fi
+            echo "Poll $i/60: not yet available"
          done

-          echo "::error::Small model build did not complete within 30 minutes"
+          echo "::error::Small driving model not available on HF after 30 minutes"
          exit 1
        env:
          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
@@ -382,9 +338,6 @@ jobs:
  prepare_dm_model:
    needs: [ prepare_strategy ]
    runs-on: ubuntu-24.04
-    concurrency:
-      group: prepare-dm-model
-      cancel-in-progress: false
    outputs:
      dm_onnx_sha256: ${{ steps.resolve.outputs.dm_onnx_sha256 }}
    env:
@@ -397,10 +350,8 @@ jobs:
        run: |
          REF="${{ github.head_ref || github.ref_name }}"

-          BLOB_SHA=$(gh api "repos/${GH_REPO}/contents/openpilot/selfdrive/modeld/models/dmonitoring_model.onnx?ref=${REF}" --jq '.sha')
-          DM_HASH=$(gh api "repos/${GH_REPO}/git/blobs/${BLOB_SHA}" --jq '.content' | base64 -d | grep '^oid sha256:' | cut -d: -f2)
+          DM_HASH=$(gh api "repos/${GH_REPO}/contents/openpilot/selfdrive/modeld/models/dmonitoring_model.onnx?ref=${REF}" --jq '.content' | base64 -d | grep '^oid sha256:' | cut -d: -f2)
          echo "DM ONNX hash: $DM_HASH"
-          [ -n "$DM_HASH" ] || { echo "::error::Failed to extract DM ONNX hash"; exit 1; }
          echo "dm_onnx_sha256=$DM_HASH" >> $GITHUB_OUTPUT

          TINYGRAD_REF=$(gh api "repos/${GH_REPO}/contents/tinygrad_repo?ref=${REF}" --jq '.sha')
@@ -409,7 +360,7 @@ jobs:
          JSON_URL="https://huggingface.co/datasets/${HF_REPO}/resolve/main/${HF_DEFAULTS_PATH}/default_models.json"

          check_defaults() {
-            DEFAULTS=$(curl -fsSL "${JSON_URL}?t=$(date +%s)" 2>/dev/null) || return 1
+            DEFAULTS=$(curl -fsSL "$JSON_URL" 2>/dev/null) || return 1
            TINYGRAD_MATCH=$(echo "$DEFAULTS" | jq -r --arg ref "$TINYGRAD_REF" '.tinygrad_ref == $ref' 2>/dev/null)
            [ "$TINYGRAD_MATCH" = "true" ] || return 1
            DM=$(echo "$DEFAULTS" | jq --arg hash "$DM_HASH" '.bundles[] | select(.onnx_sha256 == $hash)' 2>/dev/null)
@@ -423,35 +374,18 @@ jobs:

          echo "No matching DM model on HF — dispatching build"
          gh workflow run build-default-models.yaml --ref "$REF" -f target=dm
-          sleep 10

-          BUILD_RUN_ID=$(gh run list --workflow build-default-models.yaml --branch "$REF" --limit 1 --json databaseId --jq '.[0].databaseId')
-          echo "Dispatched build run: $BUILD_RUN_ID"
-
-          echo "Waiting for build run to complete..."
+          echo "Polling HF for DM model availability..."
          for i in $(seq 1 60); do
            sleep 30
-            STATUS=$(gh api "repos/${GH_REPO}/actions/runs/${BUILD_RUN_ID}" --jq '.status')
-            CONCLUSION=$(gh api "repos/${GH_REPO}/actions/runs/${BUILD_RUN_ID}" --jq '.conclusion')
-            echo "Poll $i/60: status=$STATUS conclusion=$CONCLUSION"
-            if [ "$STATUS" = "completed" ]; then
-              if [ "$CONCLUSION" = "success" ]; then
-                echo "Build run succeeded, verifying HF..."
-                sleep 10
-                if check_defaults; then
-                  echo "DM model verified on HF"
-                  exit 0
-                fi
-                echo "::error::Build succeeded but DM model not found on HF"
-                exit 1
-              else
-                echo "::error::Build run failed with conclusion=$CONCLUSION"
-                exit 1
-              fi
+            if check_defaults; then
+              echo "DM model available on HF after $((i * 30))s"
+              exit 0
            fi
+            echo "Poll $i/60: not yet available"
          done

-          echo "::error::DM model build did not complete within 30 minutes"
+          echo "::error::DM model not available on HF after 30 minutes"
          exit 1
        env:
          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
@@ -227,11 +227,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"SunnylinkEnabled", {PERSISTENT, BOOL, "1"}},
    {"SunnylinkTempFault", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL, "0"}},

-    {"SunnylinkLocalApps", {PERSISTENT, JSON}},
-    {"SunnylinkLocalPairingCode", {CLEAR_ON_MANAGER_START, JSON}},
-    {"SunnylinkLocalDiscoveredApp", {CLEAR_ON_MANAGER_START, JSON}},
-    {"SunnylinkLocalPairingRequest", {CLEAR_ON_MANAGER_START, BOOL}},
-
    // Backup Manager params
    {"BackupManager_CreateBackup", {PERSISTENT, BOOL}},
    {"BackupManager_RestoreVersion", {PERSISTENT, STRING}},
@@ -5,42 +5,22 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 import pyray as rl
-from functools import partial
 from openpilot.cereal import custom
-from openpilot.common.version import sunnylink_consent_version
 from openpilot.selfdrive.ui.sunnypilot.layouts.onboarding import SunnylinkConsentPage
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID
-from openpilot.sunnypilot.sunnylink.athena.local_discovery import latest_discovered_app
-from openpilot.sunnypilot.sunnylink.athena.local_pairing import (
-  LocalApp,
-  arm_pairing,
-  clear_pairing_request,
-  get_local_apps,
-  local_app_display_name,
-  pairing_requested,
-  read_pairing_code,
-  remove_local_app,
-)
 from openpilot.system.ui.lib.application import gui_app, FontWeight, TextAlignment, TextAlignmentVertical
 from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.lib.text_measure import measure_text_cached
-from openpilot.system.ui.lib.wrap_text import wrap_text
-from openpilot.system.ui.sunnypilot.widgets.list_view import ListItemSP, button_item_sp, toggle_item_sp
+from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp
+from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
 from openpilot.system.ui.sunnypilot.widgets.sunnylink_pairing_dialog import SunnylinkPairingDialog
 from openpilot.system.ui.widgets import Widget, DialogResult
-from openpilot.system.ui.widgets.button import ButtonStyle, Button, IconButton
+from openpilot.system.ui.widgets.button import ButtonStyle, Button
 from openpilot.system.ui.widgets.confirm_dialog import alert_dialog, ConfirmDialog
 from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets.list_view import dual_button_item
-from openpilot.system.ui.widgets.network import NavButton
 from openpilot.system.ui.widgets.scroller_tici import Scroller, LineSeparator
-
-MAX_LOCAL_APPS = 4
-
-# Read-only value colors used by the local-mode rows.
-_LOCAL_DISCOVERED_COLOR = rl.Color(170, 170, 170, 255)  # grey: no app in sight
-_LOCAL_ACTIVE_COLOR = rl.Color(0, 255, 0, 255)          # green: discovered / pairing code
+from openpilot.common.version import sunnylink_consent_version


 class SunnylinkHeader(Widget):
@@ -212,15 +192,6 @@ class SunnylinkLayout(Widget):
    self._backup_btn.set_button_style(ButtonStyle.NORMAL)
    self._restore_btn.set_button_style(ButtonStyle.PRIMARY)

-    self._mobile_app_btn = button_item_sp(
-      title=tr("Sunnylink Local Connections"),
-      button_text=tr("CONFIGURE"),
-      description=tr("Manage the mobile app(s) connected over Wi-Fi: pair a new app ") +
-                  tr("or unpair existing ones."),
-      callback=self._open_local_apps,
-    )
-    self._mobile_app_btn.set_visible(lambda: self._sunnylink_enabled)
-
    items = [
      SunnylinkHeader(),
      LineSeparator(),
@@ -231,11 +202,9 @@ class SunnylinkLayout(Widget):
      LineSeparator(),
      self._pair_btn,
      LineSeparator(),
-      self._mobile_app_btn,
-      LineSeparator(),
      self._sunnylink_uploader_toggle,
      LineSeparator(),
-      self._sunnylink_backup_restore_buttons,
+      self._sunnylink_backup_restore_buttons
    ]
    return items

@@ -348,8 +317,6 @@ class SunnylinkLayout(Widget):
      gui_app.push_widget(sl_terms_dlg)
    else:
      ui_state.params.put_bool("SunnylinkEnabled", state)
-      if not state:
-        clear_pairing_request()
      self._update_description(state)

  def _update_description(self, state: bool):
@@ -385,9 +352,6 @@ class SunnylinkLayout(Widget):
    self._pair_btn.action_item.set_text(pair_btn_text)
    self._pair_btn.action_item.set_enabled(self._sunnylink_enabled)

-  def _open_local_apps(self):
-    gui_app.push_widget(SunnylinkLocalAppLayout())
-
  def _render(self, rect):
    self._scroller.render(rect)

@@ -400,157 +364,3 @@ class SunnylinkLayout(Widget):
  def hide_event(self):
    super().hide_event()
    ui_state.sunnylink_state.set_settings_open(False)
-
-
-class SunnylinkLocalAppLayout(Widget):
-
-  def __init__(self):
-    super().__init__()
-    self._local_apps_cache: list[LocalApp] = []
-
-    self._back_button = NavButton(tr("Back"))
-    self._back_button.set_click_callback(gui_app.pop_widget)
-
-    self._pair_app_btn = button_item_sp(
-      title=tr("Pair App"),
-      button_text=tr("PAIR"),
-      description=tr("Open a 5-minute pairing window and show the code to ") +
-                  tr("type into the app. Closing the dialog cancels pairing."),
-      callback=self._show_pairing_code_dialog,
-    )
-
-    self._local_app_rows: list[ListItemSP] = []
-    self._local_app_seps: list[LineSeparator] = []
-    for i in range(MAX_LOCAL_APPS):
-      row = button_item_sp(
-        title=lambda i=i: self._local_app_title(i),
-        button_text=tr("UNPAIR"),
-        description=lambda i=i: self._local_app_endpoint(i),
-        callback=partial(self._unpair_local_app, i),
-      )
-      sep = LineSeparator()
-      row.set_visible(lambda i=i: self._local_row_visible(i))
-      sep.set_visible(lambda i=i: self._local_row_visible(i))
-      self._local_app_rows.append(row)
-      self._local_app_seps.append(sep)
-
-    items = [self._pair_app_btn, LineSeparator()]
-    for row, sep in zip(self._local_app_rows, self._local_app_seps, strict=True):
-      items.extend((row, sep))
-    self._scroller = Scroller(items, line_separator=False, spacing=0)
-
-  def _local_row_visible(self, i: int) -> bool:
-    return i < len(self._local_apps_cache)
-
-  def _local_app_title(self, i: int) -> str:
-    if i >= len(self._local_apps_cache):
-      return ""
-    return local_app_display_name(self._local_apps_cache[i])
-
-  def _local_app_endpoint(self, i: int) -> str:
-    if i >= len(self._local_apps_cache):
-      return ""
-    return self._local_apps_cache[i].endpoint
-
-  def _show_pairing_code_dialog(self):
-    gui_app.push_widget(SunnylinkLocalPairingDialog())
-
-  def _unpair_local_app(self, index: int):
-    apps = self._local_apps_cache
-    if index >= len(apps):
-      return
-    app = apps[index]
-    name = local_app_display_name(app)
-
-    def on_confirm(_dialog_result: int):
-      remove_local_app(app.app_id)
-
-    dialog = ConfirmDialog(
-      text=tr("Unpair") + f" {name}? " + tr("You will need the pairing code again to reconnect it."),
-      confirm_text=tr("Unpair"),
-      callback=on_confirm,
-    )
-    gui_app.push_widget(dialog)
-
-  def _update_state(self):
-    super()._update_state()
-    self._local_apps_cache = get_local_apps()
-
-  def _render(self, rect):
-    self._back_button.set_position(self._rect.x, self._rect.y + 20)
-    self._back_button.render()
-    content_rect = rl.Rectangle(rect.x, rect.y + self._back_button.rect.height + 40,
-                                rect.width, rect.height - self._back_button.rect.height - 40)
-    self._scroller.render(content_rect)
-
-  def show_event(self):
-    super().show_event()
-    self._scroller.show_event()
-
-  def hide_event(self):
-    super().hide_event()
-    self._scroller.hide_event()
-
-
-class SunnylinkLocalPairingDialog(Widget):
-
-  def __init__(self):
-    super().__init__()
-    self._apps_before = len(get_local_apps())
-    arm_pairing()
-    self._close_btn = IconButton(gui_app.texture("icons/close.png", 80, 80))
-    self._close_btn.set_click_callback(self._cancel)
-
-  def _cancel(self):
-    clear_pairing_request()
-    gui_app.pop_widget()
-
-  def _update_state(self):
-    if len(get_local_apps()) > self._apps_before:
-      gui_app.pop_widget()  # paired — window already cleared
-    elif not pairing_requested():
-      gui_app.pop_widget()  # window expired
-
-  def _render(self, rect) -> int:
-    rl.clear_background(rl.Color(224, 224, 224, 255))
-
-    margin = 70
-    content_rect = rl.Rectangle(rect.x + margin, rect.y + margin,
-                                rect.width - 2 * margin, rect.height - 2 * margin)
-    y = content_rect.y
-
-    close_size = 80
-    pad = 20
-    close_rect = rl.Rectangle(content_rect.x - pad, y - pad, close_size + pad * 2, close_size + pad * 2)
-    self._close_btn.render(close_rect)
-    y += close_size + 40
-
-    title_font = gui_app.font(FontWeight.NORMAL)
-    title_wrapped = wrap_text(title_font, tr("Pair with mobile app"), 75, int(content_rect.width))
-    rl.draw_text_ex(title_font, "\n".join(title_wrapped), rl.Vector2(content_rect.x, y), 75, 0.0, rl.BLACK)
-    y += len(title_wrapped) * 75 + 40
-
-    code = read_pairing_code() or "—"
-    code_font = gui_app.font(FontWeight.BOLD)
-    code_size = measure_text_cached(code_font, code, 110)
-    rl.draw_text_ex(code_font, code, rl.Vector2(content_rect.x + (content_rect.width - code_size.x) / 2, y),
-                    110, 0.0, rl.BLACK)
-    y += 170
-
-    hint_font = gui_app.font(FontWeight.NORMAL)
-    hint_wrapped = wrap_text(hint_font, tr("Enter this code in the sunnylink app on your phone."), 45,
-                             int(content_rect.width))
-    rl.draw_text_ex(hint_font, "\n".join(hint_wrapped), rl.Vector2(content_rect.x, y), 45, 0.0, rl.BLACK)
-    y += len(hint_wrapped) * 45 + 30
-
-    discovered = latest_discovered_app()
-    if discovered is not None:
-      endpoint, age = discovered
-      status = endpoint if age < 2 else f"{endpoint} ({age}s)"
-      color = _LOCAL_ACTIVE_COLOR
-    else:
-      status = tr("Waiting for the app…")
-      color = _LOCAL_DISCOVERED_COLOR
-    status_font = gui_app.font(FontWeight.NORMAL)
-    rl.draw_text_ex(status_font, status, rl.Vector2(content_rect.x, y), 40, 0.0, color)
-    return -1
@@ -5,34 +5,21 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 import pyray as rl
-from functools import partial
+

 from openpilot.cereal import custom
-from openpilot.common.version import sunnylink_consent_version, sunnylink_consent_declined
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigToggle
-from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialog, BigDialogBase
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialog
 from openpilot.selfdrive.ui.sunnypilot.mici.layouts.onboarding import SunnylinkConsentPage
 from openpilot.selfdrive.ui.sunnypilot.mici.widgets.sunnylink_pairing_dialog import SunnylinkPairingDialog
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID
-from openpilot.sunnypilot.sunnylink.athena.local_discovery import latest_discovered_app
-from openpilot.sunnypilot.sunnylink.athena.local_pairing import (
-  LocalApp,
-  arm_pairing,
-  clear_pairing_request,
-  get_local_apps,
-  local_app_display_name,
-  pairing_requested,
-  read_pairing_code,
-  remove_local_app,
-)
 from openpilot.system.ui.lib.application import gui_app, MousePos, FontWeight
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets.scroller import NavScroller
-
-MAX_LOCAL_APPS = 4
+from openpilot.common.version import sunnylink_consent_version, sunnylink_consent_declined

 class SunnylinkInfo(Widget):
  def __init__(self):
@@ -86,15 +73,11 @@ class SunnylinkLayoutMici(NavScroller):
    self._sunnylink_uploader_toggle = BigToggle(text=tr("sunnylink uploader"), initial_state=False,
                                                toggle_callback=self._sunnylink_uploader_callback)

-    self._mobile_app_btn = BigButton(tr("sunnylink local"), "")
-    self._mobile_app_btn.set_click_callback(lambda: gui_app.push_widget(LocalAppsPanelMici()))
-
    self._scroller.add_widgets([
      self._sunnylink_info,
      self._sunnylink_toggle,
      self._sunnylink_sponsor_button,
      self._sunnylink_pair_button,
-      self._mobile_app_btn,
      self._backup_btn,
      self._restore_btn,
      self._sunnylink_uploader_toggle
@@ -127,7 +110,6 @@ class SunnylinkLayoutMici(NavScroller):
      self._sunnylink_pair_button.set_text(tr("paired"))
    else:
      self._sunnylink_pair_button.set_text(tr("pair"))
-    self._mobile_app_btn.set_visible(self._sunnylink_enabled)

  def show_event(self):
    super().show_event()
@@ -158,8 +140,6 @@ class SunnylinkLayoutMici(NavScroller):
      gui_app.push_widget(sl_terms_dlg)
    else:
      ui_state.params.put_bool("SunnylinkEnabled", state)
-      if not state:
-        clear_pairing_request()

    ui_state.update_params()

@@ -272,108 +252,3 @@ class SunnylinkPairBigButton(BigButton):
      dlg = SunnylinkPairingDialog(sponsor_pairing=False)
    if dlg:
      gui_app.push_widget(dlg)
-
-
-class LocalAppsPanelMici(NavScroller):
-
-  def __init__(self):
-    super().__init__()
-    self._local_apps_cache: list[LocalApp] = []
-
-    self._pair_app_btn = BigButton(tr("pair app"), "")
-    self._pair_app_btn.set_click_callback(lambda: gui_app.push_widget(LocalPairingCodeDialogMici()))
-
-    self._local_app_btns: list[BigButton] = []
-    for i in range(MAX_LOCAL_APPS):
-      btn = BigButton("", "")
-      btn.set_click_callback(partial(self._confirm_unpair_local_app, i))
-      self._local_app_btns.append(btn)
-
-    self._scroller.add_widgets([self._pair_app_btn, *self._local_app_btns])
-
-  def _update_state(self):
-    super()._update_state()
-    self._local_apps_cache = get_local_apps()
-    for i, btn in enumerate(self._local_app_btns):
-      btn.set_visible(i < len(self._local_apps_cache))
-      if i < len(self._local_apps_cache):
-        app = self._local_apps_cache[i]
-        btn.set_text(local_app_display_name(app))
-        btn.set_value(app.endpoint)
-
-  def _confirm_unpair_local_app(self, index: int):
-    apps = self._local_apps_cache
-    if index >= len(apps):
-      return
-    app = apps[index]
-
-    def unpair():
-      remove_local_app(app.app_id)
-
-    icon = gui_app.texture("icons_mici/settings/device/update.png", 64, 64)
-    dlg = BigConfirmationDialog(
-      tr("slide to unpair"),
-      icon,
-      confirm_callback=unpair,
-      red=True,
-    )
-    gui_app.push_widget(dlg)
-
-
-class LocalPairingCodeDialogMici(BigDialogBase):
-
-  def __init__(self):
-    super().__init__()
-    self._apps_before = len(get_local_apps())
-    arm_pairing()
-    self.set_back_callback(clear_pairing_request)
-
-    header_color = rl.Color(255, 255, 255, int(255 * 0.9))
-    subheader_color = rl.Color(255, 255, 255, int(255 * 0.9 * 0.65))
-    self._title = UnifiedLabel(tr("pair with mobile app"), font_size=48, font_weight=FontWeight.BOLD,
-                               text_color=header_color, line_height=0.8)
-    self._code_label = UnifiedLabel("", font_size=110, font_weight=FontWeight.DISPLAY,
-                                    text_color=rl.Color(0, 255, 0, 255))
-    self._hint = UnifiedLabel(tr("enter this code in the sunnylink app"), font_size=32,
-                              text_color=subheader_color, line_height=0.9)
-    self._status = UnifiedLabel("", font_size=28,
-                                text_color=rl.Color(255, 255, 255, int(255 * 0.45)), line_height=0.9)
-
-  def _update_state(self):
-    super()._update_state()
-    if self.is_dismissing:
-      return
-    if len(get_local_apps()) > self._apps_before:
-      self.dismiss()  # paired — window already cleared
-    elif not pairing_requested():
-      self.dismiss()  # window expired
-
-  def _render(self, _):
-    self._code_label.set_text(read_pairing_code() or "—")
-
-    discovered = latest_discovered_app()
-    if discovered is not None:
-      endpoint, age = discovered
-      self._status.set_text(endpoint if age < 2 else f"{endpoint} ({age}s)")
-      self._status.set_text_color(rl.Color(0, 255, 0, 255))
-    else:
-      self._status.set_text(tr("waiting for the app…"))
-      self._status.set_text_color(rl.Color(255, 255, 255, int(255 * 0.45)))
-
-    x = self._rect.x + 20
-    width = int(self._rect.width - 40)
-    self._title.set_max_width(width)
-    self._title.set_position(x, self._rect.y + 40)
-    self._title.render()
-
-    self._code_label.set_max_width(width)
-    self._code_label.set_position(x, self._rect.y + 130)
-    self._code_label.render()
-
-    self._hint.set_max_width(width)
-    self._hint.set_position(x, self._rect.y + 290)
-    self._hint.render()
-
-    self._status.set_max_width(width)
-    self._status.set_position(x, self._rect.y + 360)
-    self._status.render()
@@ -0,0 +1,5 @@
+from pathlib import Path
+
+MODEL_PATH = Path(__file__).parent / 'models/supercombo.onnx'
+MODEL_PKL_PATH = Path(__file__).parent / 'models/supercombo_tinygrad.pkl'
+METADATA_PATH = Path(__file__).parent / 'models/supercombo_metadata.pkl'
@@ -32,7 +32,7 @@ def _patch_tinygrad_fetch_fw():
  helpers.fetch_fw = fetch_fw
 _patch_tinygrad_fetch_fw()

-import openpilot.selfdrive.modeld.compile_modeld as stock
+from openpilot.selfdrive.modeld.compile_modeld import NV12Frame, make_frame_prepare, sample_desire, sample_skip, shift_and_sample
 from tinygrad import dtypes
 from tinygrad.device import Device
 from tinygrad.engine.jit import TinyJit
@@ -41,7 +41,8 @@ from tinygrad.tensor import Tensor
 MODEL_TYPES = ('vision_policy', 'supercombo', 'vision_multi_policy')
 WARP_INPUTS = ['tfm', 'big_tfm']
 POLICY_INPUTS = ['img_q', 'big_img_q', 'feat_q', 'desire_q', 'packed_npy_inputs']
-nv12_copy_size = stock.nv12_copy_size
+WARP_DEV = os.getenv('WARP_DEV')
+

 def _detect_desire_key(shapes: dict) -> str | None:
  return next((key for key in shapes if key.startswith('desire')), None)
@@ -138,7 +139,7 @@ def make_supercombo_input_queues(input_shapes: dict, frame_skip: int,
  return generate_queues_and_npy(input_shapes, frame_skip, device, is_supercombo=True)


-def make_random_images(keys, shape, device, rng=None):
+def make_random_images(keys, shape, device):
  return {k: Tensor.randint(shape, low=0, high=256, dtype=dtypes.uint8, device=device).realize() for k in keys}


@@ -151,9 +152,24 @@ def make_warp_queues(device=Device.DEFAULT):
  return queues, npy


+def make_warp(nv12: NV12Frame, model_w: int, model_h: int):
+  frame_prepare = make_frame_prepare(nv12, model_w, model_h)
+  WARP_DEV = os.getenv('WARP_DEV', Device.DEFAULT)
+
+  def warp(tfm, big_tfm, frame, big_frame):
+    tfm = tfm.to(WARP_DEV)
+    big_tfm = big_tfm.to(WARP_DEV)
+    Tensor.realize(tfm, big_tfm)
+
+    warped_frame = frame_prepare(frame, tfm).unsqueeze(0)
+    warped_big_frame = frame_prepare(big_frame, big_tfm).unsqueeze(0)
+    return Tensor.cat(warped_frame, warped_big_frame)
+  return warp
+
+
 def make_run_policy(vision_runner, policy_runners: list, features_slice: slice, frame_skip: int, input_shapes: dict):
-  sample_skip_fn = partial(stock.sample_skip, frame_skip=frame_skip)
-  sample_desire_fn = partial(stock.sample_desire, frame_skip=frame_skip)
+  sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
+  sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)

  desire_key = _detect_desire_key(input_shapes)
  road_key, wide_key = _detect_vision_keys(input_shapes)
@@ -170,14 +186,14 @@ def make_run_policy(vision_runner, policy_runners: list, features_slice: slice,
    warped_dev = warped.to(Device.DEFAULT)
    Tensor.realize(packed_npy_inputs_dev, warped_dev)

-    img = stock.shift_and_sample(img_q, warped_dev[0:1], sample_skip_fn)
-    big_img = stock.shift_and_sample(big_img_q, warped_dev[1:2], sample_skip_fn)
+    img = shift_and_sample(img_q, warped_dev[0:1], sample_skip_fn)
+    big_img = shift_and_sample(big_img_q, warped_dev[1:2], sample_skip_fn)

    unpacked_tensors = [tensor.reshape(shape) for tensor, shape in zip(packed_npy_inputs_dev.split(npy_sizes), npy_shapes.values(), strict=True)]
    unpacked_dict = dict(zip(npy_shapes.keys(), unpacked_tensors, strict=True))

    desire_dev = unpacked_dict['desire']
-    desire_buf = stock.shift_and_sample(desire_q, desire_dev.reshape(1, 1, -1), sample_desire_fn)
+    desire_buf = shift_and_sample(desire_q, desire_dev.reshape(1, 1, -1), sample_desire_fn)

    inputs = {desire_key: desire_buf}
    for key, tensor_val in unpacked_dict.items():
@@ -186,13 +202,13 @@ def make_run_policy(vision_runner, policy_runners: list, features_slice: slice,

    if 'prev_feat' in unpacked_dict:
      prev_feat_dev = unpacked_dict['prev_feat']
-      inputs['features_buffer'] = stock.shift_and_sample(feat_q, prev_feat_dev.reshape(1, 1, -1), sample_skip_fn).reshape(input_shapes['features_buffer'])
+      inputs['features_buffer'] = shift_and_sample(feat_q, prev_feat_dev.reshape(1, 1, -1), sample_skip_fn).reshape(input_shapes['features_buffer'])

    if vision_runner:
      vision_out_cast = next(iter(vision_runner({road_key: img, wide_key: big_img}).values())).cast('float32').realize()
      if 'features_buffer' not in inputs:
        new_feat = vision_out_cast[:, features_slice].reshape(1, -1).unsqueeze(0)
-        inputs['features_buffer'] = stock.shift_and_sample(feat_q, new_feat, sample_skip_fn).realize()
+        inputs['features_buffer'] = shift_and_sample(feat_q, new_feat, sample_skip_fn).realize()
      policy_outs = [next(iter(pol_runner(inputs).values())).cast('float32').realize() for pol_runner in policy_runners]
      return (vision_out_cast, *policy_outs) if len(policy_outs) > 1 else (vision_out_cast, policy_outs[0])

@@ -203,28 +219,27 @@ def make_run_policy(vision_runner, policy_runners: list, features_slice: slice,
    policy_out = next(iter(policy_runners[0](inputs).values())).cast('float32').realize()
    if 'features_buffer' not in inputs and features_slice is not None:
      new_feat = policy_out[:, features_slice].reshape(1, -1).unsqueeze(0)
-      stock.shift_and_sample(feat_q, new_feat, sample_skip_fn).realize()
+      shift_and_sample(feat_q, new_feat, sample_skip_fn).realize()
    return policy_out

  return run_policy


-def compile_jit(jit, input_keys, make_queues, make_random_inputs=None, benchmark_runs: int = 1):
+def compile_jit(jit, make_random_inputs, input_keys, make_queues):
  SEED = 42
-  def random_inputs_run(fn, seed, n_runs, test_val=None, test_buffers=None, expect_match=True):
-    queues_res = make_queues(Device.DEFAULT)
-    input_queues, npy = queues_res[0], queues_res[1]
-    frame_views = queues_res[2] if len(queues_res) > 2 else {}
+  def random_inputs_run(fn, seed, test_val=None, test_buffers=None, expect_match=True):
+    input_queues, npy = make_queues(Device.DEFAULT)
    rng = np.random.default_rng(seed)
    Tensor.manual_seed(seed)

+    testing = test_val is not None or test_buffers is not None
+    n_runs = 1 if testing else 3
+
    for i in range(n_runs):
      for v in npy.values():
        v[:] = rng.standard_normal(v.shape).astype(v.dtype)
-      for v in frame_views.values():
-        v[:] = rng.integers(0, 256, size=v.shape, dtype=np.uint8)
      Device.default.synchronize()
-      random_inputs = make_random_inputs(rng=rng) if make_random_inputs is not None else {}
+      random_inputs = make_random_inputs()
      st = time.perf_counter()
      outs = fn(**{k: input_queues[k] for k in input_keys if k in input_queues}, **random_inputs)
      mt = time.perf_counter()
@@ -245,15 +260,14 @@ def compile_jit(jit, input_keys, make_queues, make_random_inputs=None, benchmark
    return val, buffers

  print('capture + replay')
-  test_val, test_buffers = random_inputs_run(jit, SEED, 3)
-  print(f'pickle round trip ({benchmark_runs} runs per seed)')
+  test_val, test_buffers = random_inputs_run(jit, SEED)
+  print('pickle round trip')
  with tempfile.TemporaryFile(dir=".") as f:
    dump_oob(jit, f)
    f.seek(0)
-    loaded_jit = load_oob(f)
-  random_inputs_run(loaded_jit, SEED, benchmark_runs, test_val, test_buffers, expect_match=True)
-  random_inputs_run(loaded_jit, SEED+1, benchmark_runs, test_val, test_buffers, expect_match=False)
-  return jit
+    deserialized_jit = load_oob(f)
+  random_inputs_run(deserialized_jit, SEED, test_val=test_val, test_buffers=test_buffers)
+  return deserialized_jit


 def _parse_size(size_str: str) -> tuple[int, int]:
@@ -303,7 +317,6 @@ if __name__ == "__main__":
  parser.add_argument('--model-size', type=_parse_size, required=True, help='model input WxH')
  parser.add_argument('--camera-resolutions', type=_parse_size, nargs='+', required=True)
  parser.add_argument('--frame-skip', type=int, default=None, help='frame skip value (auto-derived if not provided)')
-  parser.add_argument('--benchmark-runs', type=int, default=1, help='benchmark runs')
  parser.add_argument('--output', required=True)

  parser.add_argument('--vision-onnx', help='vision ONNX (for split models)')
@@ -322,64 +335,48 @@ if __name__ == "__main__":
  args.on_policy_onnx = read_file_chunked_to_disk(args.on_policy_onnx)
  args.supercombo_onnx = read_file_chunked_to_disk(args.supercombo_onnx)

-  if args.model_type == 'supercombo':
+  vision_runner = OnnxRunner(args.vision_onnx) if args.vision_onnx else None
+
+  if args.model_type == 'vision_policy':
+    assert vision_runner and args.policy_onnx
+    policy_runners = [OnnxRunner(args.policy_onnx)]
+    output_data['metadata'] = {'vision': make_metadata_dict(args.vision_onnx), 'policy': make_metadata_dict(args.policy_onnx)}
+  elif args.model_type == 'supercombo':
    assert args.supercombo_onnx
-    model_metadata = make_metadata_dict(args.supercombo_onnx)
-    output_data['metadata'] = {'model': model_metadata, **model_metadata}
-    output_data['input_devices'] = {'model': Device.DEFAULT}
-    output_data['run_model'] = {}
-    derived_frame_skip = args.frame_skip or derive_frame_skip({}, model_metadata['input_shapes'])
-    model_runner = OnnxRunner(args.supercombo_onnx)
-    run_policy = stock.make_run_policy(model_runner, model_metadata, derived_frame_skip)
-    for cam_w, cam_h in args.camera_resolutions:
-      print(f"Compiling unified run_model JIT for {cam_w}x{cam_h}...")
-      nv12 = stock.NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
-      frame_copy_size = stock.nv12_copy_size(nv12.stride, nv12.y_height, nv12.uv_height)
-      make_model_queues = partial(stock.make_input_queues, model_metadata['input_shapes'], derived_frame_skip,
-                                  frame_copy_size=frame_copy_size)
-      warp = stock.make_warp(nv12, model_w, model_h)
-      run_model_jit = TinyJit(stock.make_run_model(warp, run_policy, model_metadata, frame_copy_size), prune=True)
-      output_data['run_model'][(cam_w, cam_h)] = compile_jit(run_model_jit, stock.MODELD_INPUTS, make_model_queues, benchmark_runs=args.benchmark_runs)
-  else:
-    vision_runner = OnnxRunner(args.vision_onnx) if args.vision_onnx else None
-    if args.model_type == 'vision_policy':
-      assert vision_runner and args.policy_onnx
-      policy_runners = [OnnxRunner(args.policy_onnx)]
-      output_data['metadata'] = {'vision': make_metadata_dict(args.vision_onnx), 'policy': make_metadata_dict(args.policy_onnx)}
-    elif args.model_type == 'vision_multi_policy':
-      assert vision_runner
-      policy_runners, policy_names = _load_policy_runners(args)
-      output_data['metadata'] = {'vision': make_metadata_dict(args.vision_onnx)}
-      for name in policy_names:
-        runner_arg = getattr(args, f"{name}_onnx")
-        output_data['metadata'][name] = make_metadata_dict(runner_arg)
+    policy_runners = [OnnxRunner(args.supercombo_onnx)]
+    output_data['metadata'] = {'model': make_metadata_dict(args.supercombo_onnx)}
+  elif args.model_type == 'vision_multi_policy':
+    assert vision_runner
+    policy_runners, policy_names = _load_policy_runners(args)
+    output_data['metadata'] = {'vision': make_metadata_dict(args.vision_onnx)}
+    for name in policy_names:
+      runner_arg = getattr(args, f"{name}_onnx")
+      output_data['metadata'][name] = make_metadata_dict(runner_arg)

-    policy_keys = [key for key in output_data['metadata'].keys() if key != 'vision']
-    first_policy_meta = output_data['metadata'][policy_keys[0]] if policy_keys else {}
-    vision_meta = output_data['metadata'].get('vision', {})
+  policy_keys = [key for key in output_data['metadata'].keys() if key != 'vision']
+  first_policy_meta = output_data['metadata'][policy_keys[0]] if policy_keys else {}
+  vision_meta = output_data['metadata'].get('vision', {})

-    derived_frame_skip = args.frame_skip or derive_frame_skip(vision_meta.get('input_shapes', {}), first_policy_meta.get('input_shapes', {}))
-    all_shapes = {key: value for meta in output_data['metadata'].values() for key, value in meta['input_shapes'].items()}
-    feat_meta = output_data['metadata'].get('vision') or output_data['metadata'].get('policy')
-    assert feat_meta is not None
-    features_slice = feat_meta['output_slices']['hidden_state']
+  derived_frame_skip = args.frame_skip or derive_frame_skip(vision_meta.get('input_shapes', {}), first_policy_meta.get('input_shapes', {}))
+  all_shapes = {key: value for meta in output_data['metadata'].values() for key, value in meta['input_shapes'].items()}
+  feat_meta = output_data['metadata'].get('vision') or output_data['metadata'].get('model') or output_data['metadata'].get('policy')
+  assert feat_meta is not None
+  features_slice = feat_meta['output_slices']['hidden_state']
+  is_supercombo = vision_runner is None

-    print(f"Compiling run_policy JIT (model_size={model_w}x{model_h}, frame_skip={derived_frame_skip})...")
-    run_policy_func = make_run_policy(vision_runner, policy_runners, features_slice, derived_frame_skip, all_shapes)
-    run_policy_jit = TinyJit(run_policy_func, prune=True)
-    make_policy_queues = partial(generate_queues_and_npy, all_shapes, derived_frame_skip, is_supercombo=False)
-    make_random_model_inputs = partial(make_random_images, keys=['warped'], shape=(2, 6, model_h // 2, model_w // 2), device=Device.DEFAULT)
-    output_data['run_policy'] = compile_jit(run_policy_jit, POLICY_INPUTS, make_policy_queues, make_random_inputs=make_random_model_inputs)
+  print(f"Compiling run_policy JIT (model_size={model_w}x{model_h}, frame_skip={derived_frame_skip})...")
+  run_policy_func = make_run_policy(vision_runner, policy_runners, features_slice, derived_frame_skip, all_shapes)
+  run_policy_jit = TinyJit(run_policy_func, prune=True)
+  make_policy_queues = partial(generate_queues_and_npy, all_shapes, derived_frame_skip, is_supercombo=is_supercombo)
+  make_random_model_inputs = partial(make_random_images, keys=['warped'], shape=(2, 6, model_h // 2, model_w // 2), device=WARP_DEV)
+  output_data['run_policy'] = compile_jit(run_policy_jit, make_random_model_inputs, POLICY_INPUTS, make_policy_queues)

-    for cam_w, cam_h in args.camera_resolutions:
-      print(f"Compiling warp JIT for {cam_w}x{cam_h}...")
-      nv12 = stock.NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
-      frame_copy_size = stock.nv12_copy_size(nv12.stride, nv12.y_height, nv12.uv_height)
-      make_random_warp_inputs = partial(make_random_images, keys=['frame', 'big_frame'], shape=frame_copy_size, device=Device.DEFAULT)
-      warp = TinyJit(stock.make_warp(nv12, model_w, model_h), prune=True)
-      output_data[(cam_w, cam_h)] = compile_jit(warp, WARP_INPUTS, make_warp_queues, make_random_inputs=make_random_warp_inputs)
-
-    output_data['metadata']['warp_dev'] = Device.DEFAULT
+  for cam_w, cam_h in args.camera_resolutions:
+    print(f"Compiling warp JIT for {cam_w}x{cam_h}...")
+    nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
+    make_random_warp_inputs = partial(make_random_images, keys=['frame', 'big_frame'], shape=nv12.size, device=WARP_DEV)
+    warp = TinyJit(make_warp(nv12, model_w, model_h), prune=True)
+    output_data[(cam_w, cam_h)] = compile_jit(warp, make_random_warp_inputs, WARP_INPUTS, make_warp_queues)

  with open(args.output, "wb") as file:
    dump_oob(output_data, file)
@@ -14,8 +14,6 @@ class ModelConstants:

  # model inputs constants
  MODEL_FREQ = 20
-  MODEL_RUN_FREQ = 20
-  MODEL_CONTEXT_FREQ = 5
  FEATURE_LEN = 512
  FULL_HISTORY_BUFFER_LEN = 99
  DESIRE_LEN = 8
@@ -37,7 +35,6 @@ class ModelConstants:
  LANE_LINES_WIDTH = 2
  ROAD_EDGES_WIDTH = 2
  PLAN_WIDTH = 15
-  ACTION_WIDTH = 2
  DESIRE_PRED_WIDTH = 8
  LAT_PLANNER_SOLUTION_WIDTH = 4
  DESIRED_CURV_WIDTH = 1
@@ -1,9 +1,26 @@
 from openpilot.sunnypilot.modeld_v2.constants import Meta
+from openpilot.cereal import custom
 from openpilot.sunnypilot.modeld_v2.meta_20hz import Meta20hz
 from openpilot.sunnypilot.models.helpers import get_active_bundle

+ModelBundle = custom.ModelManagerSP.ModelBundle
+

 def load_meta_constants():
+  """
+  Determines and loads the appropriate meta model class based on the metadata provided. The function checks
+  specific keys and conditions within the provided metadata dictionary to identify the corresponding meta
+  model class to return.
+
+  :param model_metadata: Dictionary containing metadata about the model. It includes
+      details such as input shapes, output slices, and other configurations for identifying
+      metadata-dependent meta model classes.
+  :type model_metadata: dict
+  :return: The appropriate meta model class (Meta, MetaSimPose, or MetaTombRaider)
+      based on the conditions and metadata provided.
+  :rtype: type
+  """
  if (bundle := get_active_bundle()) and bundle.is20hz:
    return Meta20hz
-  return Meta
+
+  return Meta  # Default
@@ -6,7 +6,6 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """

-from collections.abc import Callable
 import os
 os.environ['GMMU'] = '0'
 import numpy as np
@@ -38,18 +37,11 @@ from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value
 from openpilot.selfdrive.modeld.modeld import ChestnutState

-from openpilot.selfdrive.modeld.compile_modeld import (
-  MODELD_INPUTS,
-  make_input_queues as make_stock_input_queues,
-)
 from openpilot.sunnypilot.modeld_v2.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState, get_curvature_from_output
-from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser
-from openpilot.sunnypilot.modeld_v2.constants import ModelConstants, Plan
+from openpilot.sunnypilot.modeld_v2.constants import Plan
 from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants
 from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelper
-from openpilot.sunnypilot.modeld_v2.compile_modeld import (derive_frame_skip, make_split_input_queues,
-                                                           make_supercombo_input_queues, nv12_copy_size,
-                                                           WARP_INPUTS, POLICY_INPUTS)
+from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, make_split_input_queues, make_supercombo_input_queues, WARP_INPUTS, POLICY_INPUTS
 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
 from openpilot.sunnypilot.models.helpers import get_active_bundle
@@ -118,40 +110,36 @@ class ModelState(ModelStateBase):
    cloudlog.warning(f"loading combined pkl: {pkl_path}")
    jits = load_oob(open_file_chunked(pkl_path))

-    metadata = jits['metadata']
-    self.WARP_DEV = metadata.get('warp_dev', 'QCOM') if COMMA_HARDWARE else 'CPU'
-    self.DEV = ('AMD' if self.chestnut else 'QCOM') if COMMA_HARDWARE else 'CPU'
+    self.WARP_DEV = 'QCOM' if COMMA_HARDWARE else 'CPU'
+    self.DEV = 'AMD' if self.chestnut else self.WARP_DEV
    self.QUEUE_DEV = self.DEV
-    self.is_run_model = 'run_model' in jits
+    metadata = jits['metadata']

-    nv12_info = get_nv12_info(cam_w, cam_h)
-    self.frame_copy_size = nv12_copy_size(*nv12_info[:3])
-    self.full_frames: dict = {}
-    self._blob_cache: dict = {}
-    self.frame_buffers: dict = {}
+    self.is_legacy_model = 'run_policy' not in jits  # remove after next recompile
+    if self.is_legacy_model:
+      self.warp = jits[(cam_w, cam_h)]['warp_enqueue']
+      self.run_policy = jits[(cam_w, cam_h)]['run_policy']
+    else:
+      self.run_policy = jits['run_policy']
+      self.warp = jits[(cam_w, cam_h)]

-    if self.is_run_model or 'model' in metadata:
-      model_metadata = metadata.get('model', metadata)
-      self.input_shapes = model_metadata['input_shapes']
+    if 'model' in metadata:
+      model_metadata = metadata['model']
      self.vision_output_slices = model_metadata['output_slices']
      self.policy_output_slices = {}
      self._policy_slices_list = []
      self._combined_model_type = 'supercombo'
-      self._vision_input_names = [key for key in self.input_shapes if 'img' in key]
-      self.frame_skip = derive_frame_skip({}, self.input_shapes)
-      if self.is_run_model:
-        self.input_queues, self.numpy_inputs, self.frame_buffers = make_stock_input_queues(
-          self.input_shapes, self.frame_skip, device=self.DEV, frame_copy_size=self.frame_copy_size)
-        self.frame_views, self.npy = self.frame_buffers, self.numpy_inputs
-        self.run_model, self.run_policy, self.warp = jits['run_model'][(cam_w, cam_h)], None, None
-      else:
-        self.input_queues, self.numpy_inputs = make_supercombo_input_queues(self.input_shapes, self.frame_skip, device=self.QUEUE_DEV)
-        self.run_model, self.run_policy, self.warp = None, jits['run_policy'], jits[(cam_w, cam_h)]
+      self._vision_input_names = [key for key in model_metadata['input_shapes'] if 'img' in key]
+      frame_skip = derive_frame_skip({}, model_metadata['input_shapes'])
+      self.input_queues, self.numpy_inputs = make_supercombo_input_queues(model_metadata['input_shapes'],
+                                                                          frame_skip, device=self.QUEUE_DEV)
    else:
-      self.run_model, self.run_policy, self.warp = None, jits['run_policy'], jits[(cam_w, cam_h)]
      vision_metadata = metadata['vision']
-      policy_keys = [k for k in metadata if k not in ('vision', 'warp_dev')]
-      self._combined_model_type = 'split' if policy_keys == ['policy'] else 'multi_policy'
+      policy_keys = [k for k in metadata if k != 'vision']
+      if policy_keys == ['policy']:
+        self._combined_model_type = 'split'
+      else:
+        self._combined_model_type = 'multi_policy'
      self.vision_output_slices = vision_metadata['output_slices']
      self._policy_keys = policy_keys
      self._policy_slices_list = [metadata[k]['output_slices'] for k in policy_keys]
@@ -167,39 +155,54 @@ class ModelState(ModelStateBase):
    self._desire_key = next(key for key in self.numpy_inputs if key.startswith('desire'))
    self._road_key = next(key for key in self._vision_input_names if 'big' not in key)
    self._wide_key = next(key for key in self._vision_input_names if 'big' in key)
-    self.frame_buf_params = dict.fromkeys(self._vision_input_names, nv12_info)

    is_20hz = bundle.is20hz if bundle else self._combined_model_type in ('split', 'multi_policy')
    if is_20hz:
      from openpilot.sunnypilot.models.split_model_constants import SplitModelConstants
      self.constants = SplitModelConstants()
    else:
+      from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
      self.constants = ModelConstants()

-    self.parser = Parser()
-    self.prev_desire = np.zeros(self.constants.DESIRE_LEN, dtype=np.float32)
+    if self._combined_model_type != 'supercombo':
+      from openpilot.sunnypilot.modeld_v2.parse_model_outputs_split import Parser as SplitParser
+      self.parser = SplitParser()
+    else:
+      from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser as CombinedParser
+      self.parser = CombinedParser()

-    if self.warp is not None:
-      self.full_frames = {k: Tensor(np.zeros(nv12_info[3], dtype=np.uint8), device=self.WARP_DEV).contiguous().realize() for k in self._vision_input_names}
-      self.warp(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=self.full_frames[self._road_key], big_frame=self.full_frames[self._wide_key])
+    self.prev_desire = np.zeros(self.constants.DESIRE_LEN, dtype=np.float32)
+    self.full_frames: dict = {}
+    self._blob_cache: dict = {}
+    nv12_info = get_nv12_info(cam_w, cam_h)
+    self.frame_buf_params = dict.fromkeys(self._vision_input_names, nv12_info)
+
+    yuv_size = self.frame_buf_params[self._road_key][3]
+    frame_tensor = Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.WARP_DEV).contiguous().realize()
+    big_frame_tensor = Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.WARP_DEV).contiguous().realize()
+
+    if self.is_legacy_model: # Remove this conditional hack after recompile
+      self.warp(**self.input_queues, frame=frame_tensor, big_frame=big_frame_tensor)
+    else:
+      self.warp(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=frame_tensor, big_frame=big_frame_tensor)

  def warmup(self) -> None:
-    dummy_size = self.frame_copy_size if self.is_run_model else self.frame_buf_params[self._road_key][3]
-    dummy_frames = {k: np.zeros(dummy_size, dtype=np.uint8) for k in self._vision_input_names}
+    dummy_frames = {k: np.zeros(self.frame_buf_params[k][3], dtype=np.uint8) for k in self._vision_input_names}
    transforms = {k: np.eye(3, dtype=np.float32) for k in [self._road_key, self._wide_key] if k}
-    dummy_inputs = {k: np.zeros(v.shape, dtype=v.dtype) for k, v in self.numpy_inputs.items() if k not in ['tfm', 'big_tfm', 'prev_feat']}
-    self.run(dummy_frames, transforms, dummy_inputs)
-    if self.is_run_model:
-      self.input_queues, self.numpy_inputs, self.frame_buffers = make_stock_input_queues(
-        self.input_shapes, self.frame_skip, device=self.DEV, frame_copy_size=self.frame_copy_size)
-      self.frame_views = self.frame_buffers
-      self.npy = self.numpy_inputs
-    else:
-      for v in self.numpy_inputs.values():
-        v[:] = 0
-      self.full_frames.clear()
-      self._blob_cache.clear()
+
+    dummy_inputs = {}
+    for k, v in self.numpy_inputs.items():
+      if k not in ['tfm', 'big_tfm', 'prev_feat']:
+        dummy_inputs[k] = np.zeros(v.shape, dtype=v.dtype)
+
+    self.run(dummy_frames, transforms, dummy_inputs, prepare_only=False)
+
+    for v in self.numpy_inputs.values():
+      v[:] = 0
    self.prev_desire[:] = 0
+    self.full_frames.clear()
+    self._blob_cache.clear()
+

  @property
  def mlsim(self) -> bool:
@@ -214,50 +217,45 @@ class ModelState(ModelStateBase):
    return self._desire_key

  def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
-          inputs: dict[str, np.ndarray],
-          after_enqueue: Callable[[], None] | None = None) -> dict[str, np.ndarray] | None:
-    if self.is_run_model:
-      for key, buf in bufs.items():
-        data = buf.data if hasattr(buf, 'data') else buf
-        np.copyto(self.frame_buffers[key], np.frombuffer(data, dtype=np.uint8, count=self.frame_copy_size))
-    else:
-      for key, buf in bufs.items():
-        ptr = np.frombuffer(buf.data, dtype=np.uint8).ctypes.data
-        cache_key = (key, ptr)
-        if cache_key not in self._blob_cache:
-          self._blob_cache[cache_key] = Tensor.from_blob(ptr, (self.frame_buf_params[key][3],), dtype='uint8', device=self.WARP_DEV)
-        self.full_frames[key] = self._blob_cache[cache_key]
+                inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
+    for key in bufs.keys():
+      ptr = np.frombuffer(bufs[key].data, dtype=np.uint8).ctypes.data
+      yuv_size = self.frame_buf_params[key][3]
+      cache_key = (key, ptr)
+      if cache_key not in self._blob_cache:
+        self._blob_cache[cache_key] = Tensor.from_blob(ptr, (yuv_size,), dtype='uint8', device=self.WARP_DEV)
+      self.full_frames[key] = self._blob_cache[cache_key]

    desire_key = self.desire_key
    inputs[desire_key][0] = 0
    self.numpy_inputs[desire_key][:] = np.where(inputs[desire_key] - self.prev_desire > .99, inputs[desire_key], 0)
    self.prev_desire[:] = inputs[desire_key]
-
    for key in ('traffic_convention', 'lateral_control_params', 'action_t'):
      if key in self.numpy_inputs and key in inputs:
        self.numpy_inputs[key][:] = inputs[key]

-    self.numpy_inputs['tfm'][:, :] = transforms[self._road_key].reshape(3, 3)
-    self.numpy_inputs['big_tfm'][:, :] = transforms[self._wide_key].reshape(3, 3)
+    road_key = self._road_key
+    wide_key = self._wide_key
+    self.numpy_inputs['tfm'][:, :] = transforms[road_key].reshape(3, 3)
+    self.numpy_inputs['big_tfm'][:, :] = transforms[wide_key].reshape(3, 3)

-    if self.run_model is not None:
-      outs, = self.run_model(**{k: self.input_queues[k] for k in MODELD_INPUTS})
-      raw_outputs = outs
+    if self.is_legacy_model:  # remove after next recompile
+      if prepare_only:
+        self.warp(**self.input_queues, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key])
+        return None
+      raw_outputs = self.run_policy(**self.input_queues, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key])
    else:
-      assert self.warp is not None and self.run_policy is not None
-      warped = self.warp(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=self.full_frames[self._road_key], big_frame=self.full_frames[self._wide_key])
+      if prepare_only:
+        self.warp(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key])
+        return None
+      warped = self.warp(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key])
      raw_outputs = self.run_policy(**{k: self.input_queues[k] for k in POLICY_INPUTS if k in self.input_queues}, warped=warped)

-    if after_enqueue is not None:
-      after_enqueue()
-
    if self._combined_model_type == 'supercombo':
      model_output = raw_outputs.numpy().flatten()
-      if self.chestnut and not np.all(np.isfinite(model_output)):
-        raise RuntimeError("model output not finite")
      sliced = {k: model_output[np.newaxis, v] for k, v in self.vision_output_slices.items()}
      outputs = self.parser.parse_outputs(sliced)
-      if 'prev_feat' in self.numpy_inputs and 'hidden_state' in self.vision_output_slices:
+      if 'prev_feat' in self.numpy_inputs:
        self.numpy_inputs['prev_feat'][:] = model_output[self.vision_output_slices['hidden_state']]
    else:
      vision_output = raw_outputs[0].numpy().flatten()
@@ -287,6 +285,9 @@ class ModelState(ModelStateBase):
      buf[0, :-1] = buf[0, 1:]
      buf[0, -1, :] = outputs['desired_curvature'][0, :] if not self.mlsim else 0

+    if self.chestnut and not np.all(np.isfinite(outputs.get('plan', np.array([0.])))):
+      raise RuntimeError("model output not finite")
+
    return outputs

  def get_action_from_model(self, model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
@@ -372,11 +373,7 @@ def main(demo=False):
    loader.start()
    loader.join(BIG_MODEL_TIMEOUT)
    model = big_model
-    if model is None:
-      params.put_bool("ChestnutModelError", True)
    params.put_bool("ChestnutActive", model is not None)
-    if model is not None:
-      params.remove("ChestnutModelError")

  small_model = ModelState(cam_w=vipc_client_main.width, cam_h=vipc_client_main.height, chestnut=False) if model is None or CHESTNUT else None
  if model is None:
@@ -490,6 +487,9 @@ def main(demo=False):
    run_count = run_count + 1

    frame_drop_ratio = frames_dropped / (1 + frames_dropped)
+    prepare_only = vipc_dropped_frames > 0
+    if prepare_only:
+      cloudlog.error(f"skipping model eval. Dropped {vipc_dropped_frames} frames")

    bufs = {name: buf_extra if 'big' in name else buf_main for name in model.vision_input_names}
    transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.vision_input_names}
@@ -512,14 +512,11 @@ def main(demo=False):

    mt1 = time.perf_counter()
    try:
-      send_chestnut = (chestnut_state is not None and
-                       run_count % round(model.constants.MODEL_FREQ / SERVICE_LIST['chestnutState'].frequency) == 0)
-      model_output = model.run(bufs, transforms, inputs, chestnut_state.send if send_chestnut else None)
+      model_output = model.run(bufs, transforms, inputs, prepare_only)
    except Exception:
      if not params.get_bool("ChestnutActive"):
        raise
      cloudlog.exception("chestnut failed, falling back to small")
-      params.put_bool("ChestnutModelError", True)
      params.put_bool("ChestnutActive", False)
      assert small_model is not None
      model = small_model
@@ -562,6 +559,9 @@ def main(demo=False):
      pm.send('modelDataV2SP', mdv2sp_send)
    last_vipc_frame_id = meta_main.frame_id

+    if chestnut_state is not None and run_count % round(model.constants.MODEL_FREQ / SERVICE_LIST['chestnutState'].frequency) == 0:
+      chestnut_state.send()
+
 if __name__ == "__main__":
  try:
    import argparse
@@ -115,41 +115,22 @@ class Parser:
    outs[name + '_stds'] = pred_std_final.reshape(final_shape)

  def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
-    if 'plan' in outs:
-      self.parse_mdn('plan', outs, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
-    if 'planplus' in outs:
-      self.parse_mdn('planplus', outs, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
-    if 'lane_lines' in outs:
-      self.parse_mdn('lane_lines', outs, out_shape=(ModelConstants.NUM_LANE_LINES, ModelConstants.IDX_N, ModelConstants.LANE_LINES_WIDTH))
-    if 'road_edges' in outs:
-      self.parse_mdn('road_edges', outs, out_shape=(ModelConstants.NUM_ROAD_EDGES, ModelConstants.IDX_N, ModelConstants.LANE_LINES_WIDTH))
-    if 'pose' in outs:
-      self.parse_mdn('pose', outs, out_shape=(ModelConstants.POSE_WIDTH,))
-    if 'road_transform' in outs:
-      self.parse_mdn('road_transform', outs, out_shape=(ModelConstants.POSE_WIDTH,))
+    # supercombo (4955 / 102) and newer variants (e.g. 990 / 144).
+    self.parse_mdn('plan',   outs, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
+    self.parse_mdn('lane_lines', outs, out_shape=(ModelConstants.NUM_LANE_LINES, ModelConstants.IDX_N, ModelConstants.LANE_LINES_WIDTH))
+    self.parse_mdn('road_edges', outs, out_shape=(ModelConstants.NUM_ROAD_EDGES, ModelConstants.IDX_N, ModelConstants.LANE_LINES_WIDTH))
+    self.parse_mdn('pose',         outs, out_shape=(ModelConstants.POSE_WIDTH,))
+    self.parse_mdn('road_transform', outs, out_shape=(ModelConstants.POSE_WIDTH,))
    if 'sim_pose' in outs:
      self.parse_mdn('sim_pose', outs, out_shape=(ModelConstants.POSE_WIDTH,))
-    if 'wide_from_device_euler' in outs:
-      self.parse_mdn('wide_from_device_euler', outs, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
-    if 'lead' in outs:
-      self.parse_mdn('lead', outs, out_shape=(ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH))
+    self.parse_mdn('wide_from_device_euler', outs, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
+    self.parse_mdn('lead', outs, out_shape=(ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH))
    if 'lat_planner_solution' in outs:
      self.parse_mdn('lat_planner_solution', outs, out_shape=(ModelConstants.IDX_N, ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
    if 'desired_curvature' in outs:
      self.parse_mdn('desired_curvature', outs, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
-    if 'action' in outs:
-      self.parse_mdn('action', outs, out_shape=(ModelConstants.ACTION_WIDTH,))
    for k in ['lead_prob', 'lane_lines_prob', 'meta']:
-      if k in outs:
-        self.parse_binary_crossentropy(k, outs)
-    if 'desire_state' in outs:
-      self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
-    if 'desire_pred' in outs:
-      self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN, ModelConstants.DESIRE_PRED_WIDTH))
+      self.parse_binary_crossentropy(k, outs)
+    self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
+    self.parse_categorical_crossentropy('desire_pred',  outs, out_shape=(ModelConstants.DESIRE_PRED_LEN, ModelConstants.DESIRE_PRED_WIDTH))
    return outs
-
-  def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
-    return self.parse_outputs(outs)
-
-  def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
-    return self.parse_outputs(outs)
@@ -0,0 +1,159 @@
+import numpy as np
+from openpilot.sunnypilot.models.split_model_constants import SplitModelConstants
+
+
+def safe_exp(x, out=None):
+  # -11 is around 10**14, more causes float16 overflow
+  return np.exp(np.clip(x, -np.inf, 11), out=out)
+
+
+def sigmoid(x):
+  return 1. / (1. + safe_exp(-x))
+
+
+def softmax(x, axis=-1):
+  x -= np.max(x, axis=axis, keepdims=True)
+  if x.dtype == np.float32 or x.dtype == np.float64:
+    safe_exp(x, out=x)
+  else:
+    x = safe_exp(x)
+  x /= np.sum(x, axis=axis, keepdims=True)
+  return x
+
+
+class Parser:
+  def __init__(self, ignore_missing=False):
+    self.ignore_missing = ignore_missing
+
+  def check_missing(self, outs, name):
+    if name not in outs and not self.ignore_missing:
+      raise ValueError(f"Missing output {name}")
+    return name not in outs
+
+  def parse_categorical_crossentropy(self, name, outs, out_shape=None):
+    if self.check_missing(outs, name):
+      return
+    raw = outs[name]
+    if out_shape is not None:
+      raw = raw.reshape((raw.shape[0],) + out_shape)
+    outs[name] = softmax(raw, axis=-1)
+
+  def parse_binary_crossentropy(self, name, outs):
+    if self.check_missing(outs, name):
+      return
+    raw = outs[name]
+    outs[name] = sigmoid(raw)
+
+  def parse_mdn(self, name, outs, in_N=0, out_N=1, out_shape=None):
+    if self.check_missing(outs, name):
+      return
+    raw = outs[name]
+    raw = raw.reshape((raw.shape[0], max(in_N, 1), -1))
+
+    n_values = (raw.shape[2] - out_N)//2
+    pred_mu = raw[:,:,:n_values]
+    pred_std = safe_exp(raw[:,:,n_values: 2*n_values])
+
+    if in_N > 1:
+      weights = np.zeros((raw.shape[0], in_N, out_N), dtype=raw.dtype)
+      for i in range(out_N):
+        weights[:,:,i - out_N] = softmax(raw[:,:,i - out_N], axis=-1)
+
+      if out_N == 1:
+        for fidx in range(weights.shape[0]):
+          idxs = np.argsort(weights[fidx][:,0])[::-1]
+          weights[fidx] = weights[fidx][idxs]
+          pred_mu[fidx] = pred_mu[fidx][idxs]
+          pred_std[fidx] = pred_std[fidx][idxs]
+      assert out_shape is not None
+      full_shape = tuple([raw.shape[0], in_N] + list(out_shape))
+      outs[name + '_weights'] = weights
+      outs[name + '_hypotheses'] = pred_mu.reshape(full_shape)
+      outs[name + '_stds_hypotheses'] = pred_std.reshape(full_shape)
+
+      pred_mu_final = np.zeros((raw.shape[0], out_N, n_values), dtype=raw.dtype)
+      pred_std_final = np.zeros((raw.shape[0], out_N, n_values), dtype=raw.dtype)
+      for fidx in range(weights.shape[0]):
+        for hidx in range(out_N):
+          idxs = np.argsort(weights[fidx,:,hidx])[::-1]
+          pred_mu_final[fidx, hidx] = pred_mu[fidx, idxs[0]]
+          pred_std_final[fidx, hidx] = pred_std[fidx, idxs[0]]
+    else:
+      pred_mu_final = pred_mu
+      pred_std_final = pred_std
+
+    if out_N > 1:
+      assert out_shape is not None
+      final_shape = tuple([raw.shape[0], out_N] + list(out_shape))
+    else:
+      assert out_shape is not None
+      final_shape = tuple([raw.shape[0],] + list(out_shape))
+    outs[name] = pred_mu_final.reshape(final_shape)
+    outs[name + '_stds'] = pred_std_final.reshape(final_shape)
+
+  def is_mhp(self, outs, name, shape):
+    if self.check_missing(outs, name):
+      return False
+    if outs[name].shape[1] == 2 * shape:
+      return False
+    return True
+
+  def parse_dynamic_outputs(self, outs: dict[str, np.ndarray]) -> None:
+    if 'lead' in outs:
+      lead_mhp = self.is_mhp(outs, 'lead',
+                             SplitModelConstants.LEAD_MHP_SELECTION * SplitModelConstants.LEAD_TRAJ_LEN * SplitModelConstants.LEAD_WIDTH)
+      lead_in_N, lead_out_N = (SplitModelConstants.LEAD_MHP_N, SplitModelConstants.LEAD_MHP_SELECTION) if lead_mhp else (0, 0)
+      lead_out_shape = (SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH) if lead_mhp else \
+        (SplitModelConstants.LEAD_MHP_SELECTION, SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH)
+      self.parse_mdn('lead', outs, in_N=lead_in_N, out_N=lead_out_N, out_shape=lead_out_shape)
+    if 'plan' in outs:
+      plan_mhp = self.is_mhp(outs, 'plan', SplitModelConstants.IDX_N * SplitModelConstants.PLAN_WIDTH)
+      plan_in_N, plan_out_N = (SplitModelConstants.PLAN_MHP_N, SplitModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
+      self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N,
+                     out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH))
+    if 'planplus' in outs:
+      self.parse_mdn('planplus', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH))
+
+  def split_outputs(self, outs: dict[str, np.ndarray]) -> None:
+    if 'desired_curvature' in outs:
+      self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.DESIRED_CURV_WIDTH,))
+    if 'desire_pred' in outs:
+      self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(SplitModelConstants.DESIRE_PRED_LEN,SplitModelConstants.DESIRE_PRED_WIDTH))
+    if 'desire_state' in outs:
+      self.parse_categorical_crossentropy('desire_state', outs, out_shape=(SplitModelConstants.DESIRE_PRED_WIDTH,))
+    if 'lane_lines' in outs:
+      self.parse_mdn('lane_lines', outs, in_N=0, out_N=0,
+                     out_shape=(SplitModelConstants.NUM_LANE_LINES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
+    if 'lane_lines_prob' in outs:
+      self.parse_binary_crossentropy('lane_lines_prob', outs)
+    if 'lead_prob' in outs:
+      self.parse_binary_crossentropy('lead_prob', outs)
+    if 'lat_planner_solution' in outs:
+      self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.IDX_N,SplitModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
+    if 'meta' in outs:
+      self.parse_binary_crossentropy('meta', outs)
+    if 'road_edges' in outs:
+      self.parse_mdn('road_edges', outs, in_N=0, out_N=0,
+                     out_shape=(SplitModelConstants.NUM_ROAD_EDGES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
+    if 'sim_pose' in outs:
+      self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
+    if 'action' in outs:
+      self.parse_mdn('action', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.ACTION_WIDTH,))
+
+  def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
+    self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
+    self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.WIDE_FROM_DEVICE_WIDTH,))
+    self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
+    self.parse_dynamic_outputs(outs)
+    self.split_outputs(outs)
+    return outs
+
+  def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
+    self.parse_dynamic_outputs(outs)
+    self.split_outputs(outs)
+    return outs
+
+  def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
+    outs = self.parse_vision_outputs(outs)
+    outs = self.parse_policy_outputs(outs)
+    return outs
@@ -117,7 +117,7 @@ ARCHETYPES = {
    is_20hz=True,
    expected_model_type='split',
    expected_constants_class=SplitModelConstants,
-    expected_parser_module='parse_model_outputs',
+    expected_parser_module='parse_model_outputs_split',
    expected_desire_key='desire',
  ),
  'vision_multi_policy': Archetype(
@@ -130,7 +130,7 @@ ARCHETYPES = {
    is_20hz=True,
    expected_model_type='multi_policy',
    expected_constants_class=SplitModelConstants,
-    expected_parser_module='parse_model_outputs',
+    expected_parser_module='parse_model_outputs_split',
    expected_desire_key='desire',
  ),
  'tri_policy': Archetype(
@@ -144,7 +144,7 @@ ARCHETYPES = {
    is_20hz=True,
    expected_model_type='multi_policy',
    expected_constants_class=SplitModelConstants,
-    expected_parser_module='parse_model_outputs',
+    expected_parser_module='parse_model_outputs_split',
    expected_desire_key='desire',
  ),
  'supercombo_non20hz': Archetype(
@@ -103,23 +103,6 @@ class TestStockEquivalence(OpenpilotTestCase):
    assert state.vision_output_slices == arch.metadata_structure['vision']['output_slices']
    assert state.policy_output_slices == arch.metadata_structure['policy']['output_slices']

-  def test_unified_run_model(self, tmp_path, monkeypatch, patch_modeld):
-    from openpilot.common.hardware import hw
-    from openpilot.selfdrive.modeld.helpers import dump_oob
-    shapes = {'img': (1, 12, 128, 256), 'big_img': (1, 12, 128, 256), 'features_buffer': (1, 24, 32, 512),
-              'desire_pulse': (1, 25, 8), 'traffic_convention': (1, 2), 'action_t': (1, 2)}
-    pkl_data = {'metadata': {'model': {'input_shapes': shapes, 'output_slices': {}}},
-                'run_model': {(CAM_W, CAM_H): tests_helpers._noop_jit}}
-    with open(tmp_path / 'driving_test_tinygrad.pkl', 'wb') as f:
-      dump_oob(pkl_data, f)
-    bundle = DummyBundle(models=[DummyModel('supercombo', 'driving_test_tinygrad.pkl')])
-    patch_modeld(bundle)
-    monkeypatch.setattr(hw.Paths, 'model_root', staticmethod(lambda: str(tmp_path)))
-    state = ModelState(cam_w=CAM_W, cam_h=CAM_H)
-    assert state.is_run_model and state.run_model is not None
-    assert state.run_policy is None and state.warp is None
-    assert 'img' in state.frame_views and 'big_img' in state.frame_views
-

 ARCHETYPE_NAMES = list(ARCHETYPES.keys())

@@ -1,81 +0,0 @@
-import numpy as np
-from openpilot.common.test import OpenpilotTestCase
-from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
-from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser, _infer_mhp, sigmoid, softmax
-
-
-class TestParseModelOutputs(OpenpilotTestCase):
-  def test_infer_mhp_lead(self):
-    in_hypotheses, out_selections = _infer_mhp(102, 24)
-    assert in_hypotheses == 2
-    assert out_selections == 3
-
-  def test_infer_mhp_plan(self):
-    in_hypotheses, out_selections = _infer_mhp(4955, 495)
-    assert in_hypotheses == 5
-    assert out_selections == 1
-
-  def test_infer_mhp_non_mdn(self):
-    in_hypotheses, out_selections = _infer_mhp(48, 24)
-    assert in_hypotheses == 1
-    assert out_selections == 0
-
-  def test_check_missing_raises(self):
-    parser = Parser(ignore_missing=False)
-    with self.assertRaises(ValueError):
-      parser.check_missing({}, "missing_key")
-
-  def test_check_missing_ignored(self):
-    parser = Parser(ignore_missing=True)
-    assert parser.check_missing({}, "missing_key") is True
-
-  def test_binary_crossentropy(self):
-    parser = Parser()
-    raw_logits = np.array([[-10.0, 0.0, 10.0]], dtype=np.float32)
-    outs = {"meta": raw_logits.copy()}
-    parser.parse_binary_crossentropy("meta", outs)
-    expected_probabilities = sigmoid(raw_logits)
-    np.testing.assert_allclose(outs["meta"], expected_probabilities, rtol=1e-5, atol=1e-6)
-
-  def test_categorical_crossentropy(self):
-    parser = Parser()
-    raw_logits = np.array([[1.0, 2.0, 3.0]], dtype=np.float32)
-    outs = {"desire_state": raw_logits.copy()}
-    parser.parse_categorical_crossentropy("desire_state", outs)
-    expected_probabilities = softmax(raw_logits)
-    np.testing.assert_allclose(outs["desire_state"], expected_probabilities, rtol=1e-5, atol=1e-6)
-
-  def test_parse_vision_outputs(self):
-    parser = Parser()
-    pose_raw = np.zeros((1, ModelConstants.POSE_WIDTH * 2), dtype=np.float32)
-    road_transform_raw = np.zeros((1, ModelConstants.POSE_WIDTH * 2), dtype=np.float32)
-    lead_raw = np.zeros((1, 102), dtype=np.float32)
-    meta_raw = np.zeros((1, 55), dtype=np.float32)
-    vision_outputs = {"pose": pose_raw, "road_transform": road_transform_raw, "lead": lead_raw, "meta": meta_raw}
-    parsed = parser.parse_vision_outputs(vision_outputs)
-    assert "pose" in parsed
-    assert "road_transform" in parsed
-    assert "lead" in parsed
-    assert "meta" in parsed
-    assert parsed["pose"].shape == (1, ModelConstants.POSE_WIDTH)
-    assert parsed["lead"].shape == (1, ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH)
-
-  def test_parse_policy_outputs(self):
-    parser = Parser()
-    plan_raw = np.zeros((1, 4955), dtype=np.float32)
-    desire_state_raw = np.zeros((1, ModelConstants.DESIRE_PRED_WIDTH), dtype=np.float32)
-    action_raw = np.zeros((1, ModelConstants.ACTION_WIDTH * 2), dtype=np.float32)
-    policy_outputs = {"plan": plan_raw, "desire_state": desire_state_raw, "action": action_raw}
-    parsed = parser.parse_policy_outputs(policy_outputs)
-    assert parsed["plan"].shape == (1, ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH)
-    assert parsed["action"].shape == (1, ModelConstants.ACTION_WIDTH)
-    assert parsed["desire_state"].shape == (1, ModelConstants.DESIRE_PRED_WIDTH)
-
-  def test_parse_outputs_combined(self):
-    parser = Parser()
-    outputs = {"plan": np.zeros((1, 4955), dtype=np.float32), "pose": np.zeros((1, ModelConstants.POSE_WIDTH * 2),
-               dtype=np.float32), "meta": np.zeros((1, 55), dtype=np.float32)}
-    parsed = parser.parse_outputs(outputs)
-    assert parsed["plan"].shape == (1, ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH)
-    assert parsed["pose"].shape == (1, ModelConstants.POSE_WIDTH)
-    assert parsed["meta"].shape == (1, 55)
@@ -0,0 +1,121 @@
+import numpy as np
+
+def index_function(idx, max_val=192, max_idx=32):
+  return max_val * ((idx/max_idx)**2)
+
+
+class ModelConstants:
+  # time and distance indices
+  IDX_N = 33
+  T_IDXS = [index_function(idx, max_val=10.0) for idx in range(IDX_N)]
+  X_IDXS = [index_function(idx, max_val=192.0) for idx in range(IDX_N)]
+  LEAD_T_IDXS = [0., 2., 4., 6., 8., 10.]
+  LEAD_T_OFFSETS = [0., 2., 4.]
+  META_T_IDXS = [2., 4., 6., 8., 10.]
+
+  # model inputs constants
+  MODEL_FREQ = 20
+  FEATURE_LEN = 512
+  HISTORY_BUFFER_LEN = 99
+  DESIRE_LEN = 8
+  TRAFFIC_CONVENTION_LEN = 2
+  NAV_FEATURE_LEN = 256
+  NAV_INSTRUCTION_LEN = 150
+  LAT_PLANNER_STATE_LEN = 4
+  LATERAL_CONTROL_PARAMS_LEN = 2
+  PREV_DESIRED_CURV_LEN = 1
+
+  # model outputs constants
+  FCW_THRESHOLDS_5MS2 = np.array([.05, .05, .15, .15, .15], dtype=np.float32)
+  FCW_THRESHOLDS_3MS2 = np.array([.7, .7], dtype=np.float32)
+  FCW_5MS2_PROBS_WIDTH = 5
+  FCW_3MS2_PROBS_WIDTH = 2
+
+  DISENGAGE_WIDTH = 5
+  POSE_WIDTH = 6
+  WIDE_FROM_DEVICE_WIDTH = 3
+  SIM_POSE_WIDTH = 6
+  LEAD_WIDTH = 4
+  LANE_LINES_WIDTH = 2
+  ROAD_EDGES_WIDTH = 2
+  PLAN_WIDTH = 15
+  DESIRE_PRED_WIDTH = 8
+  LAT_PLANNER_SOLUTION_WIDTH = 4
+  DESIRED_CURV_WIDTH = 1
+
+  NUM_LANE_LINES = 4
+  NUM_ROAD_EDGES = 2
+
+  LEAD_TRAJ_LEN = 6
+  DESIRE_PRED_LEN = 4
+
+  PLAN_MHP_N = 5
+  LEAD_MHP_N = 2
+  PLAN_MHP_SELECTION = 1
+  LEAD_MHP_SELECTION = 3
+
+  FCW_THRESHOLD_5MS2_HIGH = 0.15
+  FCW_THRESHOLD_5MS2_LOW = 0.05
+  FCW_THRESHOLD_3MS2 = 0.7
+
+  CONFIDENCE_BUFFER_LEN = 5
+  RYG_GREEN = 0.01165
+  RYG_YELLOW = 0.06157
+
+  POLY_PATH_DEGREE = 4
+
+
+# model outputs slices
+class Plan:
+  POSITION = slice(0, 3)
+  VELOCITY = slice(3, 6)
+  ACCELERATION = slice(6, 9)
+  T_FROM_CURRENT_EULER = slice(9, 12)
+  ORIENTATION_RATE = slice(12, 15)
+
+
+class Meta:
+  ENGAGED = slice(0, 1)
+  # next 2, 4, 6, 8, 10 seconds
+  GAS_DISENGAGE = slice(1, 31, 6)
+  BRAKE_DISENGAGE = slice(2, 31, 6)
+  STEER_OVERRIDE = slice(3, 31, 6)
+  HARD_BRAKE_3 = slice(4, 31, 6)
+  HARD_BRAKE_4 = slice(5, 31, 6)
+  HARD_BRAKE_5 = slice(6, 31, 6)
+  # next 0, 2, 4, 6, 8, 10 seconds
+  GAS_PRESS = slice(31, 55, 4)
+  BRAKE_PRESS = slice(32, 55, 4)
+  LEFT_BLINKER = slice(33, 55, 4)
+  RIGHT_BLINKER = slice(34, 55, 4)
+
+
+class MetaTombRaider:
+  ENGAGED = slice(0, 1)
+  # next 2, 4, 6, 8, 10 seconds
+  GAS_DISENGAGE = slice(1, 41, 8)
+  BRAKE_DISENGAGE = slice(2, 41, 8)
+  STEER_OVERRIDE = slice(3, 41, 8)
+  HARD_BRAKE_3 = slice(4, 41, 8)
+  HARD_BRAKE_4 = slice(5, 41, 8)
+  HARD_BRAKE_5 = slice(6, 41, 8)
+  GAS_PRESS = slice(7, 41, 8)
+  BRAKE_PRESS = slice(8, 41, 8)
+  # next 0, 2, 4, 6, 8, 10 seconds
+  LEFT_BLINKER = slice(41, 53, 2)
+  RIGHT_BLINKER = slice(42, 53, 2)
+
+
+class MetaSimPose:
+  ENGAGED = slice(0, 1)
+  # next 2, 4, 6, 8, 10 seconds
+  GAS_DISENGAGE = slice(1, 36, 7)
+  BRAKE_DISENGAGE = slice(2, 36, 7)
+  STEER_OVERRIDE = slice(3, 36, 7)
+  HARD_BRAKE_3 = slice(4, 36, 7)
+  HARD_BRAKE_4 = slice(5, 36, 7)
+  HARD_BRAKE_5 = slice(6, 36, 7)
+  GAS_PRESS = slice(7, 36, 7)
+  # next 0, 2, 4, 6, 8, 10 seconds
+  LEFT_BLINKER = slice(36, 48, 2)
+  RIGHT_BLINKER = slice(37, 48, 2)
@@ -139,7 +139,7 @@ class ModelCache:
 class ModelFetcher:
  """Handles fetching and caching of model data from remote source"""
  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v22.json"
-  MODEL_URL_CHESTNUT = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_chestnut_v25.json"
+  MODEL_URL_CHESTNUT = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_chestnut_v23.json"

  MODEL_SOURCES = {
    "qcom": (MODEL_URL, ""),
@@ -7,11 +7,14 @@ See the LICENSE.md file in the root directory for more details.

 import hashlib
 import os
+import pickle
+from pathlib import Path
 import numpy as np

 from openpilot.cereal import custom
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
+from openpilot.sunnypilot.models.constants import Meta, MetaSimPose, MetaTombRaider
 from openpilot.common.hardware.hw import Paths
 from openpilot.selfdrive.modeld.helpers import chestnut_present

@@ -19,6 +22,7 @@ from openpilot.selfdrive.modeld.helpers import chestnut_present
 REQUIRED_JSON_VERSION = 19

 CUSTOM_MODEL_PATH = Paths.model_root()
+METADATA_PATH = Path(__file__).parent / '../models/supercombo_metadata.pkl'
 ModelManager = custom.ModelManagerSP

 ACTIVE_BUNDLE_KEYS = {
@@ -197,6 +201,33 @@ def _get_model():
  return None


+def load_metadata():
+  metadata_path = METADATA_PATH
+
+  with open(metadata_path, 'rb') as f:
+    return pickle.load(f)
+
+
+def prepare_inputs(model_metadata: dict) -> dict[str, np.ndarray]:
+  return {
+    key: np.zeros(shape, dtype=np.float32).flatten()
+    for key, shape in model_metadata['input_shapes'].items()
+    if 'img' not in key
+  }
+
+
+def load_meta_constants(model_metadata: dict):
+  """ Loads the appropriate meta model class based on key shapes"""
+  if 'sim_pose' in model_metadata['input_shapes']:
+    return MetaSimPose
+
+  meta_slice = model_metadata['output_slices']['meta']
+  if (meta_slice.start, meta_slice.stop, meta_slice.step) == (5868, 5921, None):
+    return MetaTombRaider
+
+  return Meta
+
+
 # The following method(s) are modeld helper methods
 def plan_x_idxs_helper(constants, plan, model_output) -> list[float]:
  # times at X_IDXS according to plan.
@@ -1,261 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-from __future__ import annotations
-
-import json
-import socket
-import threading
-import time
-from collections.abc import Callable
-from dataclasses import dataclass
-
-from openpilot.common.params import Params
-from openpilot.common.swaglog import cloudlog
-
-from openpilot.sunnypilot.sunnylink.athena.local_pairing import (
-  BEACON_PREFIX,
-  DISCOVERED_APP_KEY,
-  SUNNYLINK_LOCAL_UDP_PORT,
-  format_endpoint,
-  get_local_apps,
-  pairing_requested,
-  update_local_app_endpoint,
-)
-
-LOCAL_BEACON_FRESH_S = 30
-
-@dataclass
-class AppBeacon:
-  """A parsed app beacon — the app announcing it is acting as the local backend."""
-  app_id: str
-  ws_port: int
-  source_ip: str
-
-  @property
-  def endpoint(self) -> str:
-    return format_endpoint(self.source_ip, self.ws_port)
-
-
-def parse_beacon(raw: str | bytes, source_ip: str = "") -> AppBeacon | None:
-  """
-  Parse one UDP beacon line from the app.
-
-  Wire format: `SUNNYLINK1 {"v":1,"role":"app","app_id":"<uuid>","ws_port":8443}`
-  Returns None for anything else. Beacons carry ids + addresses only — no secrets.
-  """
-  if isinstance(raw, bytes):
-    raw = raw.decode("utf-8", errors="replace")
-  raw = raw.strip()
-  if not raw.startswith(BEACON_PREFIX + " "):
-    return None
-  try:
-    data = json.loads(raw[len(BEACON_PREFIX) + 1:])
-  except ValueError:
-    return None
-  if not isinstance(data, dict):
-    return None
-  if data.get("role") != "app" or data.get("v") != 1:
-    return None
-  app_id = data.get("app_id")
-  ws_port = data.get("ws_port")
-  if not isinstance(app_id, str) or not app_id:
-    return None
-  if not isinstance(ws_port, int) or not (0 < ws_port <= 65535):
-    return None
-  return AppBeacon(app_id=app_id, ws_port=ws_port, source_ip=source_ip)
-
-
-class LocalDiscovery(threading.Thread):
-  """
-  Passive UDP listener
-
-  - While a pairing window is armed: track the freshest app beacon so the
-    daemon can offer pairing to a NEW app, and mirror it into a status param
-    for the settings UI.
-  - Independently of any window: a beacon from an app ALREADY in the paired
-    registry refreshes its cached endpoint — IPs are not identity, the app can
-    move between networks.
-  """
-
-  def __init__(self, params: Params | None = None, port: int = SUNNYLINK_LOCAL_UDP_PORT,
-               sock: socket.socket | None = None, write_interval_s: float = 5.0,
-               paired_refresh_cb: Callable[[AppBeacon], None] | None = None):
-    super().__init__(name="local_discovery_listener", daemon=True)
-    self.params = params or Params()
-    self.port = port
-    self._sock = sock
-    self.paired_refresh_cb = paired_refresh_cb
-    self._latest_endpoint: str | None = None
-    self._latest_app_id: str | None = None
-    self._last_seen_monotonic: float = 0.0
-    self._latest_paired_endpoint: str | None = None
-    self._latest_paired_app_id: str | None = None
-    self._last_paired_seen_monotonic: float = 0.0
-    self._lock = threading.Lock()
-    self._stop_event = threading.Event()
-    self.write_interval_s = write_interval_s
-    self._last_write_monotonic = 0.0
-    self._last_written_endpoint: str | None = None
-    self._last_written_app_id: str | None = None
-    self._discovered_cleared = False
-
-  def stop(self) -> None:
-    self._stop_event.set()
-    if self._sock is not None:
-      try:
-        self._sock.close()
-      except OSError:
-        pass
-
-  def latest_endpoint(self) -> str | None:
-    """The most recently announced app endpoint (None outside a pairing window)."""
-    with self._lock:
-      return self._latest_endpoint
-
-  def latest_app_id(self) -> str | None:
-    """The app_id of the most recently announced beacon (None outside a window)."""
-    with self._lock:
-      return self._latest_app_id
-
-  def last_seen_ago(self) -> float | None:
-    """Seconds since the last app beacon was heard (None when none heard yet)."""
-    with self._lock:
-      if self._last_seen_monotonic == 0.0:
-        return None
-      return time.monotonic() - self._last_seen_monotonic
-
-  def latest_paired_endpoint(self) -> str | None:
-    """The freshest beacon endpoint announced by an ALREADY-PAIRED."""
-    with self._lock:
-      return self._latest_paired_endpoint
-
-  def latest_paired_app_id(self) -> str | None:
-    """The app_id of the freshest paired-app beacon (None until one is heard)."""
-    with self._lock:
-      return self._latest_paired_app_id
-
-  def latest_paired_seen_ago(self) -> float | None:
-    """Seconds since the freshest paired-app beacon was heard (None when none)."""
-    with self._lock:
-      if self._last_paired_seen_monotonic == 0.0:
-        return None
-      return time.monotonic() - self._last_paired_seen_monotonic
-
-  def _handle(self, raw: bytes, source_ip: str) -> None:
-    beacon = parse_beacon(raw, source_ip)
-    if beacon is None:
-      return
-    if pairing_requested(self.params):
-      with self._lock:
-        self._latest_endpoint = beacon.endpoint
-        self._latest_app_id = beacon.app_id
-        self._last_seen_monotonic = time.monotonic()
-      self._write_discovered_param(beacon)
-      cloudlog.debug(f"local_discovery.app_found {beacon.app_id} at {beacon.endpoint}")
-    else:
-      with self._lock:
-        self._latest_endpoint = None
-        self._latest_app_id = None
-        self._last_seen_monotonic = 0.0
-      self._clear_discovered_param()
-    self._maybe_refresh_paired_app(beacon)
-
-  def _maybe_refresh_paired_app(self, beacon: AppBeacon) -> None:
-    """Refresh a paired app's registry endpoint from its beacon."""
-
-    if not any(app.app_id == beacon.app_id for app in get_local_apps(self.params)):
-      return
-    with self._lock:
-      self._latest_paired_endpoint = beacon.endpoint
-      self._latest_paired_app_id = beacon.app_id
-      self._last_paired_seen_monotonic = time.monotonic()
-    if update_local_app_endpoint(beacon.app_id, beacon.endpoint, self.params):
-      cloudlog.debug(f"local_discovery.paired_refresh {beacon.app_id} -> {beacon.endpoint}")
-    if self.paired_refresh_cb is not None:
-      try:
-        self.paired_refresh_cb(beacon)
-      except Exception:
-        cloudlog.exception("local_discovery.paired_refresh_cb.exception")
-
-  def _clear_discovered_param(self) -> None:
-    if self._discovered_cleared:
-      return
-    self._discovered_cleared = True
-    try:
-      self.params.remove(DISCOVERED_APP_KEY)
-    except Exception:
-      cloudlog.exception("local_discovery.param_clear.exception")
-
-  def _write_discovered_param(self, beacon: AppBeacon) -> None:
-    """Mirror the freshest beacon into a param the settings UI can read."""
-    now = time.monotonic()
-    changed = beacon.endpoint != self._last_written_endpoint or beacon.app_id != self._last_written_app_id
-    if not changed and now - self._last_write_monotonic < self.write_interval_s:
-      return
-    self._last_write_monotonic = now
-    self._last_written_endpoint = beacon.endpoint
-    self._last_written_app_id = beacon.app_id
-    self._discovered_cleared = False
-    payload = {
-      "endpoint": beacon.endpoint,
-      "app_id": beacon.app_id,
-      "ts": int(time.monotonic()),
-    }
-    try:
-      self.params.put(DISCOVERED_APP_KEY, payload, block=True)
-    except Exception:
-      cloudlog.exception("local_discovery.param_write.exception")
-
-  def _bind(self) -> socket.socket:
-    if self._sock is not None:
-      return self._sock
-    sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
-    sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
-    sock.bind(("0.0.0.0", self.port))
-    sock.settimeout(0.5)
-    return sock
-
-  def run(self) -> None:
-    sock = self._bind()
-    try:
-      while not self._stop_event.is_set():
-        try:
-          data, addr = sock.recvfrom(4096)
-          self._handle(data, addr[0] if len(addr) > 0 else "")
-        except TimeoutError:
-          continue
-        except OSError:
-          # Socket closed by stop() — exit quietly.
-          if self._stop_event.is_set():
-            break
-          cloudlog.exception("local_discovery.recv.exception")
-          break
-    finally:
-      try:
-        sock.close()
-      except OSError:
-        pass
-
-
-def latest_discovered_app(params: Params | None = None,
-                          fresh_s: float = LOCAL_BEACON_FRESH_S) -> tuple[str, int] | None:
-  params = params or Params()
-  data = params.get(DISCOVERED_APP_KEY)
-  if not isinstance(data, dict):
-    return None
-  endpoint = str(data.get("endpoint", ""))
-  try:
-    ts = int(data.get("ts") or 0)
-  except (ValueError, TypeError):
-    return None
-  if not endpoint or ts <= 0:
-    return None
-  age = time.monotonic() - ts
-  # Negative age = written before the last reboot (monotonic restarts at boot).
-  if age < 0 or age > fresh_s:
-    return None
-  return endpoint, max(0, int(age))
@@ -1,257 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-from __future__ import annotations
-
-import secrets
-import threading
-import time
-from dataclasses import asdict, dataclass
-from datetime import datetime, UTC
-from typing import Any
-from collections.abc import Callable
-
-from openpilot.common.params import Params
-from openpilot.common.swaglog import cloudlog
-
-SUNNYLINK_LOCAL_UDP_PORT = 53133
-SUNNYLINK_LOCAL_WS_PORT = 8443
-
-LOCAL_APPS_KEY = "SunnylinkLocalApps"
-PAIRING_CODE_KEY = "SunnylinkLocalPairingCode"
-PAIRING_REQUEST_KEY = "SunnylinkLocalPairingRequest"
-DISCOVERED_APP_KEY = "SunnylinkLocalDiscoveredApp"
-
-PAIRING_CODE_LENGTH = 6
-PAIRING_CODE_ALPHABET = "0123456789"
-DEFAULT_CODE_ROTATION_S = 10 * 60  # re-roll the displayed code every 10 min
-PAIRING_WINDOW_S = 5 * 60
-
-BEACON_PREFIX = "SUNNYLINK1"
-
-
-@dataclass
-class LocalApp:
-  """One app paired with this device (the app runs the local "backend")."""
-  app_id: str
-  endpoint: str
-  app_name: str = ""
-  alias: str = ""
-  paired_at: int = 0  # epoch seconds
-
-  @staticmethod
-  def from_dict(data: dict[str, Any]) -> LocalApp:
-    return LocalApp(
-      app_id=str(data.get("app_id", "")),
-      endpoint=str(data.get("endpoint", "")),
-      app_name=str(data.get("app_name", "")),
-      alias=str(data.get("alias", "")),
-      paired_at=int(data.get("paired_at") or 0),
-    )
-
-
-def local_app_display_name(app: LocalApp) -> str:
-  return app.alias or app.app_name or app.app_id
-
-
-def is_locally_paired(params: Params | None = None) -> bool:
-  return len(get_local_apps(params)) > 0
-
-
-def get_local_apps(params: Params | None = None) -> list[LocalApp]:
-  """The paired-app registry (a JSON list persisted in `SunnylinkLocalApps`)."""
-  params = params or Params()
-  data = params.get(LOCAL_APPS_KEY)
-  if not isinstance(data, list):
-    return []
-  return [LocalApp.from_dict(item) for item in data if isinstance(item, dict) and item.get("app_id")]
-
-
-def _save_local_apps(apps: list[LocalApp], params: Params | None = None) -> None:
-  params = params or Params()
-  if apps:
-    params.put(LOCAL_APPS_KEY, [asdict(app) for app in apps], block=True)
-  else:
-    params.remove(LOCAL_APPS_KEY)
-
-
-def add_local_app(app: LocalApp, params: Params | None = None) -> None:
-  """Append (or update by app_id) and persist."""
-  if not app.paired_at:
-    app.paired_at = int(datetime.now(UTC).replace(tzinfo=None).timestamp())
-  apps = [existing for existing in get_local_apps(params) if existing.app_id != app.app_id]
-  apps.append(app)
-  _save_local_apps(apps, params)
-  cloudlog.event("local_pairing.app_paired", app_id=app.app_id, endpoint=app.endpoint)
-
-
-def update_local_app_endpoint(app_id: str, endpoint: str, params: Params | None = None) -> bool:
-  """Refresh a PAIRED app's cached endpoint from its beacon."""
-  apps = get_local_apps(params)
-  for i, app in enumerate(apps):
-    if app.app_id != app_id or app.endpoint == endpoint:
-      continue
-    apps[i] = LocalApp(app_id=app.app_id, endpoint=endpoint,
-                       app_name=app.app_name, alias=app.alias, paired_at=app.paired_at)
-    _save_local_apps(apps, params)
-    cloudlog.event("local_pairing.app_endpoint_refreshed", app_id=app_id, endpoint=endpoint)
-    return True
-  return False
-
-
-def set_local_app_alias(app_id: str, alias: str, params: Params | None = None) -> bool:
-  apps = get_local_apps(params)
-  for i, app in enumerate(apps):
-    if app.app_id != app_id:
-      continue
-    if app.alias == alias:
-      return False
-    apps[i] = LocalApp(app_id=app.app_id, endpoint=app.endpoint,
-                       app_name=app.app_name, alias=alias, paired_at=app.paired_at)
-    _save_local_apps(apps, params)
-    cloudlog.event("local_pairing.app_alias_updated", app_id=app_id, alias=alias)
-    return True
-  return False
-
-
-def remove_local_app(app_id: str, params: Params | None = None) -> bool:
-  """Unpair an app by id. Returns True when an app was removed."""
-  apps = get_local_apps(params)
-  remaining = [app for app in apps if app.app_id != app_id]
-  if len(remaining) == len(apps):
-    return False
-  _save_local_apps(remaining, params)
-  cloudlog.event("local_pairing.app_unpaired", app_id=app_id)
-  return True
-
-
-def remove_all_local_apps(params: Params | None = None) -> None:
-  """Unpair every app."""
-  _save_local_apps([], params)
-  cloudlog.event("local_pairing.all_apps_unpaired")
-
-
-def generate_pairing_code() -> str:
-  """A 6-digit numeric pairing code."""
-  return "".join(secrets.choice(PAIRING_CODE_ALPHABET) for _ in range(PAIRING_CODE_LENGTH))
-
-
-def _write_pairing_code(code: str, params: Params) -> None:
-  """Persist the code with its armed-at monotonic timestamp — the window is derived from it."""
-  params.put(PAIRING_CODE_KEY, {"code": code, "ts": int(time.monotonic())}, block=True)
-
-
-def read_pairing_code(params: Params | None = None) -> str | None:
-  """The stored pairing code, or None when cleared / not yet generated."""
-  params = params or Params()
-  data = params.get(PAIRING_CODE_KEY)
-  if not isinstance(data, dict):
-    return None
-  code = data.get("code")
-  return str(code) if code else None
-
-
-def get_pairing_code(params: Params | None = None) -> str:
-  """The displayed pairing code, generating and persisting one on first use."""
-  params = params or Params()
-  code = read_pairing_code(params)
-  if code is None:
-    code = generate_pairing_code()
-    _write_pairing_code(code, params)
-  return code
-
-
-def pairing_requested(params: Params | None = None) -> bool:
-  """True while the pairing window is armed and fresh.
-
-  Self-expiring: if the code (which carries the armed-at timestamp) is missing
-  or older than PAIRING_WINDOW_S, the flag is dropped here."""
-  params = params or Params()
-  if not params.get_bool(PAIRING_REQUEST_KEY):
-    return False
-  data = params.get(PAIRING_CODE_KEY)
-  ts = data.get("ts") if isinstance(data, dict) else None
-  if not isinstance(ts, (int, float)):
-    clear_pairing_request(params)
-    return False
-  age = time.monotonic() - ts
-  # Negative age = armed before the last reboot (monotonic restarts at boot).
-  if age < 0 or age > PAIRING_WINDOW_S:
-    clear_pairing_request(params)
-    return False
-  return True
-
-
-def arm_pairing(params: Params | None = None) -> str:
-  """Arm a pairing window and return the code for the app.
-
-  Rolls a fresh code first, then sets the flag, so pairing_requested never
-  sees an armed flag without a valid code."""
-  params = params or Params()
-  code = generate_pairing_code()
-  _write_pairing_code(code, params)
-  params.put_bool(PAIRING_REQUEST_KEY, True, block=True)
-  return code
-
-
-def clear_pairing_request(params: Params | None = None) -> None:
-  """Close the pairing window: drop the request flag and the code together."""
-  params = params or Params()
-  params.remove(PAIRING_REQUEST_KEY)
-  params.remove(PAIRING_CODE_KEY)
-
-
-def verify_pairing_code(code: str, params: Params | None = None) -> bool:
-  """Constant-time check of a code typed into the app against the displayed one."""
-  params = params or Params()
-  current = read_pairing_code(params)
-  if current is None:
-    return False
-  return secrets.compare_digest(str(code).strip().upper(), current)
-
-
-class PairingCodeRotator(threading.Thread):
-  """Re-roll the displayed code while a pairing window is armed; clear it
-  otherwise — the code is never generated outside a window."""
-
-  def __init__(self, params: Params | None = None, rotation_s: float = DEFAULT_CODE_ROTATION_S,
-               stop_event: threading.Event | None = None, tick_cb: Callable[[], None] | None = None):
-    super().__init__(name="local_pairing_code_rotator", daemon=True)
-    self.params = params or Params()
-    self.rotation_s = rotation_s
-    self.stop_event = stop_event or threading.Event()
-    # Test seam: invoked once per loop iteration after state is updated.
-    self.tick_cb = tick_cb
-
-  def rotate(self) -> None:
-    """Re-roll the code while the window is armed, clear it otherwise."""
-    if pairing_requested(self.params):
-      _write_pairing_code(generate_pairing_code(), self.params)
-    else:
-      self.params.remove(PAIRING_CODE_KEY)
-
-  def run(self) -> None:
-    self.rotate()
-    while not self.stop_event.wait(self.rotation_s):
-      try:
-        self.rotate()
-        if self.tick_cb is not None:
-          self.tick_cb()
-      except Exception:
-        cloudlog.exception("local_pairing.code_rotator.exception")
-
-
-def format_endpoint(host: str, ws_port: int = SUNNYLINK_LOCAL_WS_PORT) -> str:
-  return f"ws://{host}:{ws_port}"
-
-
-def local_identity(params: Params | None = None) -> str:
-  """Identity claim on local connections. DongleId always exists on comma
-  hardware (SunnylinkDongleId is "UnregisteredDevice" until cloud
-  registration) and is what the app matches against the backend device list
-  to dedupe cloud + local entries."""
-  params = params or Params()
-  return params.get("DongleId") or params.get("HardwareSerial") or ""
@@ -30,26 +30,10 @@ from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutExce
 import openpilot.cereal.messaging as messaging
 from openpilot.sunnypilot.models.model_name import DEFAULT_MODEL, DEFAULT_BIG_MODEL
 from openpilot.sunnypilot.selfdrive.car.sync_sunnylink_params import update_car_list_param
-from openpilot.system.athena import rpc as rpc_module
 from openpilot.sunnypilot.sunnylink.api import SunnylinkApi
 from openpilot.sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, get_param_as_byte, save_param_from_base64_encoded_string
 from openpilot.sunnypilot.sunnylink.capabilities import generate_capabilities, CAPABILITY_LABELS
 from openpilot.sunnypilot.sunnylink.tools.generate_settings_schema import generate_schema
-from openpilot.sunnypilot.sunnylink.athena.local_discovery import LOCAL_BEACON_FRESH_S, AppBeacon, LocalDiscovery
-from openpilot.sunnypilot.sunnylink.athena.local_pairing import (
-  PAIRING_WINDOW_S,
-  LocalApp,
-  PairingCodeRotator,
-  add_local_app,
-  clear_pairing_request,
-  get_local_apps,
-  is_locally_paired,
-  local_identity,
-  pairing_requested,
-  remove_local_app,
-  set_local_app_alias,
-  verify_pairing_code,
-)

 SUNNYLINK_ATHENA_HOST = os.getenv('SUNNYLINK_ATHENA_HOST', 'wss://athena.sunnylink.ai')
 HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
@@ -58,15 +42,6 @@ SUNNYLINK_LOG_ATTR_NAME = "user.sunny.upload"
 SUNNYLINK_RECONNECT_TIMEOUT_S = 70  # FYI changing this will also would require a change on sidebar.cc
 DISALLOW_LOG_UPLOAD = threading.Event()

-LOCAL_PAIRING_SESSION_TIMEOUT_S = PAIRING_WINDOW_S
-LOCAL_PROBE_INTERVAL_S = 60
-LOCAL_ENDPOINT_BACKOFF_S = 300
-PAIRING_WATCHDOG_INTERVAL_S = 2.0
-
-_active_local_endpoint: str | None = None
-_active_ws: WebSocket | None = None
-_pairing_in_progress = threading.Event()
-
 params = Params()

 # Parameters that should never be remotely modified
@@ -291,302 +266,44 @@ def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local
  return start_local_proxy_shim(global_end_event, local_port, ws)


-@dispatcher.add_method
-def pairLocalApp(code: str, app_id: str = "", app_name: str = "", alias: str = "") -> dict[str, bool | str]:
-  """Complete pairing with the app on the CURRENT local connection."""
-  if _active_local_endpoint is None:
-    return {"success": False, "error": "not connected to a local app"}
-  if not verify_pairing_code(code):
-    cloudlog.warning("sunnylinkd.pairLocalApp.invalid_code")
-    return {"success": False, "error": "invalid code"}
-  add_local_app(LocalApp(app_id=app_id or f"app@{_active_local_endpoint}",
-                         endpoint=_active_local_endpoint, app_name=app_name, alias=alias))
-  clear_pairing_request()
-  return {"success": True}
-
-
-@dispatcher.add_method
-def updateLocalAppAlias(app_id: str, alias: str) -> dict[str, bool | str]:
-  if _active_local_endpoint is None:
-    return {"success": False, "error": "not connected to a local app"}
-  updated = set_local_app_alias(app_id, alias)
-  return {"success": True, "updated": updated}
-
-
-@dispatcher.add_method
-def unpairLocalApp(app_id: str) -> dict[str, bool | str]:
-  if _active_local_endpoint is None:
-    return {"success": False, "error": "not connected to a local app"}
-  removed = remove_local_app(app_id)
-  return {"success": True, "removed": removed}
-
-
-def _auth_header(is_local: bool) -> dict[str, str]:
-  """Bearer header for a dial."""
-  api = SunnylinkApi(params.get("SunnylinkDongleId"))
-  payload = {"identity": local_identity()} if is_local else None
-  return {"Authorization": f"Bearer {api.get_token(payload_extra=payload)}"}
-
-
-def _pairing_session(ws: WebSocket, timeout_s: float = LOCAL_PAIRING_SESSION_TIMEOUT_S) -> bool:
-  """Serve only the pairing RPCs to an app that isn't in the registry yet —
-  everything else is refused. Returns True if pairing completed (the connection may then
-  serve normally)."""
-  cloudlog.info("sunnylinkd.pairing_session.started")
-  ws.settimeout(10)
-  deadline = time.monotonic() + timeout_s
-  try:
-    while time.monotonic() < deadline and pairing_requested():
-      try:
-        raw = ws.recv()  # auto-pongs pings; blocks up to the socket timeout
-      except WebSocketTimeoutException:
-        continue
-      except Exception as e:
-        cloudlog.warning(f"sunnylinkd.pairing_session.{type(e).__name__}")
-        return is_locally_paired()
-      try:
-        msg = rpc_module.loads(raw)
-      except Exception:
-        continue
-      if not rpc_module.is_call(msg):
-        continue
-      if msg.get("method") not in ("pairLocalApp", "unpairLocalApp"):
-        continue  # refuse anything but pairing until paired
-      try:
-        ws.send(rpc_module.handle(msg, dispatcher))
-      except Exception as e:
-        cloudlog.warning(f"sunnylinkd.pairing_session.{type(e).__name__}")
-        return is_locally_paired()
-    return is_locally_paired()
-  finally:
-    ws.settimeout(SUNNYLINK_RECONNECT_TIMEOUT_S)
-
-
-def _pick_ws_uri(discovery: LocalDiscovery, backoffs: dict[str, float]) -> tuple[str, str]:
-  now = time.monotonic()
-  apps = get_local_apps()
-  app_ids = {app.app_id for app in apps}
-  if pairing_requested():
-    latest = discovery.latest_endpoint()
-    seen = discovery.last_seen_ago()
-    app_id = discovery.latest_app_id()
-    if latest is not None and seen is not None and seen <= LOCAL_BEACON_FRESH_S \
-       and app_id is not None and app_id not in app_ids \
-       and backoffs.get(latest, 0.0) <= now:
-      return latest, "pairing_offer"
-    return SUNNYLINK_ATHENA_HOST, "cloud"
-  fresh_endpoint = discovery.latest_paired_endpoint()
-  fresh_seen = discovery.latest_paired_seen_ago()
-  fresh_app_id = discovery.latest_paired_app_id()
-  fresh_ok = (fresh_endpoint is not None and fresh_seen is not None
-              and fresh_seen <= LOCAL_BEACON_FRESH_S and fresh_app_id is not None
-              and fresh_app_id in app_ids)
-  if fresh_ok and backoffs.get(fresh_endpoint, 0.0) <= now:
-    return fresh_endpoint, "paired_local"
-  for app in reversed(apps):
-    if fresh_ok and app.app_id == fresh_app_id:
-      continue
-    if backoffs.get(app.endpoint, 0.0) <= now:
-      return app.endpoint, "paired_local"
-  return SUNNYLINK_ATHENA_HOST, "cloud"
-
-
-def _probe_local_apps(active_ws: WebSocket, discovery: LocalDiscovery,
-                      backoffs: dict[str, float], stop_event: threading.Event) -> None:
-  while not stop_event.wait(LOCAL_PROBE_INTERVAL_S):
-    if pairing_requested():
-      # The pairing watchdog owns an armed window; don't migrate mid-window.
-      continue
-    now = time.monotonic()
-    candidate: str | None = None
-    for app in reversed(get_local_apps()):
-      if backoffs.get(app.endpoint, 0.0) <= now:
-        candidate = app.endpoint
-        break
-    if candidate is None:
-      continue
-    try:
-      probe = create_connection(candidate, header=_auth_header(is_local=True), timeout=10)
-      probe.close()
-    except Exception:
-      backoffs[candidate] = now + LOCAL_ENDPOINT_BACKOFF_S
-      continue
-    cloudlog.event("sunnylinkd.local_probe.reachable", endpoint=candidate)
-    try:
-      active_ws.close()
-    except Exception:
-      pass
-    break
-
-
-def _handle_paired_refresh(backoffs: dict[str, float], force_attempts: dict[str, float],
-                           beacon: AppBeacon) -> None:
-  if not any(app.app_id == beacon.app_id for app in get_local_apps()):
-    return
-  for app in get_local_apps():
-    if app.app_id == beacon.app_id:
-      backoffs.pop(app.endpoint, None)
-  backoffs.pop(beacon.endpoint, None)
-  if _pairing_in_progress.is_set():
-    return
-  if _active_local_endpoint == beacon.endpoint:
-    return
-  if _active_local_endpoint is not None:
-    return
-  now = time.monotonic()
-  if force_attempts.get(beacon.endpoint, 0.0) + LOCAL_BEACON_FRESH_S > now:
-    return
-  force_attempts[beacon.endpoint] = now
-  ws = _active_ws
-  if ws is not None:
-    cloudlog.event("sunnylinkd.paired_refresh.reconnect",
-                   app_id=beacon.app_id, endpoint=beacon.endpoint)
-    try:
-      ws.close()
-    except Exception:
-      pass
-
-
-def _pairing_watchdog(active_ws: WebSocket, backoffs: dict[str, float],
-                      stop_event: threading.Event,
-                      interval_s: float = PAIRING_WATCHDOG_INTERVAL_S) -> None:
-  """Watch for the pairing window being armed mid-session and force a
-  re-selection to the newly-discovered app."""
-  while not stop_event.wait(interval_s):
-    if not pairing_requested():
-      continue
-    cloudlog.event("sunnylinkd.pairing_watchdog.arm_detected")
-    for key in list(backoffs):
-      backoffs.pop(key, None)
-    try:
-      active_ws.close()
-    except Exception:
-      pass
-    break
-
-
 def main(exit_event: threading.Event | None = None):
  try:
    set_core_affinity([0, 1, 2, 3])
  except Exception:
    cloudlog.exception("failed to set core affinity")

-  discovery = LocalDiscovery()
-  code_rotator = PairingCodeRotator()
-  discovery.start()
-  code_rotator.start()
-
-  try:
-    _connection_loop(exit_event, discovery)
-  finally:
-    discovery.stop()
-    code_rotator.stop_event.set()
-
-
-def _serviceable(params: Params) -> bool:
-  """sunnylinkd should run when sunnylink is enabled and not on a temporary
-  fault. This deliberately includes the unregistered/unpaired state so a
-  never-registered device can still be discovered and paired over the LAN (the
-  actual session gates — registration/local pairing — are handled per
-  connection inside the loop)."""
-  return params.get_bool("SunnylinkEnabled") and not params.get_bool("SunnylinkTempFault")
-
-
-def _connection_loop(exit_event: threading.Event | None, discovery: LocalDiscovery) -> None:
-  """Local-first, cloud-fallback connection loop: a paired local endpoint
-  first, cloud when unreachable, and a pairing session to a freshly-discovered
-  app when a window is armed."""
-  global _active_local_endpoint, _active_ws
+  while sunnylink_need_register(params):
+    cloudlog.info("Waiting for sunnylink registration to complete")
+    time.sleep(10)

+  sunnylink_dongle_id = params.get("SunnylinkDongleId")
+  sunnylink_api = SunnylinkApi(sunnylink_dongle_id)
  UploadQueueCache.initialize(upload_queue)
+
  update_car_list_param()

+  ws_uri = f"{SUNNYLINK_ATHENA_HOST}"
  conn_start = None
  conn_retries = 0
-  backoffs: dict[str, float] = {}
-  force_attempts: dict[str, float] = {}
-  discovery.paired_refresh_cb = partial(_handle_paired_refresh, backoffs, force_attempts)
-
-  while (exit_event is None or not exit_event.is_set()) and _serviceable(params):
-    ws_uri, kind = _pick_ws_uri(discovery, backoffs)
-
-    if kind == "cloud" and pairing_requested():
-      cloudlog.debug("sunnylinkd.main.pairing_waiting_for_beacon")
-      time.sleep(3)
-      continue
-
-    if kind == "cloud" and sunnylink_need_register(params):
-      cloudlog.info("Waiting for sunnylink registration or local pairing to complete")
-      time.sleep(10)
-      continue
-
-    if conn_start is None:
-      conn_start = time.monotonic()
-
-    cloudlog.event("sunnylinkd.main.connecting_ws", ws_uri=ws_uri, kind=kind, retries=conn_retries)
+  while (exit_event is None or not exit_event.is_set()) and sunnylink_ready(params):
    try:
+      if conn_start is None:
+        conn_start = time.monotonic()
+
+      cloudlog.event("sunnylinkd.main.connecting_ws", ws_uri=ws_uri, retries=conn_retries)
      ws = create_connection(
        ws_uri,
-        header=_auth_header(is_local=kind != "cloud"),
+        header={"Authorization": f"Bearer {sunnylink_api.get_token()}"},
        enable_multithread=True,
        sslopt={"cert_reqs": ssl.CERT_NONE if "localhost" in ws_uri else ssl.CERT_REQUIRED},
        timeout=SUNNYLINK_RECONNECT_TIMEOUT_S,
      )
-    except Exception as e:
-      if kind != "cloud":
-        backoffs[ws_uri] = time.monotonic() + LOCAL_ENDPOINT_BACKOFF_S
-      conn_retries += 1
-      params.remove("LastSunnylinkPingTime")
-      _log_connection_error(e)
-      time.sleep(backoff(conn_retries))
-      continue
+      cloudlog.event("sunnylinkd.main.connected_ws", ws_uri=ws_uri, retries=conn_retries,
+                     duration=time.monotonic() - conn_start)
+      conn_start = None

-    cloudlog.event("sunnylinkd.main.connected_ws", ws_uri=ws_uri, kind=kind, retries=conn_retries,
-                   duration=time.monotonic() - conn_start)
-    conn_start = None
-    conn_retries = 0
-    cur_upload_items.clear()
-    _active_ws = ws
-
-    probe_stop: threading.Event | None = None
-    watch_stop: threading.Event | None = None
-    session_endpoint: str | None = ws_uri if kind != "cloud" else None
-    try:
-      if kind == "pairing_offer":
-        _active_local_endpoint = ws_uri
-        _pairing_in_progress.set()
-        try:
-          paired_ok = _pairing_session(ws)
-        finally:
-          _pairing_in_progress.clear()
-        if not paired_ok:
-          backoffs[ws_uri] = time.monotonic() + LOCAL_ENDPOINT_BACKOFF_S
-          conn_retries += 1
-          params.remove("LastSunnylinkPingTime")
-          try:
-            ws.close()
-          except Exception:
-            pass
-          time.sleep(backoff(conn_retries))
-          continue
-        # Paired during the session — this connection may now serve normally.
-        kind = "paired_local"
-
-      if kind == "paired_local":
-        _active_local_endpoint = ws_uri
-      else:
-        _active_local_endpoint = None
-        # While on the cloud link, watch for the local app and migrate back.
-        probe_stop = threading.Event()
-        threading.Thread(target=_probe_local_apps,
-                         args=(ws, discovery, backoffs, probe_stop),
-                         name="sunnylinkd_local_probe", daemon=True).start()
-
-      # Started after any pairing session on this connection, so it can never
-      # close the connection the code is typed over.
-      watch_stop = threading.Event()
-      threading.Thread(target=_pairing_watchdog, args=(ws, backoffs, watch_stop),
-                       name="sunnylinkd_pairing_watchdog", daemon=True).start()
+      conn_retries = 0
+      cur_upload_items.clear()

      handle_long_poll(ws, exit_event)
    except (KeyboardInterrupt, SystemExit):
@@ -594,37 +311,23 @@ def _connection_loop(exit_event: threading.Event | None, discovery: LocalDiscove
    except Exception as e:
      conn_retries += 1
      params.remove("LastSunnylinkPingTime")
-      _log_connection_error(e)
-    finally:
-      if probe_stop is not None:
-        probe_stop.set()
-      if watch_stop is not None:
-        watch_stop.set()
-      if session_endpoint is not None and kind == "paired_local":
-        backoffs.pop(session_endpoint, None)
-      if _active_local_endpoint == session_endpoint:
-        _active_local_endpoint = None
-      if _active_ws is ws:
-        _active_ws = None
+
+      if isinstance(e, (ConnectionError, TimeoutError, WebSocketException)):
+        cloudlog.warning(f"sunnylinkd.main.{type(e).__name__}")
+      elif isinstance(e, OSError):
+        name = errno.errorcode.get(e.errno or -1, "UNKNOWN")
+        msg = f"sunnylinkd.main.OSError.{name} ({e.errno})"
+        is_expected_error = e.errno in (errno.ENETDOWN, errno.ENETRESET, errno.ENETUNREACH)
+        cloudlog.warning(msg) if is_expected_error else cloudlog.exception(msg)
+      else:
+        cloudlog.exception("sunnylinkd.main.exception")

    time.sleep(backoff(conn_retries))

-  if not _serviceable(params):
-    cloudlog.debug("Reached end of sunnylinkd.main while sunnylink is not serviceable. Waiting 60s before retrying")
+  if not sunnylink_ready(params):
+    cloudlog.debug("Reached end of sunnylinkd.main while sunnylink is not ready. Waiting 60s before retrying")
    time.sleep(60)


-def _log_connection_error(e: Exception) -> None:
-  if isinstance(e, (ConnectionError, TimeoutError, WebSocketException)):
-    cloudlog.warning(f"sunnylinkd.main.{type(e).__name__}")
-  elif isinstance(e, OSError):
-    name = errno.errorcode.get(e.errno or -1, "UNKNOWN")
-    msg = f"sunnylinkd.main.OSError.{name} ({e.errno})"
-    is_expected_error = e.errno in (errno.ENETDOWN, errno.ENETRESET, errno.ENETUNREACH)
-    cloudlog.warning(msg) if is_expected_error else cloudlog.exception(msg)
-  else:
-    cloudlog.exception("sunnylinkd.main.exception")
-
-
 if __name__ == "__main__":
  main()
@@ -2,7 +2,6 @@ import base64
 import gzip
 import json
 from openpilot.sunnypilot.sunnylink.api import SunnylinkApi, UNREGISTERED_SUNNYLINK_DONGLE_ID
-from openpilot.sunnypilot.sunnylink.athena.local_pairing import is_locally_paired
 from openpilot.common.params import Params, ParamKeyType
 from openpilot.common.version import is_prebuilt

@@ -17,11 +16,10 @@ def get_sunnylink_status(params=None) -> tuple[bool, bool, bool]:


 def sunnylink_ready(params=None) -> bool:
-  """Enabled and (cloud-registered or locally paired), and not on a temporary
-  fault. Local pairing makes never-registered devices usable over the LAN."""
+  """Check if the device is ready to communicate with Sunnylink. That means it is enabled and registered."""
  params = params or Params()
  is_sunnylink_enabled, is_registered, is_on_temporary_fault = get_sunnylink_status(params)
-  return is_sunnylink_enabled and (is_registered or is_locally_paired(params)) and not is_on_temporary_fault
+  return is_sunnylink_enabled and is_registered and not is_on_temporary_fault


 def use_sunnylink_uploader(params) -> bool:
@@ -30,11 +28,10 @@ def use_sunnylink_uploader(params) -> bool:


 def sunnylink_need_register(params=None) -> bool:
-  """Enabled, unregistered, and not locally paired — a locally paired device
-  works without cloud registration and must not be blocked."""
+  """Check if the device needs to be registered with Sunnylink."""
  params = params or Params()
  is_sunnylink_enabled, is_registered, is_on_temporary_fault = get_sunnylink_status(params)
-  return is_sunnylink_enabled and not is_registered and not is_locally_paired(params) and not is_on_temporary_fault
+  return is_sunnylink_enabled and not is_registered and not is_on_temporary_fault


 def register_sunnylink():
@@ -38,8 +38,7 @@ def main():
  api = HfApi()
  onnx_sha256 = hash_file(args.onnx_path)
  short_ref = args.onnx_ref[:8]
-  safe_name = args.model_name.replace(" ", "-")
-  folder_name = f"model-{safe_name}-{short_ref}-{args.run_number}"
+  folder_name = f"model-{args.model_name}-{short_ref}-{args.run_number}"

  print(f"ONNX hash: {onnx_sha256}")
  print(f"ONNX ref: {args.onnx_ref} (short: {short_ref})")
Author	SHA1	Message	Date
royjr	5360beb1ef	Merge branch 'sync-20260902' into ccnc-port-sync-20260902	2026-09-02 13:24:57 -04:00
Jason Wen	d0ab77cf2e	Merge commit '6249f4d5b0e63c05f08bce12ca3afebda9f764a3' into sync-20260902 # Conflicts: # openpilot/selfdrive/modeld/SConscript # openpilot/selfdrive/modeld/modeld.py # openpilot/selfdrive/pandad/pandad.cc # openpilot/selfdrive/selfdrived/alerts_offroad.json # openpilot/selfdrive/ui/layouts/onboarding.py # openpilot/selfdrive/ui/mici/layouts/home.py # openpilot/system/hardware/hardwared.py # panda # tinygrad_repo	2026-09-02 13:17:53 -04:00
royjr	50d7f75bfc	Merge branch 'master' into ccnc-port	2026-08-30 16:21:17 -04:00
royjr	15c7f52e40	Merge branch 'master' into ccnc-port	2026-08-28 20:28:33 -04:00
royjr	8dfe04a318	Merge branch 'master' into ccnc-port	2026-08-24 14:19:36 -04:00
royjr	9648ac2f04	Merge branch 'master' into ccnc-port	2026-08-23 21:48:17 -04:00
royjr	a03a11e333	Merge branch 'master' into ccnc-port	2026-08-23 19:36:45 -04:00
royjr	53b1070b09	Merge branch 'master' into ccnc-port	2026-08-23 11:05:40 -04:00
royjr	68bf6d8162	Merge branch 'master' into ccnc-port	2026-08-22 13:19:05 -04:00
royjr	8b472291d0	Merge branch 'master' into ccnc-port	2026-08-21 17:12:13 -04:00
royjr	797c8d4293	Update opendbc_repo	2026-08-21 17:09:31 -04:00
royjr	7568528507	Merge branch 'master' into ccnc-port	2026-08-19 12:53:59 -04:00
royjr	6665c3acf6	Merge branch 'master' into ccnc-port	2026-08-17 10:14:33 -04:00
royjr	3b13eb4d0d	Update opendbc_repo	2026-08-17 10:14:19 -04:00
royjr	f7eb4c2561	Update opendbc_repo	2026-08-15 01:39:27 -04:00
royjr	be9255358c	Update opendbc_repo	2026-08-15 01:35:33 -04:00
royjr	f48ccb5d7a	Merge branch 'master' into ccnc-port	2026-08-14 20:42:45 -04:00
royjr	99559d6749	Update opendbc_repo	2026-08-14 20:42:36 -04:00
royjr	4b6f0ffb46	Merge branch 'master' into ccnc-port	2026-08-11 11:56:46 -04:00
royjr	55415382ce	Update opendbc_repo	2026-08-11 11:56:38 -04:00
royjr	9f30901eb6	Merge branch 'master' into ccnc-port	2026-08-10 16:33:50 -04:00
royjr	d2045d24fb	Update opendbc_repo	2026-08-10 16:33:37 -04:00
royjr	6488a11e4d	Merge branch 'master' into ccnc-port	2026-08-02 14:27:34 -04:00
royjr	7b22b65313	Merge branch 'master' into ccnc-port	2026-07-27 15:29:04 -04:00
royjr	b59a50101e	Update opendbc_repo	2026-07-27 15:28:51 -04:00
royjr	3e30962bd3	Merge branch 'master' into ccnc-port	2026-07-25 03:04:23 -04:00
royjr	3274043063	Update opendbc_repo	2026-07-25 03:04:12 -04:00
royjr	c624550d2e	Merge branch 'master' into ccnc-port	2026-07-20 15:52:41 -04:00
royjr	6759038671	Merge branch 'master' into ccnc-port	2026-07-20 09:18:18 -04:00
royjr	aa636e75c8	Merge branch 'master' into ccnc-port	2026-07-16 00:23:49 -04:00
royjr	5ff3c3bd8d	Update opendbc_repo	2026-07-16 00:23:43 -04:00
royjr	1e11b52290	Update opendbc_repo	2026-07-14 00:40:02 -04:00
royjr	76e0204025	Update opendbc_repo	2026-07-14 00:37:13 -04:00
royjr	cc88f2cbd6	Update opendbc_repo	2026-07-10 22:00:25 -04:00
royjr	ee0ac199a4	Update opendbc_repo	2026-07-03 08:08:29 -04:00
royjr	d5ed828eaa	Update opendbc_repo	2026-07-01 19:30:06 -04:00
royjr	9fca585f2a	Merge branch 'master' into ccnc-port	2026-06-30 22:14:33 -04:00
royjr	bb1259303e	Update opendbc_repo	2026-06-30 22:14:23 -04:00
royjr	e135051ca8	Merge branch 'master' into ccnc-port	2026-06-13 22:38:22 -04:00
royjr	12bef55d8a	Update opendbc_repo	2026-06-13 22:12:00 -04:00
royjr	2f7a45e6c8	Merge branch 'master' into ccnc-port	2026-06-08 22:01:57 -04:00
royjr	936ebfc12b	Update opendbc_repo	2026-06-08 22:01:44 -04:00
royjr	aa0c9dc0eb	Merge branch 'master' into ccnc-port	2026-06-04 09:52:35 -04:00
royjr	7476a866e7	Update opendbc_repo	2026-06-04 09:52:06 -04:00
royjr	610d857e33	Merge branch 'master' into ccnc-port	2026-05-28 08:30:40 -04:00
royjr	d2f47407d0	Update opendbc_repo	2026-05-12 21:03:18 -04:00
royjr	db75ec76ea	Merge branch 'master' into ccnc-port	2026-05-12 20:44:57 -04:00
royjr	24066465d7	Update opendbc_repo	2026-05-12 20:44:48 -04:00
royjr	a7abbd6e25	Update opendbc_repo	2026-04-20 18:22:12 -04:00
royjr	878982447c	Merge branch 'master' into ccnc-port	2026-04-19 12:06:46 -04:00
royjr	576527a36b	Merge branch 'master' into ccnc-port	2026-04-17 05:42:35 -04:00
royjr	ef8c35da24	Update opendbc_repo	2026-04-17 05:41:21 -04:00
royjr	85688b1040	Merge branch 'master' into ccnc-port	2026-04-16 19:48:39 -04:00
royjr	0fb2199130	Update opendbc_repo	2026-04-16 19:47:57 -04:00
royjr	d48d756c1d	Update opendbc_repo	2026-04-08 00:56:54 -04:00
royjr	2ed298a0c9	Merge branch 'master' into ccnc-port	2026-04-08 00:51:13 -04:00
royjr	d68f038949	Update opendbc_repo	2026-04-08 00:51:11 -04:00
royjr	7231571e57	Merge branch 'master' into ccnc-port	2026-04-03 23:34:00 -04:00
royjr	b37f1419d3	Update opendbc_repo	2026-04-03 23:33:19 -04:00
royjr	cd85a66790	Merge branch 'master' into ccnc-port	2026-03-26 00:53:07 -04:00
royjr	305ea87daf	Update opendbc_repo	2026-03-26 00:52:44 -04:00
royjr	4bbfc793e0	Merge branch 'master' into ccnc-port	2026-03-15 15:44:59 -04:00
royjr	d5d983676e	Update opendbc_repo	2026-03-13 16:41:05 -04:00
royjr	de8a96a398	Merge branch 'master' into ccnc-port	2026-03-13 16:41:00 -04:00
royjr	0cbf45f699	Merge branch 'master' into ccnc-port	2026-03-11 23:28:59 -04:00
royjr	0d68a3a2ab	Merge branch 'master' into ccnc-port	2026-03-09 19:58:32 -04:00
royjr	9e85a85059	Update opendbc_repo	2026-03-09 19:58:18 -04:00
royjr	0373c327c0	Update opendbc_repo	2026-03-02 10:10:38 -05:00
royjr	efe9e5c200	Update opendbc_repo	2026-03-02 02:15:05 -05:00
royjr	8a249a45dc	Update opendbc_repo	2026-03-02 02:06:16 -05:00
royjr	bdbefe67f6	Update opendbc_repo	2026-03-02 01:40:31 -05:00
royjr	675bb166ad	Merge branch 'master' into ccnc-port	2026-03-01 17:18:11 -05:00
royjr	1b717a7e88	Merge branch 'master' into ccnc-port	2026-03-01 13:23:30 -05:00
royjr	86f55a8ba9	Update opendbc_repo	2026-03-01 13:23:24 -05:00
royjr	629392d2f7	Update opendbc_repo	2026-02-27 16:31:59 -05:00
royjr	bc414bdc8b	Update opendbc_repo	2026-02-26 23:53:26 -05:00
royjr	7ca5649f2c	Merge branch 'master' into ccnc-port	2026-02-26 23:52:46 -05:00
royjr	641ee8fa87	Update opendbc_repo	2026-02-26 23:52:27 -05:00
royjr	56c276158c	Merge branch 'master' into ccnc-port	2026-02-24 14:12:12 -05:00
royjr	c65308a8bd	Update opendbc_repo	2026-02-24 14:12:01 -05:00
royjr	994e526460	Merge branch 'master' into ccnc-port	2026-02-18 12:06:05 -05:00
royjr	1defae36b7	Update opendbc_repo	2026-02-18 12:05:53 -05:00
royjr	8f029fd0ef	Merge branch 'master' into ccnc-port	2026-02-13 23:01:41 -05:00
royjr	ddb46284dc	Update opendbc_repo	2026-02-13 23:01:16 -05:00
royjr	9effc754d9	Merge branch 'master' into ccnc-port	2026-02-06 01:16:06 -05:00
royjr	e49ffc2a2d	Update opendbc_repo	2026-02-06 01:15:59 -05:00
royjr	2cacd0b3e5	Merge branch 'master' into ccnc-port	2026-01-24 12:50:18 -05:00
royjr	c4b8859dff	Update opendbc_repo	2026-01-24 12:50:11 -05:00
royjr	8fb0953205	Merge branch 'master' into ccnc-port	2026-01-11 22:17:38 -05:00
royjr	63d1c8835f	Merge branch 'master' into ccnc-port	2026-01-10 13:03:48 -05:00
royjr	17a185606d	Merge branch 'master' into ccnc-port	2026-01-09 16:40:32 -05:00
royjr	da10131392	Merge branch 'master' into ccnc-port	2025-12-28 17:18:51 -05:00
royjr	7107c2ba14	Merge branch 'master' into ccnc-port	2025-12-23 12:13:48 -05:00
royjr	95b6e877ac	Update opendbc_repo	2025-12-23 12:13:29 -05:00
royjr	eb02c6570e	Update opendbc_repo	2025-12-21 15:43:04 -05:00
royjr	1be8ae31c4	Merge branch 'master' into ccnc-port	2025-12-19 01:04:42 -05:00
royjr	04dcd38856	Update opendbc_repo	2025-12-19 01:04:30 -05:00
royjr	22ccf0d72f	Merge branch 'master' into ccnc-port	2025-12-15 17:02:50 -05:00
royjr	3c969bb627	Merge branch 'master' into ccnc-port	2025-12-13 23:22:22 -05:00
royjr	20f8011feb	Update opendbc_repo	2025-12-13 23:22:11 -05:00
royjr	9cf17e74a1	Merge branch 'master' into ccnc-port	2025-12-12 23:19:56 -05:00
royjr	2c4efdf557	Merge branch 'master' into ccnc-port	2025-12-07 13:29:48 -05:00
royjr	4cd3d3c16c	Merge branch 'master' into ccnc-port	2025-12-02 12:56:21 -05:00
royjr	637f3ae9c8	Merge branch 'master' into ccnc-port	2025-12-01 14:41:03 -05:00
royjr	464ee80f71	Merge branch 'master' into ccnc-port	2025-11-26 00:27:53 -05:00
royjr	2743a04613	Merge branch 'master' into ccnc-port	2025-11-24 18:44:13 -05:00
royjr	7f9978d001	Merge branch 'master' into ccnc-port	2025-11-22 00:21:15 -05:00
royjr	4b83961c67	Merge branch 'master' into ccnc-port	2025-11-21 16:23:22 -05:00
royjr	c00eaf428a	Update opendbc_repo	2025-11-21 16:23:01 -05:00
royjr	0a9993e8d4	Merge branch 'master' into ccnc-port	2025-11-19 16:49:59 -05:00
royjr	0af214a985	Update opendbc_repo	2025-11-19 16:49:51 -05:00
royjr	af43385e3a	Merge branch 'master' into ccnc-port	2025-11-11 10:19:51 -05:00
royjr	0ab2b8c590	Update opendbc_repo	2025-11-07 19:59:50 -05:00
royjr	67ab18a0de	Merge branch 'master' into ccnc-port	2025-11-07 19:23:51 -05:00
royjr	e87dc15b30	Update opendbc_repo	2025-11-07 19:23:37 -05:00
royjr	192d08516c	Merge branch 'master' into ccnc-port	2025-11-02 19:23:00 -05:00
royjr	3cf001c59c	Update opendbc_repo	2025-11-02 19:22:49 -05:00
royjr	f2ccd021da	Merge branch 'master' into ccnc-port	2025-11-02 14:07:54 -05:00
royjr	c9fc900f64	Update opendbc_repo	2025-11-02 14:07:44 -05:00
royjr	3c37c5ce5d	Update opendbc_repo	2025-10-30 11:28:49 -04:00
royjr	7c45889e4e	Merge branch 'master' into ccnc-port	2025-10-30 11:27:50 -04:00
royjr	2aabb7aee8	Merge branch 'master' into ccnc-port	2025-10-24 14:16:09 -04:00
royjr	3859e9962f	Update opendbc_repo	2025-10-24 14:15:51 -04:00
royjr	810efbab72	Merge branch 'master' into ccnc-port	2025-10-18 07:33:11 -04:00
royjr	ec27bec326	Update opendbc_repo	2025-10-18 07:32:33 -04:00
royjr	250d553157	Merge branch 'master' into ccnc-port	2025-10-14 21:57:32 -04:00
royjr	cea54a0ca8	Update opendbc_repo	2025-10-14 21:57:26 -04:00
royjr	8e72d783bd	Update opendbc_repo	2025-10-13 22:41:21 -04:00
royjr	1b0dc103dc	Merge branch 'master' into ccnc-port	2025-10-11 23:51:46 -04:00
royjr	6c364d292b	Update opendbc_repo	2025-10-11 23:51:31 -04:00
royjr	bcdec2ce84	Merge branch 'master' into ccnc-port	2025-10-10 17:29:05 -04:00
royjr	3deaeb3759	Merge branch 'master' into ccnc-port	2025-10-10 15:02:32 -04:00
royjr	c669f0984a	Update opendbc_repo	2025-10-10 15:02:17 -04:00
royjr	46dd946740	Merge branch 'master' into ccnc-port	2025-10-07 01:36:06 -04:00
royjr	9da4b3653e	Update opendbc_repo	2025-10-07 01:35:58 -04:00
royjr	4e21ae7c50	Update opendbc_repo	2025-10-05 06:21:56 -04:00
royjr	bb91e92237	Update opendbc_repo	2025-10-05 06:01:15 -04:00
royjr	14b4c4f85b	Update opendbc_repo	2025-10-02 09:20:32 -04:00
royjr	0660b542c3	Merge branch 'master' into ccnc-port	2025-10-01 16:01:32 -04:00
royjr	2b893b90c9	Update opendbc_repo	2025-10-01 16:01:26 -04:00
royjr	f5139178ed	Merge branch 'master' into ccnc-port	2025-09-30 14:39:57 -04:00
royjr	fb43b755f2	Update opendbc_repo	2025-09-30 14:39:50 -04:00
royjr	07f5b967d8	Merge branch 'master' into ccnc-port	2025-09-24 21:30:29 -04:00
royjr	ea19c7d3bb	Update opendbc_repo	2025-09-24 21:30:17 -04:00
royjr	e461842cbb	Merge branch 'master' into ccnc-port	2025-09-23 05:55:02 -04:00
royjr	a73c9659d5	Update opendbc_repo	2025-09-23 05:54:50 -04:00
royjr	cb796fbc76	Merge branch 'master' into ccnc-port	2025-09-18 20:10:43 -04:00
royjr	6bf75fc557	Update opendbc_repo	2025-09-18 20:10:37 -04:00
royjr	9a1fc28819	Merge branch 'master' into ccnc-port	2025-09-18 13:54:36 -04:00
royjr	0741d05e92	Update opendbc_repo	2025-09-18 13:54:23 -04:00
royjr	1ad008107d	Merge branch 'master' into ccnc-port	2025-09-15 01:40:27 -04:00
royjr	feebd9df93	Reapply "UI: Developer UI (#1233 )" This reverts commit `15e5d2efb9`.	2025-09-15 01:40:21 -04:00
royjr	c2e5ced3e5	Update opendbc_repo	2025-09-15 01:39:51 -04:00
royjr	15e5d2efb9	Revert "UI: Developer UI (#1233 )" This reverts commit `1bb4ca2547`.	2025-09-12 02:10:29 -04:00
royjr	a3929d0b54	Merge branch 'master' into ccnc-port	2025-09-12 01:40:29 -04:00
royjr	794f8f9991	Update opendbc_repo	2025-09-08 09:27:31 -04:00
royjr	68fa5e3f21	Merge branch 'master' into ccnc-port	2025-09-07 13:13:37 -04:00
royjr	86c6cc1f48	Merge branch 'master' into ccnc-port	2025-09-03 22:22:12 -04:00
royjr	eb7ffbf093	Update opendbc_repo	2025-09-03 10:14:58 -04:00
royjr	3919095752	Update opendbc_repo	2025-09-03 10:05:35 -04:00
royjr	74d63be1c3	Merge branch 'master' into ccnc-port	2025-09-03 09:50:55 -04:00
royjr	8894486a1a	Update opendbc_repo	2025-09-03 09:50:49 -04:00
royjr	810599315d	Merge branch 'master' into ccnc-port	2025-08-31 16:53:30 -04:00
royjr	6f3ab810c8	Update opendbc_repo	2025-08-31 16:53:24 -04:00
royjr	230f78b8d3	Merge branch 'master' into ccnc-port	2025-08-26 12:14:46 -04:00
royjr	f1affec088	Update opendbc_repo	2025-08-26 12:14:22 -04:00
royjr	97d8ef242c	Merge branch 'master' into ccnc-port	2025-08-24 15:12:57 -04:00
royjr	a63fff9b45	Update opendbc_repo	2025-08-24 15:12:46 -04:00
royjr	cb3893daaa	Merge branch 'master' into ccnc-port	2025-08-23 10:33:24 -04:00
royjr	29f60df74b	Merge branch 'master' into ccnc-port	2025-08-22 11:18:27 -04:00
royjr	c6c072e1f4	Update opendbc_repo	2025-08-22 11:18:18 -04:00
royjr	d101cbb83e	Update opendbc_repo	2025-08-13 16:00:04 -04:00
royjr	1536d59633	Update opendbc_repo	2025-08-13 15:28:37 -04:00
royjr	dc99b865ae	Merge branch 'master' into ccnc-port	2025-08-13 12:31:14 -04:00
royjr	e59bc027ff	Merge branch 'master' into ccnc-port	2025-08-13 11:58:05 -04:00
royjr	cf7e5efaca	Update opendbc_repo	2025-08-13 11:57:57 -04:00
royjr	4b44f2eb31	Merge branch 'master' into ccnc-port	2025-08-10 09:18:24 -04:00
royjr	107d2ab400	Update opendbc_repo	2025-08-10 09:18:15 -04:00
royjr	5432d9062c	Merge branch 'master' into ccnc-port	2025-08-04 11:52:29 -04:00
royjr	f533f6c843	Merge branch 'master' into ccnc-port	2025-08-02 06:53:54 -04:00
royjr	58e9ac763c	Update opendbc_repo	2025-08-02 06:53:43 -04:00
royjr	cb50d54169	Merge branch 'master-new' into ccnc-port	2025-07-24 20:23:46 -04:00
royjr	bd5de4ed0a	Merge branch 'master-new' into ccnc-port	2025-07-20 23:49:36 -04:00
royjr	0d4073fadb	Merge branch 'master-new' into ccnc-port	2025-07-19 23:18:26 -04:00
royjr	ebc70dcb52	Merge branch 'master-new' into ccnc-port	2025-07-19 14:37:17 -04:00
royjr	4d0426999e	Update opendbc_repo	2025-07-19 14:36:59 -04:00
royjr	286da42573	Merge branch 'master-new' into ccnc-port	2025-07-16 23:48:23 -04:00
royjr	8a836710a9	Update opendbc_repo	2025-07-16 23:48:06 -04:00
royjr	5d515bcf33	Merge branch 'master-new' into ccnc-port	2025-07-07 05:35:55 -04:00
royjr	1c7f6d5133	Update opendbc_repo	2025-07-03 21:24:01 -04:00
royjr	05d57c7aeb	Update opendbc_repo	2025-07-01 18:30:32 -04:00
royjr	e4b0eaf352	Update opendbc_repo	2025-06-28 19:30:28 -04:00
royjr	a710276472	Merge branch 'master-new' into ccnc-port	2025-06-28 19:22:59 -04:00
royjr	af086db671	Merge branch 'master-new' into ccnc-port	2025-06-28 12:13:26 -04:00
royjr	0d9eb0e25e	Update opendbc_repo submodule to latest commit Advanced the opendbc_repo submodule to commit d309f7ec96e37267c94d12fc4bfe2672ad505b06. This pulls in the latest changes from the opendbc repository.	2025-06-26 14:03:56 -04:00
royjr	0616caed6d	Merge branch 'master-new' into ccnc-port	2025-06-25 19:33:53 -04:00
royjr	095337b3c1	Update opendbc_repo	2025-06-25 19:33:38 -04:00
royjr	1edec2d22c	Update opendbc_repo	2025-06-14 16:14:02 -04:00
royjr	affabb9ee0	Update opendbc_repo	2025-06-14 15:55:07 -04:00
royjr	dc27e8711c	Update opendbc_repo	2025-06-14 14:54:32 -04:00
royjr	cf7329a264	Merge branch 'master-new' into ccnc-port	2025-06-11 21:36:06 -04:00
royjr	5ee5ecd820	Merge branch 'master-new' into ccnc-port	2025-06-08 23:25:13 -04:00
royjr	b064f730dd	Update opendbc_repo	2025-06-08 17:54:43 -04:00