temp: comment out blind-spot monitoring signals due to DBC changes

- Avoided crash caused by missing signals in updated DBC definitions. - Added a TODO to revisit and validate blind-spot logic.
bump
2026-07-21 00:27:07 +08:00 · 2026-04-01 08:55:26 +02:00 · 2026-03-31 21:57:58 -04:00 · 2026-03-31 21:42:06 -04:00 · 2026-03-31 07:46:13 -04:00 · 2026-03-31 06:56:52 -04:00
265 changed files with 10750 additions and 10568 deletions
@@ -2,5 +2,6 @@ Wen
 REGIST
 PullRequest
 cancelled
+indeces
 FOF
 NoO
@@ -34,10 +34,10 @@ jobs:
          echo "tinygrad_ref=$ref" >> $GITHUB_OUTPUT
          echo "tinygrad_ref is $ref"

-      - name: Checkout docs repo (sunnypilot-docs, gh-pages)
+      - name: Checkout docs repo (sunnypilot-models, gh-pages)
        uses: actions/checkout@v4
        with:
-          repository: sunnypilot/sunnypilot-docs
+          repository: sunnypilot/sunnypilot-models
          ref: gh-pages
          path: docs
          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
@@ -202,7 +202,7 @@ jobs:
      - name: Checkout docs repo
        uses: actions/checkout@v4
        with:
-          repository: sunnypilot/sunnypilot-docs
+          repository: sunnypilot/sunnypilot-models
          ref: gh-pages
          path: docs
          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
@@ -119,7 +119,7 @@ jobs:
      - name: Checkout docs repo
        uses: actions/checkout@v4
        with:
-          repository: sunnypilot/sunnypilot-docs
+          repository: sunnypilot/sunnypilot-models
          ref: gh-pages
          path: docs
          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
@@ -22,7 +22,7 @@ jobs:
        running-workflow-name: 'build __nightly'
        repo-token: ${{ secrets.GITHUB_TOKEN }}
        check-regexp: ^((?!.*(build prebuilt|create badges).*).)*$
-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v4
      with:
        submodules: true
        fetch-depth: 0
@@ -72,7 +72,6 @@ jobs:
        git add .
    - name: update car docs
      run: |
-        scons -j$(nproc) --minimal opendbc_repo
        python selfdrive/car/docs.py
        git add docs/CARS.md
    - name: Create Pull Request
@@ -181,7 +181,7 @@ jobs:
        echo "${{ github.sha }}" > ref_commit
        git add .
        git commit -m "process-replay refs for ${{ github.repository }}@${{ github.sha }}" || echo "No changes to commit"
-        git push origin process-replay
+        git push origin process-replay --force
    - name: Run regen
      if: false
      timeout-minutes: 4
@@ -13,13 +13,13 @@ venv/
 a.out
 .hypothesis
 .cache/
-
-/docs_site/
+bin/

 *.mp4
 *.dylib
 *.DSYM
 *.d
+*.pem
 *.pyc
 *.pyo
 .*.swp
@@ -39,11 +39,13 @@ a.out
 *.mo
 *_pyx.cpp
 *.stats
+*.pkl
+*.pkl*
 config.json
-clcache
 compile_commands.json
 compare_runtime*.html

+# build artifacts
 selfdrive/pandad/pandad
 cereal/services.h
 cereal/gen
@@ -56,51 +58,36 @@ system/camerad/test/ae_gray_test
 .coverage*
 coverage.xml
 htmlcov
-pandaextra
-
-.mypy_cache/
-flycheck_*
-
-cppcheck_report.txt
-comma*.sh
-
-selfdrive/modeld/models/*.pkl*
-sunnypilot/modeld*/models/*.pkl

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

 build/

 !**/.gitkeep

-poetry.toml
-Pipfile

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

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

 ### JetBrains ###
 !.idea/customTargets.xml
@@ -21,5 +21,12 @@
        </clean>
      </configuration>
    </target>
+    <target id="f2590b2b-9b93-49f9-8510-da3f3724a2ae" name="replay" defaultType="TOOL">
+      <configuration id="d475264f-6f4c-4092-9b4e-6773309f38b7" name="replay" toolchainName="Default">
+        <build type="TOOL">
+          <tool actionId="Tool_External Tools_uv build tools replay" />
+        </build>
+      </configuration>
+    </target>
  </component>
 </project>
@@ -20,4 +20,11 @@
      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
    </exec>
  </tool>
+  <tool name="uv build tools replay" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
+    <exec>
+      <option name="COMMAND" value="bash" />
+      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) tools/replay/&quot;" />
+      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
+    </exec>
+  </tool>
 </toolSet>
@@ -0,0 +1 @@
+3.12.13
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
+  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
    <envs>
      <env name="QT_DBL_CLICK_DIST" value="150" />
    </envs>
@@ -0,0 +1,27 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Debug Route Controls" type="PythonConfigurationType" factoryName="Python">
+    <module name="openpilot-special" />
+    <option name="ENV_FILES" value="" />
+    <option name="INTERPRETER_OPTIONS" value="" />
+    <option name="PARENT_ENVS" value="true" />
+    <envs>
+      <env name="PYTHONUNBUFFERED" value="1" />
+      <env name="FINGERPRINT" value="KIA_EV9" />
+      <env name="SKIP_FW_QUERY" value="1" />
+    </envs>
+    <option name="SDK_HOME" value="" />
+    <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$/selfdrive/car" />
+    <option name="IS_MODULE_SDK" value="true" />
+    <option name="ADD_CONTENT_ROOTS" value="true" />
+    <option name="ADD_SOURCE_ROOTS" value="true" />
+    <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
+    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/selfdrive/car/card.py" />
+    <option name="PARAMETERS" value="" />
+    <option name="SHOW_COMMAND_LINE" value="false" />
+    <option name="EMULATE_TERMINAL" value="true" />
+    <option name="MODULE_MODE" value="false" />
+    <option name="REDIRECT_INPUT" value="false" />
+    <option name="INPUT_FILE" value="" />
+    <method v="2" />
+  </configuration>
+</component>
@@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Replay for controls + ui" type="Multirun" separateTabs="false" reuseTabsWithFailures="false" startOneByOne="true" markFailedProcess="true" hideSuccessProcess="false" delayTime="0.0">
+    <runConfiguration name="replay for controls" type="Native Application" />
+    <runConfiguration name="Build Debug" type="Custom Build Application" />
+    <method v="2" />
+  </configuration>
+</component>
@@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="replay for controls" type="CLionNativeAppRunConfigurationType" focusToolWindowBeforeRun="true" PROGRAM_PARAMS="&quot;$Prompt$&quot; --block &quot;sendcan,carState,carParams,carOutput,liveTracks,carParamsSP,carStateSP,bookmarkButton&quot;" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="true" WORKING_DIR="file://$ProjectFileDir$/tools/replay" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="replay" CONFIG_NAME="replay" version="1" RUN_PATH="replay">
+    <method v="2">
+      <option name="CLION.COMPOUND.BUILD" enabled="true" />
+    </method>
+  </configuration>
+</component>
@@ -167,7 +167,7 @@ node {
  env.GIT_COMMIT = checkout(scm).GIT_COMMIT

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

  if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
@@ -179,7 +179,7 @@ node {
  try {
    if (env.BRANCH_NAME == 'devel-staging') {
      deviceStage("build release-tizi-staging", "tizi-needs-can", [], [
-        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging $SOURCE_DIR/release/build_release.sh"),
+        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging $SOURCE_DIR/release/build_release.sh && git push -f origin release-tizi-staging:release-mici-staging"),
      ])
    }

@@ -218,14 +218,14 @@ node {
      'camerad OX03C10': {
        deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [
          step("build", "cd system/manager && ./build.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
+          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"),
          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]),
        ])
      },
      'camerad OS04C10': {
        deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
          step("build", "cd system/manager && ./build.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
+          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"),
          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]),
        ])
      },
@@ -1,8 +1,16 @@
-Version 0.10.4 (2026-02-17)
+Version 0.11.1 (2026-04-08)
 ========================
+* New driver monitoring model
+* Improved image processing pipeline for driver camera
+
+Version 0.11.0 (2026-03-17)
+========================
+* New driving model #36798
+  * Fully trained using a learned simulator
+  * Improved longitudinal performance in Experimental mode
+* Reduce comma four standby power usage by 77% to 52 mW
 * Kia K7 2017 support thanks to royjr!
 * Lexus LS 2018 support thanks to Hacheoy!
-* Reduce comma four standby power usage by 77% to 52 mW

 Version 0.10.3 (2025-12-17)
 ========================
@@ -4,9 +4,11 @@ import sys
 import sysconfig
 import platform
 import shlex
+import importlib
 import numpy as np

 import SCons.Errors
+from SCons.Defaults import _stripixes

 SCons.Warnings.warningAsException(True)

@@ -14,9 +16,6 @@ Decider('MD5-timestamp')

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

-AddOption('--asan', action='store_true', help='turn on ASAN')
-AddOption('--ubsan', action='store_true', help='turn on UBSan')
-AddOption('--mutation', action='store_true', help='generate mutation-ready code')
 AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
 AddOption('--verbose', action='store_true', default=False, help='show full build commands')
 AddOption('--minimal',
@@ -38,24 +37,46 @@ assert arch in [
  "Darwin",   # macOS arm64 (x86 not supported)
 ]

-if arch != "larch64":
-  import bzip2
-  import capnproto
-  import eigen
-  import ffmpeg as ffmpeg_pkg
-  import libjpeg
-  import libyuv
-  import ncurses
-  import openssl3
-  import python3_dev
-  import zeromq
-  import zstd
-  pkgs = [bzip2, capnproto, eigen, ffmpeg_pkg, libjpeg, libyuv, ncurses, openssl3, zeromq, zstd]
-  py_include = python3_dev.INCLUDE_DIR
-else:
-  # TODO: remove when AGNOS has our new vendor pkgs
-  pkgs = []
-  py_include = sysconfig.get_paths()['include']
+pkg_names = ['bzip2', 'capnproto', 'eigen', 'ffmpeg', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
+pkgs = [importlib.import_module(name) for name in pkg_names]
+
+
+# ***** enforce a whitelist of system libraries *****
+# this prevents silently relying on a 3rd party package,
+# e.g. apt-installed libusb. all libraries should either
+# be distributed with all Linux distros and macOS, or
+# vendored in commaai/dependencies.
+allowed_system_libs = {
+  "EGL", "GLESv2", "GL", "Qt5Charts", "Qt5Core", "Qt5Gui", "Qt5Widgets",
+  "dl", "drm", "gbm", "m", "pthread",
+}
+
+def _resolve_lib(env, name):
+  for d in env.Flatten(env.get('LIBPATH', [])):
+    p = Dir(str(d)).abspath
+    for ext in ('.a', '.so', '.dylib'):
+      f = File(os.path.join(p, f'lib{name}{ext}'))
+      if f.exists() or f.has_builder():
+        return name
+  if name in allowed_system_libs:
+    return name
+  raise SCons.Errors.UserError(f"Unexpected non-vendored library '{name}'")
+
+def _libflags(target, source, env, for_signature):
+  libs = []
+  lp = env.subst('$LIBLITERALPREFIX')
+  for lib in env.Flatten(env.get('LIBS', [])):
+    if isinstance(lib, str):
+      if os.sep in lib or lib.startswith('#'):
+        libs.append(File(lib))
+      elif lib.startswith('-') or (lp and lib.startswith(lp)):
+        libs.append(lib)
+      else:
+        libs.append(_resolve_lib(env, lib))
+    else:
+      libs.append(lib)
+  return _stripixes(env['LIBLINKPREFIX'], libs, env['LIBLINKSUFFIX'],
+                    env['LIBPREFIXES'], env['LIBSUFFIXES'], env, env['LIBLITERALPREFIX'])

 env = Environment(
  ENV={
@@ -108,14 +129,14 @@ env = Environment(
  tools=["default", "cython", "compilation_db", "rednose_filter"],
  toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
 )
+if arch != "larch64":
+  env['_LIBFLAGS'] = _libflags

 # Arch-specific flags and paths
 if arch == "larch64":
  env["CC"] = "clang"
  env["CXX"] = "clang++"
  env.Append(LIBPATH=[
-    "/usr/local/lib",
-    "/system/vendor/lib64",
    "/usr/lib/aarch64-linux-gnu",
  ])
  arch_flags = ["-D__TICI__", "-mcpu=cortex-a57", "-DQCOM2"]
@@ -127,19 +148,6 @@ elif arch == "Darwin":
  ])
  env.Append(CCFLAGS=["-DGL_SILENCE_DEPRECATION"])
  env.Append(CXXFLAGS=["-DGL_SILENCE_DEPRECATION"])
-else:
-  env.Append(LIBPATH=[
-    "/usr/lib",
-    "/usr/local/lib",
-  ])
-
-# Sanitizers and extra CCFLAGS from CLI
-if GetOption('asan'):
-  env.Append(CCFLAGS=["-fsanitize=address", "-fno-omit-frame-pointer"])
-  env.Append(LINKFLAGS=["-fsanitize=address"])
-elif GetOption('ubsan'):
-  env.Append(CCFLAGS=["-fsanitize=undefined"])
-  env.Append(LINKFLAGS=["-fsanitize=undefined"])

 _extra_cc = shlex.split(GetOption('ccflags') or '')
 if _extra_cc:
@@ -177,7 +185,7 @@ if os.environ.get('SCONS_PROGRESS'):

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

@@ -211,7 +219,6 @@ Export('common')
 env_swaglog = env.Clone()
 env_swaglog['CXXFLAGS'].append('-DSWAGLOG="\\"common/swaglog.h\\""')
 SConscript(['msgq_repo/SConscript'], exports={'env': env_swaglog})
-SConscript(['opendbc_repo/SConscript'], exports={'env': env_swaglog})

 SConscript(['cereal/SConscript'])

@@ -237,7 +244,15 @@ if arch == "larch64":
 # Build openpilot
 SConscript(['third_party/SConscript'])

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

 SConscript(['sunnypilot/SConscript'])

@@ -1 +0,0 @@
-*.cpp
@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch')
+Import('env', 'envCython')

 common_libs = [
  'params.cc',
@@ -28,7 +28,7 @@ class BounceFilter(FirstOrderFilter):
    scale = self.dt / (1.0 / 60.0)  # tuned at 60 fps
    self.velocity.x += (x - self.x) * self.bounce * scale * self.dt
    self.velocity.update(0.0)
-    if abs(self.velocity.x) < 1e-5:
+    if abs(self.velocity.x) < 1e-3:
      self.velocity.x = 0.0
    self.x += self.velocity.x
    return self.x
@@ -172,6 +172,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"OnroadScreenOffBrightness", {PERSISTENT | BACKUP, INT, "0"}},
    {"OnroadScreenOffBrightnessMigrated", {PERSISTENT | BACKUP, STRING, "0.0"}},
    {"OnroadScreenOffTimer", {PERSISTENT | BACKUP, INT, "15"}},
+    {"OnroadScreenOffTimerMigrated", {PERSISTENT | BACKUP, STRING, "0.0"}},
    {"OnroadUploads", {PERSISTENT | BACKUP, BOOL, "1"}},
    {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
@@ -274,4 +275,11 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"TorqueParamsOverrideEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"TorqueParamsOverrideFriction", {PERSISTENT | BACKUP, FLOAT, "0.1"}},
    {"TorqueParamsOverrideLatAccelFactor", {PERSISTENT | BACKUP, FLOAT, "2.5"}},
+
+    // Tuning keys
+    {"EnableHkgTuningAngleSmoothingFactor", {PERSISTENT | BACKUP, BOOL, "1"}},
+    {"HkgTuningAngleMinTorqueReductionGain", {PERSISTENT | BACKUP, INT, "10"}},
+    {"HkgTuningAngleMaxTorqueReductionGain", {PERSISTENT | BACKUP, INT, "100"}},
+    {"HkgTuningAngleActiveTorqueReductionGain", {PERSISTENT | BACKUP, INT, "100"}},
+    {"HkgTuningOverridingCycles", {PERSISTENT | BACKUP, INT, "17"}},
 };
@@ -2,6 +2,7 @@ import datetime
 from pathlib import Path

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

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

 def system_time_valid():
-  return datetime.datetime.now() > min_date()
+  return min_date() < datetime.datetime.now() < MAX_DATE
@@ -1,2 +0,0 @@
-transformations
-transformations.cpp
@@ -1 +1 @@
-#define COMMA_VERSION "0.10.4"
+#define COMMA_VERSION "0.11.1"
@@ -10,7 +10,6 @@ from openpilot.system.hardware import TICI, HARDWARE
 # TODO: pytest-cpp doesn't support FAIL, and we need to create test translations in sessionstart
 # pending https://github.com/pytest-dev/pytest-cpp/pull/147
 collect_ignore = [
-  "selfdrive/ui/tests/test_translations",
  "selfdrive/test/process_replay/test_processes.py",
  "selfdrive/test/process_replay/test_regen.py",
 ]
@@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1
 export QCOM_PRIORITY=12

 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="16"
+  export AGNOS_VERSION="17.2"
 fi

 export STAGING_ROOT="/data/safe_staging"
@@ -26,18 +26,18 @@ dependencies = [
  "numpy >=2.0",

  # vendored native dependencies
-  "bzip2 @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=bzip2",
-  "capnproto @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=capnproto",
-  "eigen @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=eigen",
-  "ffmpeg @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=ffmpeg",
-  "libjpeg @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=libjpeg",
-  "libyuv @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=libyuv",
-  "openssl3 @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=openssl3",
-  "python3-dev @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=python3-dev",
-  "zstd @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=zstd",
-  "ncurses @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=ncurses",
-  "zeromq @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=zeromq",
-  "git-lfs @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=git-lfs",
+  "bzip2 @ git+https://github.com/commaai/dependencies.git@release-bzip2#subdirectory=bzip2",
+  "capnproto @ git+https://github.com/commaai/dependencies.git@release-capnproto#subdirectory=capnproto",
+  "eigen @ git+https://github.com/commaai/dependencies.git@release-eigen#subdirectory=eigen",
+  "ffmpeg @ git+https://github.com/commaai/dependencies.git@release-ffmpeg#subdirectory=ffmpeg",
+  "libjpeg @ git+https://github.com/commaai/dependencies.git@release-libjpeg#subdirectory=libjpeg",
+  "libyuv @ git+https://github.com/commaai/dependencies.git@release-libyuv#subdirectory=libyuv",
+  "zstd @ git+https://github.com/commaai/dependencies.git@release-zstd#subdirectory=zstd",
+  "ncurses @ git+https://github.com/commaai/dependencies.git@release-ncurses#subdirectory=ncurses",
+  "zeromq @ git+https://github.com/commaai/dependencies.git@release-zeromq#subdirectory=zeromq",
+  "libusb @ git+https://github.com/commaai/dependencies.git@release-libusb#subdirectory=libusb",
+  "git-lfs @ git+https://github.com/commaai/dependencies.git@release-git-lfs#subdirectory=git-lfs",
+  "gcc-arm-none-eabi @ git+https://github.com/commaai/dependencies.git@release-gcc-arm-none-eabi#subdirectory=gcc-arm-none-eabi",

  # body / webrtcd
  "av",
@@ -76,6 +76,7 @@ dependencies = [
  "raylib > 5.5.0.3",
  "qrcode",
  "jeepney",
+  "pillow",
 ]

 [project.optional-dependencies]
@@ -103,12 +104,10 @@ testing = [
 dev = [
  "matplotlib",
  "opencv-python-headless",
-  "gcc-arm-none-eabi @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=gcc-arm-none-eabi",
 ]

 tools = [
  "metadrive-simulator @ git+https://github.com/commaai/metadrive.git@minimal ; (platform_machine != 'aarch64')",
-  "dearpygui>=2.1.0; (sys_platform != 'linux' or platform_machine != 'aarch64')", # not vended for linux aarch64
 ]

 [project.urls]
@@ -207,6 +206,7 @@ lint.flake8-implicit-str-concat.allow-multiline = false
 "pyray.is_mouse_button_pressed".msg = "This can miss events. Use Widget._handle_mouse_press"
 "pyray.is_mouse_button_released".msg = "This can miss events. Use Widget._handle_mouse_release"
 "pyray.draw_text".msg = "Use a function (such as rl.draw_font_ex) that takes font as an argument"
+"pyray.draw_texture".msg = "Use rl.draw_texture_ex for float position support"

 [tool.ruff.format]
 quote-style = "preserve"
@@ -250,3 +250,6 @@ unsupported-operator = "ignore"
 # Ignore not-subscriptable - false positives from dynamic types
 not-subscriptable = "ignore"
 # not-iterable errors are now fixed
+
+[tool.uv]
+python-preference = "only-managed"
@@ -12,12 +12,13 @@ from openpilot.common.basedir import BASEDIR


 DIRS = ['cereal', 'openpilot']
-EXTS = ['.png', '.py', '.ttf', '.capnp', '.json', '.fnt', '.mo']
+EXTS = ['.png', '.py', '.ttf', '.capnp', '.json', '.fnt', '.mo', '.po']
+EXCLUDE = ['selfdrive/assets/training', 'third_party/raylib/raylib_repo/examples']
 INTERPRETER = '/usr/bin/env python3'


 def copy(src, dest):
-  if any(src.endswith(ext) for ext in EXTS):
+  if any(src.endswith(ext) for ext in EXTS) and not any(exc in src for exc in EXCLUDE):
    shutil.copy2(src, dest, follow_symlinks=True)


@@ -28,6 +29,8 @@ if __name__ == '__main__':
  parser.add_argument('module', help="the module to target, e.g. 'openpilot.system.ui.spinner'")
  args = parser.parse_args()

+  print('WARNING: copying all files! make sure to run scons and git tree is clean')
+
  if not args.output:
    args.output = args.module

@@ -13,7 +13,7 @@ cd $ROOT

 FAILED=0

-IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md"
+IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md|layouts\/.*\.xml|.*\.ipynb"
 IGNORED_DIRS="^third_party.*|^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^cereal.*|^panda.*|^rednose.*|^rednose_repo.*|^tinygrad.*|^tinygrad_repo.*|^teleoprtc.*|^teleoprtc_repo.*"

 function run() {
@@ -1,6 +0,0 @@
-SConscript(['pandad/SConscript'])
-SConscript(['controls/lib/lateral_mpc_lib/SConscript'])
-SConscript(['controls/lib/longitudinal_mpc_lib/SConscript'])
-SConscript(['locationd/SConscript'])
-SConscript(['modeld/SConscript'])
-SConscript(['ui/SConscript'])
@@ -1,4 +1,2 @@
-*.cc
 fonts/*.fnt
 fonts/*.png
-translations_assets.qrc
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:f3f57346a1cf9a66f9fd746f87bcebb23b7a403e9d6e4fd7701b126abcdd47ea
-size 18476
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:f646263b26de46f79cac836ef6865b0f25ddc91e386b99311723b68bd06693c9
-size 3304
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:d29a9c295b33b3164c37a68ad77795595e6ac877a5b308d28112b0315ecd498f
-size 1687
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6892bd4d9b14b587fa491a6d608562e38819b4c618b1d7a3e8c384f05d52a2b
+size 1245
@@ -0,0 +1,3 @@
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+oid sha256:3428d8fcf2ecf9542c524706124f82b7fc809453c63418c9234ac9df5d85bd24
+size 10074
@@ -0,0 +1,3 @@
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+oid sha256:b2810add4943dd4f20a984ed6011b520925919a58d5c0dd0d846fc4d7f8a1d02
+size 7109
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a3a87454a3d2f1ebb327211062c52480de945673dcfd137c5da3df8fa98d731
+size 22400
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:122a614d1aa26187507951f932160eebfddfebcb4293e78f8d23e350fc97bc0f
+size 11489
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:9e363a79dc35ca4c4e9efaa6a843d37ad219efa5299d3e538d8249affa230096
-size 7935
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:cc6fb48520143b6fa1f060d8212e6d929917ab616ce943b5fab5a60665f00da5
-size 18225
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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-size 6949
@@ -1,3 +0,0 @@
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-size 13437
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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-size 9071
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-oid sha256:6478f7c1c5ef2013e94fc4218ab370889883c5c12231ba3e0975874cb0b6fec9
-size 21893
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d5b8f76e5f47e77e5af3016ebdbe548ad3bc9af83a1111b3214bf4017c95a28
+size 11792
@@ -1,3 +1,3 @@
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-oid sha256:1f5ee67cd334d259ac33f932281db36533877009b5769c92d9cff3054fd5627c
-size 2942
+oid sha256:63c1499106621a4d927c21b2b04c87235a927216d9f513a0205f0fe03b8c799b
+size 12320
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-size 1136
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-size 8765
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-size 12916
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-size 8604
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-oid sha256:b3242a411b559f1d0308f189fe0d25b81d6c7d964ca418a0c599a1bab4bffcbb
-size 5341
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-oid sha256:d354651c0c8107dcc5f599777d260f53ef1901123315785ed8190466166cdce8
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-size 7112
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:9728423bd5e3197ef02d62e4bae415e6694aab875ca8630ffc9f188c38e18e5f
-size 4141
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:0ff179f93f421edcb503ca5c22a12b37e3a2aaabc414bf90f57e20ff5255dd75
-size 15572
@@ -1 +0,0 @@
-*.bz2
@@ -1,2 +0,0 @@
-calibration_param
-traces
@@ -11,7 +11,7 @@ class LatControlAngle(LatControl):
  def __init__(self, CP, CP_SP, CI, dt):
    super().__init__(CP, CP_SP, CI, dt)
    self.sat_check_min_speed = 5.
-    self.use_steer_limited_by_safety = CP.brand == "tesla"
+    self.use_steer_limited_by_safety = CP.brand in ("tesla", "hyundai")

  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited, lat_delay):
    angle_log = log.ControlsState.LateralAngleState.new_message()
@@ -1,2 +0,0 @@
-params_learner
-paramsd
@@ -29,11 +29,26 @@ MIN_LAG = 0.15
 MAX_LAG_STD = 0.1
 MAX_LAT_ACCEL = 2.0
 MAX_LAT_ACCEL_DIFF = 0.6
+MIN_LAT_ACCEL_RANGE = 0.5
 MIN_CONFIDENCE = 0.7
 CORR_BORDER_OFFSET = 5
 LAG_CANDIDATE_CORR_THRESHOLD = 0.9
+SMOOTH_K = 5
+SMOOTH_SIGMA = 1.0


+def masked_symmetric_moving_average(x: np.ndarray, mask: np.ndarray, k: int, sigma: float) -> np.ndarray:
+  assert k >= 1 and k % 2 == 1, "k must be positive and odd"
+  pad = k // 2
+  i = np.arange(k) - pad
+  w = np.exp(-0.5 * (i / sigma) ** 2)
+  w /= w.sum()
+  xp = np.pad(x * mask, pad, mode="edge")
+  mp = np.pad(mask, pad, mode="edge")
+  num = np.convolve(xp, w, mode="valid")
+  den = np.convolve(mp, w, mode="valid")
+  return np.divide(num, den, out=np.full_like(num, np.nan, dtype=np.float64), where=den != 0)
+
 def masked_normalized_cross_correlation(expected_sig: np.ndarray, actual_sig: np.ndarray, mask: np.ndarray, n: int):
  """
  References:
@@ -295,11 +310,14 @@ class LateralLagEstimator:

    times, desired, actual, okay = self.points.get()
    # check if there are any new valid data points since the last update
-    is_valid = self.points_valid()
+    is_valid = self.points_valid() and (actual.max() - actual.min() >= MIN_LAT_ACCEL_RANGE)
    if self.last_estimate_t != 0 and times[0] <= self.last_estimate_t:
      new_values_start_idx = next(-i for i, t in enumerate(reversed(times)) if t <= self.last_estimate_t)
      is_valid = is_valid and not (new_values_start_idx == 0 or not np.any(okay[new_values_start_idx:]))

+    desired = masked_symmetric_moving_average(desired, okay, SMOOTH_K, SMOOTH_SIGMA)
+    actual = masked_symmetric_moving_average(actual, okay, SMOOTH_K, SMOOTH_SIGMA)
+
    delay, corr, confidence = self.actuator_delay(desired, actual, okay, self.dt, MIN_LAG, MAX_LAG)
    if corr < self.min_ncc or confidence < self.min_confidence or not is_valid:
      return
@@ -311,16 +329,16 @@ class LateralLagEstimator:
  def actuator_delay(expected_sig: np.ndarray, actual_sig: np.ndarray, mask: np.ndarray,
                     dt: float, min_lag: float, max_lag: float) -> tuple[float, float, float]:
    assert len(expected_sig) == len(actual_sig)
-    min_lag_samples, max_lag_samples = int(round(min_lag / dt)), int(round(max_lag / dt))
-    padded_size = fft_next_good_size(len(expected_sig) + max_lag_samples)
+    min_lag_samples, max_lag_samples, one_sec_samples = int(round(min_lag / dt)), int(round(max_lag / dt)), int(round(1.0 / dt))
+    padded_size = fft_next_good_size(len(expected_sig) + max(max_lag_samples, one_sec_samples))

    ncc = masked_normalized_cross_correlation(expected_sig, actual_sig, mask, padded_size)

-    # only consider lags from min_lag to max_lag
-    roi = np.s_[len(expected_sig) - 1 + min_lag_samples: len(expected_sig) - 1 + max_lag_samples]
-    extended_roi = np.s_[roi.start - CORR_BORDER_OFFSET: roi.stop + CORR_BORDER_OFFSET]
-    roi_ncc = ncc[roi]
-    extended_roi_ncc = ncc[extended_roi]
+    # only consider lags from ranges:
+    roi = np.s_[len(expected_sig) - 1 + min_lag_samples: len(expected_sig) - 1 + max_lag_samples] # min_lag - max_lag range
+    threshold_roi = np.s_[len(expected_sig) - 1: len(expected_sig) - 1 + one_sec_samples] # 0 - 1 second range
+    confidence_roi = np.s_[threshold_roi.start - CORR_BORDER_OFFSET: threshold_roi.stop + CORR_BORDER_OFFSET] # threshold range +/- border
+    roi_ncc, confidence_roi_ncc, threshold_roi_ncc = ncc[roi], ncc[confidence_roi], ncc[threshold_roi]

    max_corr_index = np.argmax(roi_ncc)
    corr = roi_ncc[max_corr_index]
@@ -328,8 +346,8 @@ class LateralLagEstimator:

    # to estimate lag confidence, gather all high-correlation candidates and see how spread they are
    # if e.g. 0.8 and 0.4 are both viable, this is an ambiguous case
-    ncc_thresh = (roi_ncc.max() - roi_ncc.min()) * LAG_CANDIDATE_CORR_THRESHOLD + roi_ncc.min()
-    good_lag_candidate_mask = extended_roi_ncc >= ncc_thresh
+    ncc_thresh = (threshold_roi_ncc.max() - threshold_roi_ncc.min()) * LAG_CANDIDATE_CORR_THRESHOLD + threshold_roi_ncc.min()
+    good_lag_candidate_mask = confidence_roi_ncc >= ncc_thresh
    good_lag_candidate_edges = np.diff(good_lag_candidate_mask.astype(int), prepend=0, append=0)
    starts, ends = np.where(good_lag_candidate_edges == 1)[0], np.where(good_lag_candidate_edges == -1)[0] - 1
    run_idx = np.searchsorted(starts, max_corr_index + CORR_BORDER_OFFSET, side='right') - 1
@@ -1 +0,0 @@
-out/
@@ -19,8 +19,8 @@ DT = 0.05
 def process_messages(estimator, lag_frames, n_frames, vego=20.0, rejection_threshold=0.0):
  for i in range(n_frames):
    t = i * estimator.dt
-    desired_la = np.cos(10 * t) * 0.1
-    actual_la = np.cos(10 * (t - lag_frames * estimator.dt)) * 0.1
+    desired_la = np.cos(10 * t) * 0.3
+    actual_la = np.cos(10 * (t - lag_frames * estimator.dt)) * 0.3

    # if sample is masked out, set it to desired value (no lag)
    rejected = random.uniform(0, 1) < rejection_threshold
@@ -45,13 +45,17 @@ def tg_compile(flags, model_name):
  pkl = fn + "_tinygrad.pkl"
  onnx_path = fn + ".onnx"
  chunk_targets = get_chunk_paths(pkl, estimate_pickle_max_size(os.path.getsize(onnx_path)))
+  compile_node = lenv.Command(
+    pkl,
+    [onnx_path] + tinygrad_files + [chunker_file],
+    f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}',
+  )
  def do_chunk(target, source, env):
    chunk_file(pkl, chunk_targets)
  return lenv.Command(
    chunk_targets,
-    [onnx_path] + tinygrad_files + [chunker_file],
-    [f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}',
-     do_chunk]
+    compile_node,
+    do_chunk,
  )

 # Compile small models
@@ -32,8 +32,7 @@ def flash_panda(panda_serial: str) -> Panda:
    raise

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

@@ -69,12 +68,20 @@ def flash_panda(panda_serial: str) -> Panda:
  return panda


-def check_panda_support(panda) -> bool:
-  hw_type = panda.get_type()
-  if hw_type in Panda.SUPPORTED_DEVICES:
-    return True
+def check_panda_support(panda_serials: list[str]) -> list[str]:
+  spi_serials = set(Panda.spi_list())
+  for serial in panda_serials:
+    if serial in spi_serials:
+      return [serial]

-  return False
+  for serial in panda_serials:
+    panda = Panda(serial)
+    is_internal = panda.is_internal()
+    panda.close()
+    if is_internal:
+      return [serial]
+
+  return []


 def main() -> None:
@@ -126,13 +133,18 @@ def main() -> None:

      cloudlog.info(f"{len(panda_serials)} panda(s) found, connecting - {panda_serials}")

+      # custom flasher for xnor's Rivian Longitudinal Upgrade Kit
+      flash_rivian_long(panda_serials)
+
+      # find the internal supported panda (e.g. skip external Black Panda)
+      panda_serials = check_panda_support(panda_serials)
+      if len(panda_serials) == 0:
+        continue
+
      # Flash the first panda
      panda_serial = panda_serials[0]
      panda = flash_panda(panda_serial)

-      # flash Rivian longitudinal upgrade panda
-      flash_rivian_long(panda)
-
      # Ensure internal panda is present if expected
      if HARDWARE.has_internal_panda() and not panda.is_internal():
        cloudlog.error("Internal panda is missing, trying again")
@@ -143,12 +155,6 @@ def main() -> None:
      # log panda fw version
      params.put("PandaSignatures", panda.get_signature())

-      # skip health check if the detected panda is not supported
-      supported_panda = check_panda_support(panda)
-      if not supported_panda:
-        cloudlog.warning(f"Panda {panda.get_usb_serial()} is not supported (hw_type: {panda.get_type()}), skipping health check...")
-        continue
-
      # check health for lost heartbeat
      health = panda.health()
      if health["heartbeat_lost"]:
@@ -3,7 +3,7 @@ docker_out/

 process_replay/diff.txt
 process_replay/model_diff.txt
+process_replay/fakedata/
 valgrind_logs.txt

-*.bz2
 *.hevc
@@ -1 +0,0 @@
-fakedata/
@@ -342,10 +342,15 @@ class TestOnroad:

        start, end = min(first_fid), min(last_fid)
        for i in range(end-start):
-          ts = {c: round(self.ts[c]['timestampSof'][i]/1e6, 1) for c in cams}
+          # road and wide cameras (first two) should be synced within 2ms
+          ts = {c: round(self.ts[c]['timestampSof'][i]/1e6, 1) for c in cams[:2]}
          diff = (max(ts.values()) - min(ts.values()))
          assert diff < 2, f"Cameras not synced properly: frame_id={start+i}, {diff=:.1f}ms, {ts=}"

+          # driver camera should be staggered ~25ms from road camera
+          offset_ms = abs(self.ts[cams[2]]['timestampSof'][i] - self.ts[cams[0]]['timestampSof'][i]) / 1e6
+          assert 20 < offset_ms < 30, f"driver camera stagger out of range at frame {start+i}: {offset_ms:.1f}ms"
+
  def test_camera_encoder_matches(self, subtests):
    # sanity check that the frame metadata is consistent with the encoded frames
    pairs = [('roadCameraState', 'roadEncodeIdx'),
@@ -1 +1,4 @@
 installer/installers/*
+
+tests/diff/report
+.coverage
@@ -1,4 +1,3 @@
-import re
 from pathlib import Path
 Import('env', 'arch', 'common')

@@ -19,39 +18,38 @@ env.Command(

 if GetOption('extras') and arch == "larch64":
  # build installers
-  if arch != "Darwin":
-    raylib_env = env.Clone()
-    raylib_env['LIBPATH'] += [f'#third_party/raylib/{arch}/']
-    raylib_env['LINKFLAGS'].append('-Wl,-strip-debug')
+  raylib_env = env.Clone()
+  raylib_env['LIBPATH'] += [f'#third_party/raylib/{arch}/']
+  raylib_env['LINKFLAGS'].append('-Wl,-strip-debug')

-    raylib_libs = common + ["raylib"]
-    if arch == "larch64":
-      raylib_libs += ["GLESv2", "EGL", "gbm", "drm"]
-    else:
-      raylib_libs += ["GL"]
+  raylib_libs = common + ["raylib"]
+  if arch == "larch64":
+    raylib_libs += ["GLESv2", "EGL", "gbm", "drm"]
+  else:
+    raylib_libs += ["GL"]

-    release = "release3"
-    installers = [
-      ("openpilot", release),
-      ("openpilot_test", f"{release}-staging"),
-      ("openpilot_nightly", "nightly"),
-      ("openpilot_internal", "nightly-dev"),
-    ]
+  release = "release3"
+  installers = [
+    ("openpilot", release),
+    ("openpilot_test", f"{release}-staging"),
+    ("openpilot_nightly", "nightly"),
+    ("openpilot_internal", "nightly-dev"),
+  ]

-    cont = raylib_env.Command("installer/continue_openpilot.o", "installer/continue_openpilot.sh",
+  cont = raylib_env.Command("installer/continue_openpilot.o", "installer/continue_openpilot.sh",
+                            "ld -r -b binary -o $TARGET $SOURCE")
+  inter = raylib_env.Command("installer/inter_ttf.o", "installer/inter-ascii.ttf",
+                             "ld -r -b binary -o $TARGET $SOURCE")
+  inter_bold = raylib_env.Command("installer/inter_bold.o", "../assets/fonts/Inter-Bold.ttf",
                              "ld -r -b binary -o $TARGET $SOURCE")
-    inter = raylib_env.Command("installer/inter_ttf.o", "installer/inter-ascii.ttf",
-                               "ld -r -b binary -o $TARGET $SOURCE")
-    inter_bold = raylib_env.Command("installer/inter_bold.o", "../assets/fonts/Inter-Bold.ttf",
-                                "ld -r -b binary -o $TARGET $SOURCE")
-    inter_light = raylib_env.Command("installer/inter_light.o", "../assets/fonts/Inter-Light.ttf",
-                                "ld -r -b binary -o $TARGET $SOURCE")
-    for name, branch in installers:
-      d = {'BRANCH': f"'\"{branch}\"'"}
-      if "internal" in name:
-        d['INTERNAL'] = "1"
+  inter_light = raylib_env.Command("installer/inter_light.o", "../assets/fonts/Inter-Light.ttf",
+                              "ld -r -b binary -o $TARGET $SOURCE")
+  for name, branch in installers:
+    d = {'BRANCH': f"'\"{branch}\"'"}
+    if "internal" in name:
+      d['INTERNAL'] = "1"

-      obj = raylib_env.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d)
-      f = raylib_env.Program(f"installer/installers/installer_{name}", [obj, cont, inter, inter_bold, inter_light], LIBS=raylib_libs)
-      # keep installers small
-      assert f[0].get_size() < 2500*1e3, f[0].get_size()
+    obj = raylib_env.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d)
+    f = raylib_env.Program(f"installer/installers/installer_{name}", [obj, cont, inter, inter_bold, inter_light], LIBS=raylib_libs)
+    # keep installers small
+    assert f[0].get_size() < 2500*1e3, f[0].get_size()
@@ -62,6 +62,7 @@ class HomeLayout(Widget):
    self._setup_callbacks()

  def show_event(self):
+    super().show_event()
    self._exp_mode_button.show_event()
    self.last_refresh = time.monotonic()
    self._refresh()
@@ -94,7 +94,7 @@ class TrainingGuide(Widget):
  def _render(self, _):
    # Safeguard against fast tapping
    step = min(self._step, len(self._textures) - 1)
-    rl.draw_texture(self._textures[step], 0, 0, rl.WHITE)
+    rl.draw_texture_ex(self._textures[step], rl.Vector2(0, 0), 0.0, 1.0, rl.WHITE)

    # progress bar
    if 0 < step < len(STEP_RECTS) - 1:
@@ -104,6 +104,7 @@ class DeveloperLayout(Widget):
    self._scroller.render(rect)

  def show_event(self):
+    super().show_event()
    self._scroller.show_event()
    self._update_toggles()

@@ -75,6 +75,7 @@ class DeviceLayout(Widget):
    self._power_off_btn.action_item.right_button.set_visible(ui_state.is_offroad())

  def show_event(self):
+    super().show_event()
    self._scroller.show_event()

  def _render(self, rect):
@@ -69,7 +69,6 @@ class SoftwareLayout(Widget):

    # Branch switcher
    self._branch_btn = button_item(lambda: tr("Target Branch"), lambda: tr("SELECT"), callback=self._on_select_branch)
-    self._branch_btn.set_visible(not ui_state.params.get_bool("IsTestedBranch"))
    self._branch_btn.action_item.set_value(ui_state.params.get("UpdaterTargetBranch") or "")
    self._branch_dialog: MultiOptionDialog | None = None

@@ -83,6 +82,7 @@ class SoftwareLayout(Widget):
    ], line_separator=True, spacing=0)

  def show_event(self):
+    super().show_event()
    self._scroller.show_event()

  def _render(self, rect):
@@ -152,6 +152,7 @@ class TogglesLayout(Widget):
      ui_state.personality = personality

  def show_event(self):
+    super().show_event()
    self._scroller.show_event()
    self._update_toggles()

@@ -165,14 +165,14 @@ class Sidebar(Widget, SidebarSP):
    # Settings button
    settings_down = mouse_down and rl.check_collision_point_rec(mouse_pos, SETTINGS_BTN)
    tint = Colors.BUTTON_PRESSED if settings_down else Colors.BUTTON_NORMAL
-    rl.draw_texture(self._settings_img, int(SETTINGS_BTN.x), int(SETTINGS_BTN.y), tint)
+    rl.draw_texture_ex(self._settings_img, rl.Vector2(SETTINGS_BTN.x, SETTINGS_BTN.y), 0.0, 1.0, tint)

    # Home/Flag button
    flag_pressed = mouse_down and rl.check_collision_point_rec(mouse_pos, HOME_BTN)
    button_img = self._flag_img if ui_state.started else self._home_img

    tint = Colors.BUTTON_PRESSED if (ui_state.started and flag_pressed) else Colors.BUTTON_NORMAL
-    rl.draw_texture(button_img, int(HOME_BTN.x), int(HOME_BTN.y), tint)
+    rl.draw_texture_ex(button_img, rl.Vector2(HOME_BTN.x, HOME_BTN.y), 0.0, 1.0, tint)

    # Microphone button
    if self._recording_audio:
@@ -182,8 +182,8 @@ class Sidebar(Widget, SidebarSP):
      bg_color = rl.Color(Colors.DANGER.r, Colors.DANGER.g, Colors.DANGER.b, int(255 * 0.65)) if mic_pressed else Colors.DANGER

      rl.draw_rectangle_rounded(self._mic_indicator_rect, 1, 10, bg_color)
-      rl.draw_texture(self._mic_img, int(self._mic_indicator_rect.x + (self._mic_indicator_rect.width - self._mic_img.width) / 2),
-                      int(self._mic_indicator_rect.y + (self._mic_indicator_rect.height - self._mic_img.height) / 2), Colors.WHITE)
+      rl.draw_texture_ex(self._mic_img, rl.Vector2(self._mic_indicator_rect.x + (self._mic_indicator_rect.width - self._mic_img.width) / 2,
+                         self._mic_indicator_rect.y + (self._mic_indicator_rect.height - self._mic_img.height) / 2), 0.0, 1.0, Colors.WHITE)

  def _draw_network_indicator(self, rect: rl.Rectangle):
    # Signal strength dots
@@ -7,7 +7,7 @@ from collections.abc import Callable
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.layouts import HBoxLayout
 from openpilot.system.ui.widgets.icon_widget import IconWidget
-from openpilot.system.ui.widgets.label import MiciLabel, UnifiedLabel
+from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.version import RELEASE_BRANCHES
@@ -77,7 +77,7 @@ class NetworkIcon(Widget):
      # Offset by difference in height between slashless and slash icons to make center align match
      draw_y -= (self._wifi_slash_txt.height - self._wifi_none_txt.height) / 2

-    rl.draw_texture(draw_net_txt, int(draw_x), int(draw_y), rl.Color(255, 255, 255, int(255 * 0.9)))
+    rl.draw_texture_ex(draw_net_txt, rl.Vector2(draw_x, draw_y), 0.0, 1.0, rl.Color(255, 255, 255, int(255 * 0.9)))


 class MiciHomeLayout(Widget):
@@ -103,14 +103,15 @@ class MiciHomeLayout(Widget):
      self._mic_icon,
    ], spacing=18)

-    self._openpilot_label = MiciLabel("sunnypilot", font_size=90, color=rl.Color(255, 255, 255, int(255 * 0.9)), font_weight=FontWeight.AUDIOWIDE)
-    self._version_label = MiciLabel("", font_size=36, font_weight=FontWeight.ROMAN)
-    self._large_version_label = MiciLabel("", font_size=64, color=rl.GRAY, font_weight=FontWeight.ROMAN)
-    self._date_label = MiciLabel("", font_size=36, color=rl.GRAY, font_weight=FontWeight.ROMAN)
+    self._openpilot_label = UnifiedLabel("sunnypilot", font_size=96, font_weight=FontWeight.DISPLAY, max_width=480, wrap_text=False)
+    self._version_label = UnifiedLabel("", font_size=36, font_weight=FontWeight.ROMAN, max_width=480, wrap_text=False)
+    self._large_version_label = UnifiedLabel("", font_size=64, text_color=rl.GRAY, font_weight=FontWeight.ROMAN, max_width=480, wrap_text=False)
+    self._date_label = UnifiedLabel("", font_size=36, text_color=rl.GRAY, font_weight=FontWeight.ROMAN, max_width=480, wrap_text=False)
    self._branch_label = UnifiedLabel("", font_size=36, text_color=rl.GRAY, font_weight=FontWeight.ROMAN, scroll=True)
-    self._version_commit_label = MiciLabel("", font_size=36, color=rl.GRAY, font_weight=FontWeight.ROMAN)
+    self._version_commit_label = UnifiedLabel("", font_size=36, text_color=rl.GRAY, font_weight=FontWeight.ROMAN, max_width=480, wrap_text=False)

  def show_event(self):
+    super().show_event()
    self._version_text = self._get_version_text()
    self._update_params()

@@ -182,12 +183,12 @@ class MiciHomeLayout(Widget):
      self._version_label.render()

      self._date_label.set_text(" " + self._version_text[3])
-      self._date_label.set_position(version_pos.x + self._version_label.rect.width + 10, version_pos.y)
+      self._date_label.set_position(version_pos.x + self._version_label.text_width + 10, version_pos.y)
      self._date_label.render()

-      self._branch_label.set_max_width(gui_app.width - self._version_label.rect.width - self._date_label.rect.width - 32)
+      self._branch_label.set_max_width(gui_app.width - self._version_label.text_width - self._date_label.text_width - 32)
      self._branch_label.set_text(" " + ("release" if release_branch else self._version_text[1]))
-      self._branch_label.set_position(version_pos.x + self._version_label.rect.width + self._date_label.rect.width + 20, version_pos.y)
+      self._branch_label.set_position(version_pos.x + self._version_label.text_width + self._date_label.text_width + 20, version_pos.y)
      self._branch_label.render()

      if not release_branch:
@@ -56,7 +56,7 @@ class MiciMainLayout(Scroller):
    gui_app.push_widget(self)

    # Start onboarding if terms or training not completed, make sure to push after self
-    self._onboarding_window = OnboardingWindow()
+    self._onboarding_window = OnboardingWindow(lambda: gui_app.pop_widgets_to(self))
    if not self._onboarding_window.completed:
      gui_app.push_widget(self._onboarding_window)

@@ -82,7 +82,7 @@ class MiciMainLayout(Scroller):

  def _handle_transitions(self):
    # Don't pop if onboarding
-    if gui_app.get_active_widget() == self._onboarding_window:
+    if gui_app.widget_in_stack(self._onboarding_window):
      return

    if ui_state.started != self._prev_onroad:
@@ -108,7 +108,7 @@ class MiciMainLayout(Scroller):

  def _on_interactive_timeout(self):
    # Don't pop if onboarding
-    if gui_app.get_active_widget() == self._onboarding_window:
+    if gui_app.widget_in_stack(self._onboarding_window):
      return

    if ui_state.started:
@@ -144,7 +144,7 @@ class AlertItem(Widget):
      bg_texture = self._bg_small_pressed if self.is_pressed else self._bg_small

    # Draw background
-    rl.draw_texture(bg_texture, int(self._rect.x), int(self._rect.y), rl.WHITE)
+    rl.draw_texture_ex(bg_texture, rl.Vector2(self._rect.x, self._rect.y), 0.0, 1.0, rl.WHITE)

    # Calculate text area (left side, avoiding icon on right)
    title_width = self.ALERT_WIDTH - (self.ALERT_PADDING * 2) - self.ICON_SIZE - self.ICON_MARGIN
@@ -183,7 +183,7 @@ class AlertItem(Widget):
      icon_texture = self._icon_orange
    icon_x = self._rect.x + self.ALERT_WIDTH - self.ALERT_PADDING - self.ICON_SIZE
    icon_y = self._rect.y + self.ALERT_PADDING
-    rl.draw_texture(icon_texture, int(icon_x), int(icon_y), rl.WHITE)
+    rl.draw_texture_ex(icon_texture, rl.Vector2(icon_x, icon_y), 0.0, 1.0, rl.WHITE)


 class MiciOffroadAlerts(Scroller):
@@ -1,32 +1,24 @@
-from enum import IntEnum
-
-import weakref
 import math
 import numpy as np
+import qrcode
 import pyray as rl
+from collections.abc import Callable
 from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.system.hardware import HARDWARE
 from openpilot.system.ui.lib.application import FontWeight, gui_app
 from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.widgets.button import SmallButton, SmallCircleIconButton
-from openpilot.system.ui.widgets.label import UnifiedLabel
-from openpilot.system.ui.widgets.slider import SmallSlider
-from openpilot.system.ui.mici_setup import TermsHeader, TermsPage as SetupTermsPage
-from openpilot.selfdrive.ui.ui_state import ui_state, device
-from openpilot.selfdrive.ui.mici.onroad.driver_state import DriverStateRenderer
-from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import BaseDriverCameraDialog
+from openpilot.system.ui.widgets.button import SmallCircleIconButton
+from openpilot.system.ui.widgets.scroller import NavScroller, Scroller
+from openpilot.system.ui.widgets.nav_widget import NavWidget
+from openpilot.system.ui.mici_setup import GreyBigButton, BigPillButton
 from openpilot.system.ui.widgets.label import gui_label
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.version import terms_version, training_version, terms_version_sp
-
-from openpilot.selfdrive.ui.sunnypilot.mici.layouts.onboarding import SunnylinkOnboarding
-
-
-class OnboardingState(IntEnum):
-  TERMS = 0
-  ONBOARDING = 1
-  DECLINE = 2
-  SUNNYLINK_CONSENT = 3
+from openpilot.system.version import sunnylink_consent_version, sunnylink_consent_declined
+from openpilot.selfdrive.ui.ui_state import ui_state, device
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationCircleButton
+from openpilot.selfdrive.ui.mici.onroad.driver_state import DriverStateRenderer
+from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import BaseDriverCameraDialog
+from openpilot.selfdrive.ui.sunnypilot.mici.layouts.onboarding import SunnylinkConsentPage


 class DriverCameraSetupDialog(BaseDriverCameraDialog):
@@ -60,91 +52,62 @@ class DriverCameraSetupDialog(BaseDriverCameraDialog):
    rl.end_scissor_mode()


-class TrainingGuidePreDMTutorial(SetupTermsPage):
-  def __init__(self, continue_callback):
-    super().__init__(continue_callback, continue_text="continue")
-    self._title_header = TermsHeader("driver monitoring setup", gui_app.texture("icons_mici/setup/green_dm.png", 60, 60))
+class TrainingGuidePreDMTutorial(NavScroller):
+  def __init__(self, continue_callback: Callable[[], None]):
+    super().__init__()

-    self._dm_label = UnifiedLabel("Next, we'll ensure comma four is mounted properly.\n\nIf it does not have a clear view of the driver, " +
-                                  "unplug and remount before continuing.", 42,
-                                  FontWeight.ROMAN)
+    continue_button = BigPillButton("next")
+    continue_button.set_click_callback(continue_callback)
+
+    self._scroller.add_widgets([
+      GreyBigButton("driver monitoring\ncheck", "scroll to continue",
+                    gui_app.texture("icons_mici/setup/green_dm.png", 64, 64)),
+      GreyBigButton("", "Next, we'll check if comma four can detect the driver properly."),
+      GreyBigButton("", "sunnypilot uses the cabin camera to check if the driver is distracted."),
+      GreyBigButton("", "If it does not have a clear view of the driver, unplug and remount before continuing."),
+      continue_button,
+    ])

  def show_event(self):
    super().show_event()
    # Get driver monitoring model ready for next step
-    ui_state.params.put_bool("IsDriverViewEnabled", True)
-
-  @property
-  def _content_height(self):
-    return self._dm_label.rect.y + self._dm_label.rect.height - self._scroll_panel.get_offset()
-
-  def _render_content(self, scroll_offset):
-    self._title_header.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._rect.y + 16 + scroll_offset,
-      self._title_header.rect.width,
-      self._title_header.rect.height,
-    ))
-
-    self._dm_label.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._title_header.rect.y + self._title_header.rect.height + 16,
-      self._rect.width - 32,
-      self._dm_label.get_content_height(int(self._rect.width - 32)),
-    ))
+    ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", True)


-class DMBadFaceDetected(SetupTermsPage):
-  def __init__(self, continue_callback, back_callback):
-    super().__init__(continue_callback, back_callback, continue_text="power off")
-    self._title_header = TermsHeader("make sure comma four can see your face", gui_app.texture("icons_mici/setup/orange_dm.png", 60, 60))
-    self._dm_label = UnifiedLabel("Re-mount if your face is occluded or driver monitoring has difficulty tracking your face.", 42, FontWeight.ROMAN)
+class DMBadFaceDetected(NavScroller):
+  def __init__(self):
+    super().__init__()

-  @property
-  def _content_height(self):
-    return self._dm_label.rect.y + self._dm_label.rect.height - self._scroll_panel.get_offset()
+    back_button = BigPillButton("back")
+    back_button.set_click_callback(self.dismiss)

-  def _render_content(self, scroll_offset):
-    self._title_header.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._rect.y + 16 + scroll_offset,
-      self._title_header.rect.width,
-      self._title_header.rect.height,
-    ))
-
-    self._dm_label.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._title_header.rect.y + self._title_header.rect.height + 16,
-      self._rect.width - 32,
-      self._dm_label.get_content_height(int(self._rect.width - 32)),
-    ))
+    self._scroller.add_widgets([
+      GreyBigButton("looking for driver", "make sure comma\nfour can see your face",
+                    gui_app.texture("icons_mici/setup/orange_dm.png", 64, 64)),
+      GreyBigButton("", "Remount if your face is blocked, or driver monitoring has difficulty tracking your face."),
+      back_button,
+    ])


-class TrainingGuideDMTutorial(Widget):
+class TrainingGuideDMTutorial(NavWidget):
  PROGRESS_DURATION = 4
  LOOKING_THRESHOLD_DEG = 30.0

-  def __init__(self, continue_callback):
+  def __init__(self, continue_callback: Callable[[], None]):
    super().__init__()

-    self_ref = weakref.ref(self)
-
    self._back_button = SmallCircleIconButton(gui_app.texture("icons_mici/setup/driver_monitoring/dm_question.png", 28, 48))
-    self._back_button.set_click_callback(lambda: self_ref() and self_ref()._show_bad_face_page())
+    self._back_button.set_click_callback(lambda: gui_app.push_widget(self._bad_face_page))
+    self._back_button.set_touch_valid_callback(lambda: self.enabled and not self.is_dismissing)  # for nav stack
    self._good_button = SmallCircleIconButton(gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 42, 42))
+    self._good_button.set_touch_valid_callback(lambda: self.enabled and not self.is_dismissing)  # for nav stack

-    # Wrap the continue callback to restore settings
-    def wrapped_continue_callback():
-      device.set_offroad_brightness(None)
-      continue_callback()
-
-    self._good_button.set_click_callback(wrapped_continue_callback)
+    self._good_button.set_click_callback(continue_callback)
    self._good_button.set_enabled(False)

    self._progress = FirstOrderFilter(0.0, 0.5, 1 / gui_app.target_fps)
    self._dialog = DriverCameraSetupDialog()
-    self._bad_face_page = DMBadFaceDetected(HARDWARE.shutdown, lambda: self_ref() and self_ref()._hide_bad_face_page())
-    self._should_show_bad_face_page = False
+    self._bad_face_page = DMBadFaceDetected()

    # Disable driver monitoring model when device times out for inactivity
    def inactivity_callback():
@@ -152,23 +115,11 @@ class TrainingGuideDMTutorial(Widget):

    device.add_interactive_timeout_callback(inactivity_callback)

-  def _show_bad_face_page(self):
-    self._bad_face_page.show_event()
-    self.hide_event()
-    self._should_show_bad_face_page = True
-
-  def _hide_bad_face_page(self):
-    self._bad_face_page.hide_event()
-    self.show_event()
-    self._should_show_bad_face_page = False
-
  def show_event(self):
    super().show_event()
    self._dialog.show_event()
    self._progress.x = 0.0

-    device.set_offroad_brightness(100)
-
  def _update_state(self):
    super()._update_state()
    if device.awake and not ui_state.params.get_bool("IsDriverViewEnabled"):
@@ -188,7 +139,8 @@ class TrainingGuideDMTutorial(Widget):
      looking_center = False

    # stay at 100% once reached
-    if (dm_state.faceDetected and looking_center) or self._progress.x > 0.99:
+    in_bad_face = gui_app.get_active_widget() == self._bad_face_page
+    if ((dm_state.faceDetected and looking_center) or self._progress.x > 0.99) and not in_bad_face:
      slow = self._progress.x < 0.25
      duration = self.PROGRESS_DURATION * 2 if slow else self.PROGRESS_DURATION
      self._progress.x += 1.0 / (duration * gui_app.target_fps)
@@ -199,13 +151,12 @@ class TrainingGuideDMTutorial(Widget):
    self._good_button.set_enabled(self._progress.x >= 0.999)

  def _render(self, _):
-    if self._should_show_bad_face_page:
-      return self._bad_face_page.render(self._rect)
-
    self._dialog.render(self._rect)

-    rl.draw_rectangle_gradient_v(int(self._rect.x), int(self._rect.y + self._rect.height - 80),
-                                 int(self._rect.width), 80, rl.BLANK, rl.BLACK)
+    gradient_y = int(self._rect.y + self._rect.height - 80)
+    gradient_h = int(self._rect.y) + int(self._rect.height) - gradient_y
+    rl.draw_rectangle_gradient_v(int(self._rect.x), gradient_y,
+                                 int(self._rect.width), gradient_h, rl.BLANK, rl.BLACK)

    # draw white ring around dm icon to indicate progress
    ring_thickness = 8
@@ -258,266 +209,229 @@ class TrainingGuideDMTutorial(Widget):
      ))

    # rounded border
+    rl.begin_scissor_mode(int(self._rect.x), int(self._rect.y), int(self._rect.width), int(self._rect.height))
    rl.draw_rectangle_rounded_lines_ex(self._rect, 0.2 * 1.02, 10, 50, rl.BLACK)
+    rl.end_scissor_mode()


-class TrainingGuideRecordFront(SetupTermsPage):
-  def __init__(self, continue_callback):
-    def on_back():
-      ui_state.params.put_bool("RecordFront", False)
-      continue_callback()
-
-    def on_continue():
-      ui_state.params.put_bool("RecordFront", True)
-      continue_callback()
-
-    super().__init__(on_continue, back_callback=on_back, back_text="no", continue_text="yes")
-    self._title_header = TermsHeader("improve driver monitoring", gui_app.texture("icons_mici/setup/green_dm.png", 60, 60))
-
-    self._dm_label = UnifiedLabel("Do you want to upload driver camera data?", 42,
-                                  FontWeight.ROMAN)
-
-  def show_event(self):
-    super().show_event()
-    # Disable driver monitoring model after last step
-    ui_state.params.put_bool("IsDriverViewEnabled", False)
-
-  @property
-  def _content_height(self):
-    return self._dm_label.rect.y + self._dm_label.rect.height - self._scroll_panel.get_offset()
-
-  def _render_content(self, scroll_offset):
-    self._title_header.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._rect.y + 16 + scroll_offset,
-      self._title_header.rect.width,
-      self._title_header.rect.height,
-    ))
-
-    self._dm_label.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._title_header.rect.y + self._title_header.rect.height + 16,
-      self._rect.width - 32,
-      self._dm_label.get_content_height(int(self._rect.width - 32)),
-    ))
-
-
-class TrainingGuideAttentionNotice(SetupTermsPage):
-  def __init__(self, continue_callback):
-    super().__init__(continue_callback, continue_text="continue")
-    self._title_header = TermsHeader("driver assistance", gui_app.texture("icons_mici/setup/warning.png", 60, 60))
-    self._warning_label = UnifiedLabel("1. sunnypilot is a driver assistance system.\n\n" +
-                                       "2. You must pay attention at all times.\n\n" +
-                                       "3. You must be ready to take over at any time.\n\n" +
-                                       "4. You are fully responsible for driving the car.", 42,
-                                       FontWeight.ROMAN)
-
-  @property
-  def _content_height(self):
-    return self._warning_label.rect.y + self._warning_label.rect.height - self._scroll_panel.get_offset()
-
-  def _render_content(self, scroll_offset):
-    self._title_header.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._rect.y + 16 + scroll_offset,
-      self._title_header.rect.width,
-      self._title_header.rect.height,
-    ))
-
-    self._warning_label.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._title_header.rect.y + self._title_header.rect.height + 16,
-      self._rect.width - 32,
-      self._warning_label.get_content_height(int(self._rect.width - 32)),
-    ))
-
-
-class TrainingGuide(Widget):
-  def __init__(self, completed_callback=None):
+class TrainingGuideRecordFront(NavScroller):
+  def __init__(self, continue_callback: Callable[[], None]):
    super().__init__()
-    self._completed_callback = completed_callback
-    self._step = 0

-    self_ref = weakref.ref(self)
+    def on_accept():
+      ui_state.params.put_bool_nonblocking("RecordFront", True)
+      continue_callback()

-    def on_continue():
-      if obj := self_ref():
-        obj._advance_step()
+    def on_decline():
+      ui_state.params.put_bool_nonblocking("RecordFront", False)
+      continue_callback()
+
+    self._accept_button = BigConfirmationCircleButton("allow data uploading", gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 64, 64),
+                                                      on_accept, exit_on_confirm=False)
+
+    self._decline_button = BigConfirmationCircleButton("no, don't upload", gui_app.texture("icons_mici/setup/cancel.png", 64, 64), on_decline,
+                                                       exit_on_confirm=False)
+
+    self._scroller.add_widgets([
+      GreyBigButton("driver camera data", "do you want to share video data for training?",
+                    gui_app.texture("icons_mici/setup/green_dm.png", 64, 64)),
+      GreyBigButton("", "Sharing your data with comma helps improve openpilot and sunnypilot for everyone."),
+      self._accept_button,
+      self._decline_button,
+    ])
+
+
+class TrainingGuideAttentionNotice(Scroller):
+  def __init__(self, continue_callback: Callable[[], None]):
+    super().__init__()
+
+    continue_button = BigPillButton("next")
+    continue_button.set_click_callback(continue_callback)
+
+    self._scroller.add_widgets([
+      GreyBigButton("what is sunnypilot?", "scroll to continue",
+                    gui_app.texture("icons_mici/setup/green_info.png", 64, 64)),
+      GreyBigButton("", "1. sunnypilot is a driver assistance system."),
+      GreyBigButton("", "2. You must pay attention at all times."),
+      GreyBigButton("", "3. You must be ready to take over at any time."),
+      GreyBigButton("", "4. You are fully responsible for driving the car."),
+      continue_button,
+    ])
+
+
+class TrainingGuide(NavWidget):
+  def __init__(self, completed_callback: Callable[[], None]):
+    super().__init__()

    self._steps = [
-      TrainingGuideAttentionNotice(continue_callback=on_continue),
-      TrainingGuidePreDMTutorial(continue_callback=on_continue),
-      TrainingGuideDMTutorial(continue_callback=on_continue),
-      TrainingGuideRecordFront(continue_callback=on_continue),
+      TrainingGuideAttentionNotice(continue_callback=lambda: gui_app.push_widget(self._steps[1])),
+      TrainingGuidePreDMTutorial(continue_callback=lambda: gui_app.push_widget(self._steps[2])),
+      TrainingGuideDMTutorial(continue_callback=lambda: gui_app.push_widget(self._steps[3])),
+      TrainingGuideRecordFront(continue_callback=completed_callback),
    ]

-  def show_event(self):
-    super().show_event()
-    device.set_override_interactive_timeout(300)
+    self._child(self._steps[0])
+    self._steps[0].set_enabled(lambda: self.enabled and not self.is_dismissing)  # for nav stack

-  def hide_event(self):
-    super().hide_event()
-    device.set_override_interactive_timeout(None)
+  def _render(self, _):
+    self._steps[0].render(self._rect)

-  def _advance_step(self):
-    if self._step < len(self._steps) - 1:
-      self._step += 1
-      self._steps[self._step].show_event()
-    else:
-      self._step = 0
-      if self._completed_callback:
-        self._completed_callback()
+
+class QRCodeWidget(Widget):
+  def __init__(self, url: str, size: int = 170):
+    super().__init__()
+    self.set_rect(rl.Rectangle(0, 0, size, size))
+    self._size = size
+    self._qr_texture: rl.Texture | None = None
+    self._generate_qr(url)
+
+  def _generate_qr(self, url: str):
+    qr = qrcode.QRCode(version=1, error_correction=qrcode.constants.ERROR_CORRECT_L, box_size=10, border=0)
+    qr.add_data(url)
+    qr.make(fit=True)
+
+    pil_img = qr.make_image(fill_color="white", back_color="black").convert('RGBA')
+    img_array = np.array(pil_img, dtype=np.uint8)
+
+    rl_image = rl.Image()
+    rl_image.data = rl.ffi.cast("void *", img_array.ctypes.data)
+    rl_image.width = pil_img.width
+    rl_image.height = pil_img.height
+    rl_image.mipmaps = 1
+    rl_image.format = rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_R8G8B8A8
+
+    self._qr_texture = rl.load_texture_from_image(rl_image)
+
+  def _render(self, _):
+    if self._qr_texture:
+      scale = self._size / self._qr_texture.height
+      rl.draw_texture_ex(self._qr_texture, rl.Vector2(round(self._rect.x), round(self._rect.y)), 0.0, scale, rl.WHITE)
+
+  def __del__(self):
+    if self._qr_texture and self._qr_texture.id != 0:
+      rl.unload_texture(self._qr_texture)
+
+
+class TermsPage(Scroller):
+  def __init__(self, on_accept, on_decline):
+    super().__init__()
+
+    self._accept_button = BigConfirmationCircleButton("accept\nterms", gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 64, 64), on_accept)
+    self._decline_button = BigConfirmationCircleButton("decline &\nuninstall", gui_app.texture("icons_mici/setup/cancel.png", 64, 64), on_decline,
+                                                       red=True, exit_on_confirm=False)
+
+    self._terms_header = GreyBigButton("terms of\nservice", "scroll to continue",
+                                       gui_app.texture("icons_mici/setup/green_info.png", 64, 64))
+    self._must_accept_card = GreyBigButton("", "You must accept the Terms of Service to use sunnypilot.")
+
+    self._scroller.add_widgets([
+      self._terms_header,
+      GreyBigButton("swipe for QR code", "or go to https://sunnypilot.ai/terms",
+                    gui_app.texture("icons_mici/setup/small_slider/slider_arrow.png", 64, 56, flip_x=True)),
+      QRCodeWidget("https://sunnypilot.ai/terms"),
+      self._must_accept_card,
+      self._accept_button,
+      self._decline_button,
+    ])

  def _render(self, _):
    rl.draw_rectangle_rec(self._rect, rl.BLACK)
-    if self._step < len(self._steps):
-      self._steps[self._step].render(self._rect)
-
-
-class DeclinePage(Widget):
-  def __init__(self, back_callback=None):
-    super().__init__()
-    self._uninstall_slider = SmallSlider("uninstall sunnypilot", self._on_uninstall)
-
-    self._back_button = SmallButton("back")
-    self._back_button.set_click_callback(back_callback)
-
-    self._warning_header = TermsHeader("you must accept the\nterms to use sunnypilot",
-                                       gui_app.texture("icons_mici/setup/red_warning.png", 66, 60))
-
-  def _on_uninstall(self):
-    ui_state.params.put_bool("DoUninstall", True)
-    gui_app.request_close()
-
-  def _render(self, _):
-    self._warning_header.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._rect.y + 16,
-      self._warning_header.rect.width,
-      self._warning_header.rect.height,
-    ))
-
-    self._back_button.set_opacity(1 - self._uninstall_slider.slider_percentage)
-    self._back_button.render(rl.Rectangle(
-      self._rect.x + 8,
-      self._rect.y + self._rect.height - self._back_button.rect.height,
-      self._back_button.rect.width,
-      self._back_button.rect.height,
-    ))
-
-    self._uninstall_slider.render(rl.Rectangle(
-      self._rect.x + self._rect.width - self._uninstall_slider.rect.width,
-      self._rect.y + self._rect.height - self._uninstall_slider.rect.height,
-      self._uninstall_slider.rect.width,
-      self._uninstall_slider.rect.height,
-    ))
-
-
-class TermsPage(SetupTermsPage):
-  def __init__(self, on_accept=None, on_decline=None):
-    super().__init__(on_accept, on_decline, "decline")
-
-    info_txt = gui_app.texture("icons_mici/setup/green_info.png", 60, 60)
-    self._title_header = TermsHeader("terms of service", info_txt)
-
-    self._terms_label = UnifiedLabel("You must accept the Terms of Service to use sunnypilot. " +
-                                     "Read the latest terms at https://sunnypilot.ai/terms before continuing.", 36,
-                                     FontWeight.ROMAN)
-
-  @property
-  def _content_height(self):
-    return self._terms_label.rect.y + self._terms_label.rect.height - self._scroll_panel.get_offset()
-
-  def _render_content(self, scroll_offset):
-    self._title_header.set_position(self._rect.x + 16, self._rect.y + 12 + scroll_offset)
-    self._title_header.render()
-
-    self._terms_label.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._title_header.rect.y + self._title_header.rect.height + self.ITEM_SPACING,
-      self._rect.width - 100,
-      self._terms_label.get_content_height(int(self._rect.width - 100)),
-    ))
+    super()._render(_)


 class OnboardingWindow(Widget):
-  def __init__(self):
+  def __init__(self, completed_callback: Callable[[], None]):
    super().__init__()
-    self._accepted_terms: bool = ui_state.params.get("HasAcceptedTerms") == terms_version
+    self._completed_callback = completed_callback
+    self._accepted_terms: bool = (ui_state.params.get("HasAcceptedTerms") == terms_version and
+                                  ui_state.params.get("HasAcceptedTermsSP") == terms_version_sp)
    self._training_done: bool = ui_state.params.get("CompletedTrainingVersion") == training_version
+    self._sunnylink_consent_done: bool = ui_state.params.get("CompletedSunnylinkConsentVersion") in {
+      sunnylink_consent_version, sunnylink_consent_declined
+    }

-    self._state = OnboardingState.TERMS if not self._accepted_terms else OnboardingState.ONBOARDING
+    self.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))

-    self.set_rect(rl.Rectangle(0, 0, 458, gui_app.height))
+    # Windows — all pushed onto nav stack, _terms is always rendered as base layer
+    self._terms = TermsPage(on_accept=self._on_terms_accepted, on_decline=self._on_uninstall)
+    self._terms.set_enabled(lambda: self.enabled)  # for nav stack
+
+    self._sunnylink_consent = SunnylinkConsentPage(
+      on_accept=self._on_sunnylink_accepted,
+      on_decline=self._on_sunnylink_declined,
+    )

-    # Windows
-    self._terms = TermsPage(on_accept=self._on_terms_accepted, on_decline=self._on_terms_declined)
    self._training_guide = TrainingGuide(completed_callback=self._on_completed_training)
-    self._decline_page = DeclinePage(back_callback=self._on_decline_back)
+    self._training_guide.set_enabled(lambda: self.enabled)  # for nav stack

-    # sunnylink consent pages
-    self._accepted_terms = self._accepted_terms and ui_state.params.get("HasAcceptedTermsSP") == terms_version_sp
-    self._sunnylink = SunnylinkOnboarding()
-    if not self._accepted_terms:
-      self._state = OnboardingState.TERMS
-    elif not self._sunnylink.completed:
-      self._state = OnboardingState.SUNNYLINK_CONSENT
-    elif not self._training_done:
-      self._state = OnboardingState.ONBOARDING
-    else:
-      self._state = OnboardingState.ONBOARDING
+    self._needs_initial_push = False
+
+  def _on_uninstall(self):
+    ui_state.params.put_bool("DoUninstall", True)

  def show_event(self):
    super().show_event()
    device.set_override_interactive_timeout(300)
+    device.set_offroad_brightness(100)
+    self._needs_initial_push = True

  def hide_event(self):
    super().hide_event()
+    # FIXME: when nav stack sends hide event to widget 2 below on push, this needs to be moved
    device.set_override_interactive_timeout(None)
+    device.set_offroad_brightness(None)

  @property
  def completed(self) -> bool:
-    return self._accepted_terms and self._sunnylink.completed and self._training_done
-
-  def _on_terms_declined(self):
-    self._state = OnboardingState.DECLINE
-
-  def _on_decline_back(self):
-    self._state = OnboardingState.TERMS
+    return self._accepted_terms and self._sunnylink_consent_done and self._training_done

  def close(self):
-    ui_state.params.put_bool("IsDriverViewEnabled", False)
-    gui_app.pop_widget()
+    ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", False)
+    self._completed_callback()

  def _on_terms_accepted(self):
    ui_state.params.put("HasAcceptedTerms", terms_version)
    ui_state.params.put("HasAcceptedTermsSP", terms_version_sp)
-    if not self._sunnylink.completed:
-      self._state = OnboardingState.SUNNYLINK_CONSENT
+    self._accepted_terms = True
+    if not self._sunnylink_consent_done:
+      gui_app.push_widget(self._sunnylink_consent)
    elif not self._training_done:
-      self._state = OnboardingState.ONBOARDING
+      gui_app.push_widget(self._training_guide)
+    else:
+      self.close()
+
+  def _on_sunnylink_accepted(self):
+    ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_version)
+    ui_state.params.put_bool("SunnylinkEnabled", True)
+    self._sunnylink_consent_done = True
+    if not self._training_done:
+      gui_app.push_widget(self._training_guide)
+    else:
+      self.close()
+
+  def _on_sunnylink_declined(self):
+    ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_declined)
+    ui_state.params.put_bool("SunnylinkEnabled", False)
+    self._sunnylink_consent_done = True
+    if not self._training_done:
+      gui_app.push_widget(self._training_guide)
    else:
      self.close()

  def _on_completed_training(self):
    ui_state.params.put("CompletedTrainingVersion", training_version)
+    self._training_done = True
    self.close()

  def _render(self, _):
    rl.draw_rectangle_rec(self._rect, rl.BLACK)
-    if self._state == OnboardingState.TERMS:
-      self._terms.render(self._rect)
-    elif self._state == OnboardingState.SUNNYLINK_CONSENT:
-      self._sunnylink.render(self._rect)
-      if self._sunnylink.completed:
-        if not self._training_done:
-          self._state = OnboardingState.ONBOARDING
-        else:
-          self.close()
-    elif self._state == OnboardingState.ONBOARDING:
-      if not self._training_done:
-        self._training_guide.render(self._rect)
-      else:
-        self.close()
-    elif self._state == OnboardingState.DECLINE:
-      self._decline_page.render(self._rect)
+
+    # Deferred from show_event to avoid nested push_widget re-enable bug
+    if self._needs_initial_push:
+      self._needs_initial_push = False
+      if self._accepted_terms and not self._sunnylink_consent_done:
+        gui_app.push_widget(self._sunnylink_consent)
+      elif self._accepted_terms and self._sunnylink_consent_done and not self._training_done:
+        gui_app.push_widget(self._training_guide)
+
+    self._terms.render(self._rect)
@@ -5,32 +5,37 @@ from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigInputDialog
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.selfdrive.ui.layouts.settings.common import restart_needed_callback
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.selfdrive.ui.widgets.ssh_key import SshKeyAction
+from openpilot.selfdrive.ui.widgets.ssh_key import SshKeyFetcher


 class DeveloperLayoutMici(NavScroller):
  def __init__(self):
    super().__init__()
+    self._ssh_fetcher = SshKeyFetcher(ui_state.params)

    def github_username_callback(username: str):
      if username:
-        ssh_keys = SshKeyAction()
-        ssh_keys._fetch_ssh_key(username)
-        if not ssh_keys._error_message:
-          self._ssh_keys_btn.set_value(username)
-        else:
-          dlg = BigDialog("", ssh_keys._error_message)
-          gui_app.push_widget(dlg)
+        self._ssh_keys_btn.set_value("Loading...")
+        self._ssh_keys_btn.set_enabled(False)
+
+        def on_response(error):
+          self._ssh_keys_btn.set_enabled(True)
+          if error is None:
+            self._ssh_keys_btn.set_value(username)
+          else:
+            self._ssh_keys_btn.set_value("Not set")
+            gui_app.push_widget(BigDialog("", error))
+
+        self._ssh_fetcher.fetch(username, on_response)
      else:
-        ui_state.params.remove("GithubUsername")
-        ui_state.params.remove("GithubSshKeys")
+        self._ssh_fetcher.clear()
        self._ssh_keys_btn.set_value("Not set")

    def ssh_keys_callback():
      github_username = ui_state.params.get("GithubUsername") or ""
      dlg = BigInputDialog("enter GitHub username...", github_username, minimum_length=0, confirm_callback=github_username_callback)
      if not system_time_valid():
-        dlg = BigDialog("Please connect to Wi-Fi to fetch your key", "")
+        dlg = BigDialog("", "Please connect to Wi-Fi to fetch your key.")
        gui_app.push_widget(dlg)
        return
      gui_app.push_widget(dlg)
@@ -42,8 +47,8 @@ class DeveloperLayoutMici(NavScroller):

    # adb, ssh, ssh keys, debug mode, joystick debug mode, longitudinal maneuver mode, ip address
    # ******** Main Scroller ********
-    self._adb_toggle = BigCircleParamControl("icons_mici/adb_short.png", "AdbEnabled", icon_size=(82, 82), icon_offset=(0, 12))
-    self._ssh_toggle = BigCircleParamControl("icons_mici/ssh_short.png", "SshEnabled", icon_size=(82, 82), icon_offset=(0, 12))
+    self._adb_toggle = BigCircleParamControl(gui_app.texture("icons_mici/adb_short.png", 82, 82), "AdbEnabled", icon_offset=(0, 12))
+    self._ssh_toggle = BigCircleParamControl(gui_app.texture("icons_mici/ssh_short.png", 82, 82), "SshEnabled", icon_offset=(0, 12))
    self._joystick_toggle = BigToggle("joystick debug mode",
                                      initial_state=ui_state.params.get_bool("JoystickDebugMode"),
                                      toggle_callback=self._on_joystick_debug_mode)
@@ -99,6 +104,10 @@ class DeveloperLayoutMici(NavScroller):

    ui_state.add_offroad_transition_callback(self._update_toggles)

+  def _update_state(self):
+    super()._update_state()
+    self._ssh_fetcher.update()
+
  def show_event(self):
    super().show_event()
    self._update_toggles()
@@ -9,19 +9,40 @@ from openpilot.common.params import Params
 from openpilot.common.time_helpers import system_time_valid
 from openpilot.system.ui.widgets.scroller import NavRawScrollPanel, NavScroller
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigCircleButton
-from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialogV2
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialog
 from openpilot.selfdrive.ui.mici.widgets.pairing_dialog import PairingDialog
 from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import DriverCameraDialog
 from openpilot.selfdrive.ui.mici.layouts.onboarding import TrainingGuide, TermsPage
 from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets import Widget
-from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.ui.widgets.label import MiciLabel
+from openpilot.selfdrive.ui.ui_state import device, ui_state
+from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets.html_render import HtmlModal, HtmlRenderer
 from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID


+class ReviewTermsPage(TermsPage, NavScroller):
+  """TermsPage with NavWidget swipe-to-dismiss for reviewing in device settings."""
+  def __init__(self):
+    super().__init__(on_accept=self.dismiss, on_decline=self.dismiss)
+    self._terms_header.set_visible(False)
+    self._must_accept_card.set_visible(False)
+    self._accept_button.set_visible(False)
+    self._decline_button.set_visible(False)
+
+
+class ReviewTrainingGuide(TrainingGuide):
+  def show_event(self):
+    super().show_event()
+    device.set_override_interactive_timeout(300)
+
+  def hide_event(self):
+    super().hide_event()
+    device.set_override_interactive_timeout(None)
+    ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", False)
+
+
 class MiciFccModal(NavRawScrollPanel):
  def __init__(self, file_path: str | None = None, text: str | None = None):
    super().__init__()
@@ -43,34 +64,31 @@ class MiciFccModal(NavRawScrollPanel):
    rl.draw_texture_ex(self._fcc_logo, fcc_pos, 0.0, 1.0, rl.WHITE)


-def _engaged_confirmation_callback(callback: Callable, action_text: str):
+def _engaged_confirmation_click(callback: Callable, action_text: str, icon: rl.Texture, exit_on_confirm: bool = True, red: bool = False):
  if not ui_state.engaged:
    def confirm_callback():
      # Check engaged again in case it changed while the dialog was open
+      # TODO: if true, we stay on the dialog if not exit_on_confirm until normal onroad timeout
      if not ui_state.engaged:
        callback()

-    red = False
-    if action_text == "power off":
-      icon = "icons_mici/settings/device/power.png"
-      red = True
-    elif action_text == "reboot":
-      icon = "icons_mici/settings/device/reboot.png"
-    elif action_text == "reset":
-      icon = "icons_mici/settings/device/lkas.png"
-    elif action_text == "uninstall":
-      icon = "icons_mici/settings/device/uninstall.png"
-    else:
-      # TODO: check
-      icon = "icons_mici/settings/comma_icon.png"
-
-    dlg: BigConfirmationDialogV2 | BigDialog = BigConfirmationDialogV2(f"slide to\n{action_text.lower()}", icon, red=red,
-                                                                       exit_on_confirm=action_text == "reset",
-                                                                       confirm_callback=confirm_callback)
-    gui_app.push_widget(dlg)
+    gui_app.push_widget(BigConfirmationDialog(f"slide to\n{action_text.lower()}", icon, confirm_callback, exit_on_confirm=exit_on_confirm, red=red))
  else:
-    dlg = BigDialog(f"Disengage to {action_text}", "")
-    gui_app.push_widget(dlg)
+    gui_app.push_widget(BigDialog("", f"Disengage to {action_text}"))
+
+
+class EngagedConfirmationCircleButton(BigCircleButton):
+  def __init__(self, title: str, icon: rl.Texture, callback: Callable[[], None], exit_on_confirm: bool = True,
+               red: bool = False, icon_offset: tuple[int, int] = (0, 0)):
+    super().__init__(icon, red, icon_offset)
+    self.set_click_callback(lambda: _engaged_confirmation_click(callback, title, icon, exit_on_confirm=exit_on_confirm, red=red))
+
+
+class EngagedConfirmationButton(BigButton):
+  def __init__(self, text: str, action_text: str, icon: rl.Texture, callback: Callable[[], None],
+               exit_on_confirm: bool = True, red: bool = False):
+    super().__init__(text, "", icon)
+    self.set_click_callback(lambda: _engaged_confirmation_click(callback, action_text, icon, exit_on_confirm=exit_on_confirm, red=red))


 class DeviceInfoLayoutMici(Widget):
@@ -80,14 +98,15 @@ class DeviceInfoLayoutMici(Widget):
    self.set_rect(rl.Rectangle(0, 0, 360, 180))

    params = Params()
-    header_color = rl.Color(255, 255, 255, int(255 * 0.9))
    subheader_color = rl.Color(255, 255, 255, int(255 * 0.9 * 0.65))
    max_width = int(self._rect.width - 20)
-    self._dongle_id_label = MiciLabel("device ID", 48, width=max_width, color=header_color, font_weight=FontWeight.DISPLAY)
-    self._dongle_id_text_label = MiciLabel(params.get("DongleId") or 'N/A', 32, width=max_width, color=subheader_color, font_weight=FontWeight.ROMAN)
+    self._dongle_id_label = UnifiedLabel("device ID", 48, max_width=max_width, font_weight=FontWeight.DISPLAY, wrap_text=False)
+    self._dongle_id_text_label = UnifiedLabel(params.get("DongleId") or 'N/A', 32, max_width=max_width, text_color=subheader_color,
+                                              font_weight=FontWeight.ROMAN, wrap_text=False)

-    self._serial_number_label = MiciLabel("serial", 48, color=header_color, font_weight=FontWeight.DISPLAY)
-    self._serial_number_text_label = MiciLabel(params.get("HardwareSerial") or 'N/A', 32, width=max_width, color=subheader_color, font_weight=FontWeight.ROMAN)
+    self._serial_number_label = UnifiedLabel("serial", 48, max_width=max_width, font_weight=FontWeight.DISPLAY, wrap_text=False)
+    self._serial_number_text_label = UnifiedLabel(params.get("HardwareSerial") or 'N/A', 32, max_width=max_width, text_color=subheader_color,
+                                                  font_weight=FontWeight.ROMAN, wrap_text=False)

  def _render(self, _):
    self._dongle_id_label.set_position(self._rect.x + 20, self._rect.y - 10)
@@ -111,7 +130,7 @@ class UpdaterState(IntEnum):

 class PairBigButton(BigButton):
  def __init__(self):
-    super().__init__("pair", "connect.comma.ai", "icons_mici/settings/comma_icon.png", icon_size=(33, 60))
+    super().__init__("pair", "connect.comma.ai", gui_app.texture("icons_mici/settings/comma_icon.png", 33, 60))

  def _get_label_font_size(self):
    return 64
@@ -137,9 +156,9 @@ class PairBigButton(BigButton):
      return
    dlg: BigDialog | PairingDialog
    if not system_time_valid():
-      dlg = BigDialog(tr("Please connect to Wi-Fi to complete initial pairing"), "")
+      dlg = BigDialog("", tr("Please connect to Wi-Fi to complete initial pairing."))
    elif UNREGISTERED_DONGLE_ID == (ui_state.params.get("DongleId") or UNREGISTERED_DONGLE_ID):
-      dlg = BigDialog(tr("Device must be registered with the comma.ai backend to pair"), "")
+      dlg = BigDialog("", tr("Device must be registered with the comma.ai backend to pair."))
    else:
      dlg = PairingDialog()
    gui_app.push_widget(dlg)
@@ -169,7 +188,7 @@ class UpdateOpenpilotBigButton(BigButton):
    super()._handle_mouse_release(mouse_pos)

    if not system_time_valid():
-      dlg = BigDialog(tr("Please connect to Wi-Fi to update"), "")
+      dlg = BigDialog("", tr("Please connect to Wi-Fi to update."))
      gui_app.push_widget(dlg)
      return

@@ -290,33 +309,33 @@ class DeviceLayoutMici(NavScroller):
    def uninstall_openpilot_callback():
      ui_state.params.put_bool("DoUninstall", True)

-    reset_calibration_btn = BigButton("reset calibration", "", "icons_mici/settings/device/lkas.png", icon_size=(114, 60))
-    reset_calibration_btn.set_click_callback(lambda: _engaged_confirmation_callback(reset_calibration_callback, "reset"))
+    reset_calibration_btn = EngagedConfirmationButton("reset calibration", "reset", gui_app.texture("icons_mici/settings/device/lkas.png", 122, 64),
+                                                      reset_calibration_callback)

-    uninstall_openpilot_btn = BigButton("uninstall sunnypilot", "", "icons_mici/settings/device/uninstall.png")
-    uninstall_openpilot_btn.set_click_callback(lambda: _engaged_confirmation_callback(uninstall_openpilot_callback, "uninstall"))
+    uninstall_openpilot_btn = EngagedConfirmationButton("uninstall sunnypilot", "uninstall",
+                                                        gui_app.texture("icons_mici/settings/device/uninstall.png", 64, 64),
+                                                        uninstall_openpilot_callback, exit_on_confirm=False)

-    reboot_btn = BigCircleButton("icons_mici/settings/device/reboot.png", red=False, icon_size=(64, 70))
-    reboot_btn.set_click_callback(lambda: _engaged_confirmation_callback(reboot_callback, "reboot"))
+    reboot_btn = EngagedConfirmationCircleButton("reboot", gui_app.texture("icons_mici/settings/device/reboot.png", 64, 70),
+                                                 reboot_callback, exit_on_confirm=False)

-    self._power_off_btn = BigCircleButton("icons_mici/settings/device/power.png", red=True, icon_size=(64, 66))
-    self._power_off_btn.set_click_callback(lambda: _engaged_confirmation_callback(power_off_callback, "power off"))
+    self._power_off_btn = EngagedConfirmationCircleButton("power off", gui_app.texture("icons_mici/settings/device/power.png", 64, 66),
+                                                          power_off_callback, exit_on_confirm=False, red=True)
    self._power_off_btn.set_visible(lambda: not ui_state.ignition)

-    regulatory_btn = BigButton("regulatory info", "", "icons_mici/settings/device/info.png")
+    regulatory_btn = BigButton("regulatory info", "", gui_app.texture("icons_mici/settings/device/info.png", 64, 64))
    regulatory_btn.set_click_callback(self._on_regulatory)

-    driver_cam_btn = BigButton("driver\ncamera preview", "", "icons_mici/settings/device/cameras.png")
+    driver_cam_btn = BigButton("driver\ncamera preview", "", gui_app.texture("icons_mici/settings/device/cameras.png", 64, 64))
    driver_cam_btn.set_click_callback(lambda: gui_app.push_widget(DriverCameraDialog()))
    driver_cam_btn.set_enabled(lambda: ui_state.is_offroad())

-    review_training_guide_btn = BigButton("review\ntraining guide", "", "icons_mici/settings/device/info.png")
-    review_training_guide_btn.set_click_callback(lambda: gui_app.push_widget(TrainingGuide(completed_callback=gui_app.pop_widget)))
+    review_training_guide_btn = BigButton("review\ntraining guide", "", gui_app.texture("icons_mici/settings/device/info.png", 64, 64))
+    review_training_guide_btn.set_click_callback(lambda: gui_app.push_widget(ReviewTrainingGuide(completed_callback=lambda: gui_app.pop_widgets_to(self))))
    review_training_guide_btn.set_enabled(lambda: ui_state.is_offroad())

-    terms_btn = BigButton("terms &\nconditions", "", "icons_mici/settings/device/info.png")
-    terms_btn.set_click_callback(lambda: gui_app.push_widget(TermsPage(on_accept=gui_app.pop_widget)))
-    terms_btn.set_enabled(lambda: ui_state.is_offroad())
+    terms_btn = BigButton("terms &\nconditions", "", gui_app.texture("icons_mici/settings/device/info.png", 64, 64))
+    terms_btn.set_click_callback(lambda: gui_app.push_widget(ReviewTermsPage()))

    self._scroller.add_widgets([
      DeviceInfoLayoutMici(),
@@ -81,12 +81,12 @@ class FirehoseLayoutBase(Widget):
  def _render(self, rect: rl.Rectangle):
    # compute total content height for scrolling
    content_height = self._measure_content_height(rect)
-    scroll_offset = round(self._scroll_panel.update(rect, content_height))
+    scroll_offset = self._scroll_panel.update(rect, content_height)

    # start drawing with offset
-    x = int(rect.x + 40)
-    y = int(rect.y + 40 + scroll_offset)
-    w = int(rect.width - 80)
+    x = rect.x + 40
+    y = rect.y + 40 + scroll_offset
+    w = rect.width - 80

    # Title
    title_text = tr(TITLE)
@@ -100,7 +100,7 @@ class FirehoseLayoutBase(Widget):
    y += 20

    # Separator
-    rl.draw_rectangle(x, y, w, 2, self.GRAY)
+    rl.draw_rectangle_rec(rl.Rectangle(x, y, w, 2), self.GRAY)
    y += 20

    # Status
@@ -116,7 +116,7 @@ class FirehoseLayoutBase(Widget):
      y += 20

    # Separator
-    rl.draw_rectangle(x, y, w, 2, self.GRAY)
+    rl.draw_rectangle_rec(rl.Rectangle(x, y, w, 2), self.GRAY)
    y += 20

    # Instructions intro
@@ -1,13 +1,9 @@
 import pyray as rl

-from openpilot.system.ui.widgets.scroller import NavScroller
-from openpilot.selfdrive.ui.mici.layouts.settings.network.wifi_ui import WifiUIMici, WifiIcon
-from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigMultiToggle, BigParamControl, BigToggle
-from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog
-from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.selfdrive.ui.lib.prime_state import PrimeType
+from openpilot.selfdrive.ui.mici.layouts.settings.network.wifi_ui import WifiIcon
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton
 from openpilot.system.ui.lib.application import gui_app
-from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, MeteredType, ConnectStatus, SecurityType, normalize_ssid
+from openpilot.system.ui.lib.wifi_manager import WifiManager, ConnectStatus, SecurityType, normalize_ssid


 class WifiNetworkButton(BigButton):
@@ -62,148 +58,3 @@ class WifiNetworkButton(BigButton):
      lock_x = icon_x + self._txt_icon.width - self._lock_txt.width + 7
      lock_y = icon_y + self._txt_icon.height - self._lock_txt.height + 8
      rl.draw_texture_ex(self._lock_txt, (lock_x, lock_y), 0.0, 1.0, rl.WHITE)
-
-
-class NetworkLayoutMici(NavScroller):
-  def __init__(self):
-    super().__init__()
-
-    self._wifi_manager = WifiManager()
-    self._wifi_manager.set_active(False)
-    self._wifi_ui = WifiUIMici(self._wifi_manager)
-
-    self._wifi_manager.add_callbacks(
-      networks_updated=self._on_network_updated,
-    )
-
-    # ******** Tethering ********
-    def tethering_toggle_callback(checked: bool):
-      self._tethering_toggle_btn.set_enabled(False)
-      self._tethering_password_btn.set_enabled(False)
-      self._network_metered_btn.set_enabled(False)
-      self._wifi_manager.set_tethering_active(checked)
-
-    self._tethering_toggle_btn = BigToggle("enable tethering", "", toggle_callback=tethering_toggle_callback)
-
-    def tethering_password_callback(password: str):
-      if password:
-        self._tethering_toggle_btn.set_enabled(False)
-        self._tethering_password_btn.set_enabled(False)
-        self._wifi_manager.set_tethering_password(password)
-
-    def tethering_password_clicked():
-      tethering_password = self._wifi_manager.tethering_password
-      dlg = BigInputDialog("enter password...", tethering_password, minimum_length=8,
-                           confirm_callback=tethering_password_callback)
-      gui_app.push_widget(dlg)
-
-    txt_tethering = gui_app.texture("icons_mici/settings/network/tethering.png", 64, 54)
-    self._tethering_password_btn = BigButton("tethering password", "", txt_tethering)
-    self._tethering_password_btn.set_click_callback(tethering_password_clicked)
-
-    # ******** Network Metered ********
-    def network_metered_callback(value: str):
-      self._network_metered_btn.set_enabled(False)
-      metered = {
-        'default': MeteredType.UNKNOWN,
-        'metered': MeteredType.YES,
-        'unmetered': MeteredType.NO
-      }.get(value, MeteredType.UNKNOWN)
-      self._wifi_manager.set_current_network_metered(metered)
-
-    # TODO: signal for current network metered type when changing networks, this is wrong until you press it once
-    # TODO: disable when not connected
-    self._network_metered_btn = BigMultiToggle("network usage", ["default", "metered", "unmetered"], select_callback=network_metered_callback)
-    self._network_metered_btn.set_enabled(False)
-
-    self._wifi_button = WifiNetworkButton(self._wifi_manager)
-    self._wifi_button.set_click_callback(lambda: gui_app.push_widget(self._wifi_ui))
-
-    # ******** Advanced settings ********
-    # ******** Roaming toggle ********
-    self._roaming_btn = BigParamControl("enable roaming", "GsmRoaming", toggle_callback=self._toggle_roaming)
-
-    # ******** APN settings ********
-    self._apn_btn = BigButton("apn settings", "edit")
-    self._apn_btn.set_click_callback(self._edit_apn)
-
-    # ******** Cellular metered toggle ********
-    self._cellular_metered_btn = BigParamControl("cellular metered", "GsmMetered", toggle_callback=self._toggle_cellular_metered)
-
-    # Main scroller ----------------------------------
-    self._scroller.add_widgets([
-      self._wifi_button,
-      self._network_metered_btn,
-      self._tethering_toggle_btn,
-      self._tethering_password_btn,
-      # /* Advanced settings
-      self._roaming_btn,
-      self._apn_btn,
-      self._cellular_metered_btn,
-      # */
-    ])
-
-    # Set initial config
-    roaming_enabled = ui_state.params.get_bool("GsmRoaming")
-    metered = ui_state.params.get_bool("GsmMetered")
-    self._wifi_manager.update_gsm_settings(roaming_enabled, ui_state.params.get("GsmApn") or "", metered)
-
-  def _update_state(self):
-    super()._update_state()
-
-    # If not using prime SIM, show GSM settings and enable IPv4 forwarding
-    show_cell_settings = ui_state.prime_state.get_type() in (PrimeType.NONE, PrimeType.LITE)
-    self._wifi_manager.set_ipv4_forward(show_cell_settings)
-    self._roaming_btn.set_visible(show_cell_settings)
-    self._apn_btn.set_visible(show_cell_settings)
-    self._cellular_metered_btn.set_visible(show_cell_settings)
-
-  def show_event(self):
-    super().show_event()
-    self._wifi_manager.set_active(True)
-
-    # Process wifi callbacks while at any point in the nav stack
-    gui_app.add_nav_stack_tick(self._wifi_manager.process_callbacks)
-
-  def hide_event(self):
-    super().hide_event()
-    self._wifi_manager.set_active(False)
-
-    gui_app.remove_nav_stack_tick(self._wifi_manager.process_callbacks)
-
-  def _toggle_roaming(self, checked: bool):
-    self._wifi_manager.update_gsm_settings(checked, ui_state.params.get("GsmApn") or "", ui_state.params.get_bool("GsmMetered"))
-
-  def _edit_apn(self):
-    def update_apn(apn: str):
-      apn = apn.strip()
-      if apn == "":
-        ui_state.params.remove("GsmApn")
-      else:
-        ui_state.params.put("GsmApn", apn)
-
-      self._wifi_manager.update_gsm_settings(ui_state.params.get_bool("GsmRoaming"), apn, ui_state.params.get_bool("GsmMetered"))
-
-    current_apn = ui_state.params.get("GsmApn") or ""
-    dlg = BigInputDialog("enter APN...", current_apn, minimum_length=0, confirm_callback=update_apn)
-    gui_app.push_widget(dlg)
-
-  def _toggle_cellular_metered(self, checked: bool):
-    self._wifi_manager.update_gsm_settings(ui_state.params.get_bool("GsmRoaming"), ui_state.params.get("GsmApn") or "", checked)
-
-  def _on_network_updated(self, networks: list[Network]):
-    # Update tethering state
-    tethering_active = self._wifi_manager.is_tethering_active()
-    # TODO: use real signals (like activated/settings changed, etc.) to speed up re-enabling buttons
-    self._tethering_toggle_btn.set_enabled(True)
-    self._tethering_password_btn.set_enabled(True)
-    self._network_metered_btn.set_enabled(lambda: not tethering_active and bool(self._wifi_manager.ipv4_address))
-    self._tethering_toggle_btn.set_checked(tethering_active)
-
-    # Update network metered
-    self._network_metered_btn.set_value(
-      {
-        MeteredType.UNKNOWN: 'default',
-        MeteredType.YES: 'metered',
-        MeteredType.NO: 'unmetered'
-      }.get(self._wifi_manager.current_network_metered, 'default'))
@@ -0,0 +1,154 @@
+from openpilot.system.ui.widgets.scroller import NavScroller
+from openpilot.selfdrive.ui.mici.layouts.settings.network import WifiNetworkButton
+from openpilot.selfdrive.ui.mici.layouts.settings.network.wifi_ui import WifiUIMici
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigMultiToggle, BigParamControl, BigToggle
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.lib.prime_state import PrimeType
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, MeteredType
+
+
+class NetworkLayoutMici(NavScroller):
+  def __init__(self):
+    super().__init__()
+
+    self._wifi_manager = WifiManager()
+    self._wifi_manager.set_active(False)
+    self._wifi_ui = WifiUIMici(self._wifi_manager)
+
+    self._wifi_manager.add_callbacks(
+      networks_updated=self._on_network_updated,
+    )
+
+    # ******** Tethering ********
+    def tethering_toggle_callback(checked: bool):
+      self._tethering_toggle_btn.set_enabled(False)
+      self._tethering_password_btn.set_enabled(False)
+      self._network_metered_btn.set_enabled(False)
+      self._wifi_manager.set_tethering_active(checked)
+
+    self._tethering_toggle_btn = BigToggle("enable tethering", "", toggle_callback=tethering_toggle_callback)
+
+    def tethering_password_callback(password: str):
+      if password:
+        self._tethering_toggle_btn.set_enabled(False)
+        self._tethering_password_btn.set_enabled(False)
+        self._wifi_manager.set_tethering_password(password)
+
+    def tethering_password_clicked():
+      tethering_password = self._wifi_manager.tethering_password
+      dlg = BigInputDialog("enter password...", tethering_password, minimum_length=8,
+                           confirm_callback=tethering_password_callback)
+      gui_app.push_widget(dlg)
+
+    txt_tethering = gui_app.texture("icons_mici/settings/network/tethering.png", 64, 54)
+    self._tethering_password_btn = BigButton("tethering password", "", txt_tethering)
+    self._tethering_password_btn.set_click_callback(tethering_password_clicked)
+
+    # ******** Network Metered ********
+    def network_metered_callback(value: str):
+      self._network_metered_btn.set_enabled(False)
+      metered = {
+        'default': MeteredType.UNKNOWN,
+        'metered': MeteredType.YES,
+        'unmetered': MeteredType.NO
+      }.get(value, MeteredType.UNKNOWN)
+      self._wifi_manager.set_current_network_metered(metered)
+
+    # TODO: signal for current network metered type when changing networks, this is wrong until you press it once
+    # TODO: disable when not connected
+    self._network_metered_btn = BigMultiToggle("network usage", ["default", "metered", "unmetered"], select_callback=network_metered_callback)
+    self._network_metered_btn.set_enabled(False)
+
+    self._wifi_button = WifiNetworkButton(self._wifi_manager)
+    self._wifi_button.set_click_callback(lambda: gui_app.push_widget(self._wifi_ui))
+
+    # ******** Advanced settings ********
+    # ******** Roaming toggle ********
+    self._roaming_btn = BigParamControl("enable roaming", "GsmRoaming", toggle_callback=self._toggle_roaming)
+
+    # ******** APN settings ********
+    self._apn_btn = BigButton("apn settings", "edit")
+    self._apn_btn.set_click_callback(self._edit_apn)
+
+    # ******** Cellular metered toggle ********
+    self._cellular_metered_btn = BigParamControl("cellular metered", "GsmMetered", toggle_callback=self._toggle_cellular_metered)
+
+    # Main scroller ----------------------------------
+    self._scroller.add_widgets([
+      self._wifi_button,
+      self._network_metered_btn,
+      self._tethering_toggle_btn,
+      self._tethering_password_btn,
+      # /* Advanced settings
+      self._roaming_btn,
+      self._apn_btn,
+      self._cellular_metered_btn,
+      # */
+    ])
+
+    # Set initial config
+    roaming_enabled = ui_state.params.get_bool("GsmRoaming")
+    metered = ui_state.params.get_bool("GsmMetered")
+    self._wifi_manager.update_gsm_settings(roaming_enabled, ui_state.params.get("GsmApn") or "", metered)
+
+  def _update_state(self):
+    super()._update_state()
+
+    # If not using prime SIM, show GSM settings and enable IPv4 forwarding
+    show_cell_settings = ui_state.prime_state.get_type() in (PrimeType.NONE, PrimeType.LITE)
+    self._wifi_manager.set_ipv4_forward(show_cell_settings)
+    self._roaming_btn.set_visible(show_cell_settings)
+    self._apn_btn.set_visible(show_cell_settings)
+    self._cellular_metered_btn.set_visible(show_cell_settings)
+
+  def show_event(self):
+    super().show_event()
+    self._wifi_manager.set_active(True)
+
+    # Process wifi callbacks while at any point in the nav stack
+    gui_app.add_nav_stack_tick(self._wifi_manager.process_callbacks)
+
+  def hide_event(self):
+    super().hide_event()
+    self._wifi_manager.set_active(False)
+
+    gui_app.remove_nav_stack_tick(self._wifi_manager.process_callbacks)
+
+  def _toggle_roaming(self, checked: bool):
+    self._wifi_manager.update_gsm_settings(checked, ui_state.params.get("GsmApn") or "", ui_state.params.get_bool("GsmMetered"))
+
+  def _edit_apn(self):
+    def update_apn(apn: str):
+      apn = apn.strip()
+      if apn == "":
+        ui_state.params.remove("GsmApn")
+      else:
+        ui_state.params.put("GsmApn", apn)
+
+      self._wifi_manager.update_gsm_settings(ui_state.params.get_bool("GsmRoaming"), apn, ui_state.params.get_bool("GsmMetered"))
+
+    current_apn = ui_state.params.get("GsmApn") or ""
+    dlg = BigInputDialog("enter APN...", current_apn, minimum_length=0, confirm_callback=update_apn)
+    gui_app.push_widget(dlg)
+
+  def _toggle_cellular_metered(self, checked: bool):
+    self._wifi_manager.update_gsm_settings(ui_state.params.get_bool("GsmRoaming"), ui_state.params.get("GsmApn") or "", checked)
+
+  def _on_network_updated(self, networks: list[Network]):
+    # Update tethering state
+    tethering_active = self._wifi_manager.is_tethering_active()
+    # TODO: use real signals (like activated/settings changed, etc.) to speed up re-enabling buttons
+    self._tethering_toggle_btn.set_enabled(True)
+    self._tethering_password_btn.set_enabled(True)
+    self._network_metered_btn.set_enabled(lambda: not tethering_active and bool(self._wifi_manager.ipv4_address))
+    self._tethering_toggle_btn.set_checked(tethering_active)
+
+    # Update network metered
+    self._network_metered_btn.set_value(
+      {
+        MeteredType.UNKNOWN: 'default',
+        MeteredType.YES: 'metered',
+        MeteredType.NO: 'unmetered'
+      }.get(self._wifi_manager.current_network_metered, 'default'))
@@ -3,9 +3,8 @@ import numpy as np
 import pyray as rl
 from collections.abc import Callable

-from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.swaglog import cloudlog
-from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog, BigConfirmationDialogV2
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog, BigConfirmationDialog
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton, LABEL_COLOR
 from openpilot.system.ui.lib.application import gui_app, MousePos, FontWeight
 from openpilot.system.ui.widgets import Widget
@@ -14,39 +13,26 @@ from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, SecurityT


 class LoadingAnimation(Widget):
-  HIDE_TIME = 4
+  RADIUS = 8
+  SPACING = 24  # center-to-center: diameter (16) + gap (8)
+  Y_MAG = 11.2

  def __init__(self):
    super().__init__()
-    self._opacity_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
-    self._opacity_target = 1.0
-    self._hide_time = 0.0
-
-  def show_event(self):
-    self._opacity_target = 1.0
-    self._hide_time = rl.get_time()
+    w = self.SPACING * 2 + self.RADIUS * 2
+    h = self.RADIUS * 2 + int(self.Y_MAG)
+    self.set_rect(rl.Rectangle(0, 0, w, h))

  def _render(self, _):
-    if rl.get_time() - self._hide_time > self.HIDE_TIME:
-      self._opacity_target = 0.0
-
-    self._opacity_filter.update(self._opacity_target)
-
-    if self._opacity_filter.x < 0.01:
-      return
-
-    cx = int(self._rect.x + self._rect.width / 2)
-    cy = int(self._rect.y + self._rect.height / 2)
-
-    y_mag = 7
-    anim_scale = 4
-    spacing = 14
+    # Balls rest at bottom center; bounce upward
+    base_x = int(self._rect.x + self._rect.width / 2)
+    base_y = int(self._rect.y + self._rect.height - self.RADIUS)

    for i in range(3):
-      x = cx - spacing + i * spacing
-      y = int(cy + min(math.sin((rl.get_time() - i * 0.2) * anim_scale) * y_mag, 0))
-      alpha = int(np.interp(cy - y, [0, y_mag], [255 * 0.45, 255 * 0.9]) * self._opacity_filter.x)
-      rl.draw_circle(x, y, 5, rl.Color(255, 255, 255, alpha))
+      x = base_x + (i - 1) * self.SPACING
+      y = int(base_y + min(math.sin((rl.get_time() - i * 0.2) * 4) * self.Y_MAG, 0))
+      alpha = int(np.interp(base_y - y, [0, self.Y_MAG], [255 * 0.45, 255 * 0.9]))
+      rl.draw_circle(x, y, self.RADIUS, rl.Color(255, 255, 255, alpha))


 class WifiIcon(Widget):
@@ -124,6 +110,10 @@ class WifiButton(BigButton):
    if self._is_connected or self._is_connecting:
      self._wrong_password = False

+  @property
+  def network_forgetting(self) -> bool:
+    return self._network_forgetting
+
  def _forget_network(self):
    if self._network_forgetting:
      return
@@ -175,7 +165,7 @@ class WifiButton(BigButton):

      if self._is_connected and not self._network_forgetting:
        check_y = int(label_y - sub_label_height + (sub_label_height - self._check_txt.height) / 2)
-        rl.draw_texture(self._check_txt, int(sub_label_x), check_y, rl.Color(255, 255, 255, int(255 * 0.9 * 0.65)))
+        rl.draw_texture_ex(self._check_txt, rl.Vector2(sub_label_x, check_y), 0.0, 1.0, rl.Color(255, 255, 255, int(255 * 0.9 * 0.65)))
        sub_label_x += self._check_txt.width + 14

      sub_label_rect = rl.Rectangle(sub_label_x, label_y - sub_label_height, sub_label_w, sub_label_height)
@@ -256,8 +246,7 @@ class ForgetButton(Widget):

  def _handle_mouse_release(self, mouse_pos: MousePos):
    super()._handle_mouse_release(mouse_pos)
-    dlg = BigConfirmationDialogV2("slide to forget", "icons_mici/settings/network/new/trash.png", red=True,
-                                  confirm_callback=self._forget_network)
+    dlg = BigConfirmationDialog("slide to forget", gui_app.texture("icons_mici/settings/network/new/trash.png", 54, 64), self._forget_network, red=True)
    gui_app.push_widget(dlg)

  def _render(self, _):
@@ -270,11 +259,26 @@ class ForgetButton(Widget):
    rl.draw_texture_ex(self._trash_txt, (trash_x, trash_y), 0, 1.0, rl.WHITE)


+class ScanningButton(BigButton):
+  def __init__(self):
+    super().__init__("", "searching for networks")
+    self.set_enabled(False)
+    self._loading_animation = LoadingAnimation()
+
+  def _draw_content(self, btn_y: float):
+    super()._draw_content(btn_y)
+    anim = self._loading_animation
+    x = self._rect.x + self._rect.width - anim.rect.width - 40
+    y = btn_y + self._rect.height - anim.rect.height - 30
+    anim.set_position(x, y)
+    anim.render()
+
+
 class WifiUIMici(NavScroller):
  def __init__(self, wifi_manager: WifiManager):
    super().__init__()

-    self._loading_animation = LoadingAnimation()
+    self._scanning_btn = ScanningButton()

    self._wifi_manager = wifi_manager
    self._networks: dict[str, Network] = {}
@@ -285,20 +289,23 @@ class WifiUIMici(NavScroller):
      networks_updated=self._on_network_updated,
    )

+  @property
+  def any_network_forgetting(self) -> bool:
+    # TODO: deactivate before forget and add DISCONNECTING state
+    return any(btn.network_forgetting for btn in self._scroller.items if isinstance(btn, WifiButton))
+
  def show_event(self):
-    # Clear scroller items and update from latest scan results
+    # Re-sort scroller items and update from latest scan results
    super().show_event()
-    self._loading_animation.show_event()
    self._wifi_manager.set_active(True)
-    self._scroller.items.clear()
-    # trigger button update on latest sorted networks
-    self._on_network_updated(self._wifi_manager.networks)
+    self._networks = {n.ssid: n for n in self._wifi_manager.networks}
+    self._update_buttons(re_sort=True)

  def _on_network_updated(self, networks: list[Network]):
    self._networks = {network.ssid: network for network in networks}
    self._update_buttons()

-  def _update_buttons(self):
+  def _update_buttons(self, re_sort: bool = False):
    # Update existing buttons, add new ones to the end
    existing = {btn.network.ssid: btn for btn in self._scroller.items if isinstance(btn, WifiButton)}

@@ -310,10 +317,22 @@ class WifiUIMici(NavScroller):
        btn.set_click_callback(lambda ssid=network.ssid: self._connect_to_network(ssid))
        self._scroller.add_widget(btn)

-    # Mark networks no longer in scan results (display handled by _update_state)
-    for btn in self._scroller.items:
-      if isinstance(btn, WifiButton) and btn.network.ssid not in self._networks:
-        btn.set_network_missing(True)
+    if re_sort:
+      # Remove stale buttons and sort to match scan order, preserving eager state
+      btn_map = {btn.network.ssid: btn for btn in self._scroller.items if isinstance(btn, WifiButton)}
+      self._scroller.items[:] = [btn_map[ssid] for ssid in self._networks if ssid in btn_map]
+    else:
+      # Mark networks no longer in scan results (display handled by _update_state)
+      for btn in self._scroller.items:
+        if isinstance(btn, WifiButton) and btn.network.ssid not in self._networks:
+          btn.set_network_missing(True)
+
+    # Keep scanning button at the end
+    items = self._scroller.items
+    if self._scanning_btn in items:
+      items.append(items.pop(items.index(self._scanning_btn)))
+    else:
+      self._scroller.add_widget(self._scanning_btn)

  def _connect_with_password(self, ssid: str, password: str):
    self._wifi_manager.connect_to_network(ssid, password)
@@ -370,17 +389,3 @@ class WifiUIMici(NavScroller):
    super()._update_state()

    self._move_network_to_front(self._wifi_manager.wifi_state.ssid)
-
-    # Show loading animation near end
-    max_scroll = max(self._scroller.content_size - self._scroller.rect.width, 1)
-    progress = -self._scroller.scroll_panel.get_offset() / max_scroll
-    if progress > 0.8 or len(self._scroller.items) <= 1:
-      self._loading_animation.show_event()
-
-  def _render(self, _):
-    super()._render(self._rect)
-
-    anim_w = 90
-    anim_x = self._rect.x + self._rect.width - anim_w
-    anim_y = self._rect.y + self._rect.height - 25 + 2
-    self._loading_animation.render(rl.Rectangle(anim_x, anim_y, anim_w, 20))
@@ -2,7 +2,7 @@ from openpilot.common.params import Params
 from openpilot.system.ui.widgets.scroller import NavScroller
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton
 from openpilot.selfdrive.ui.mici.layouts.settings.toggles import TogglesLayoutMici
-from openpilot.selfdrive.ui.mici.layouts.settings.network import NetworkLayoutMici
+from openpilot.selfdrive.ui.mici.layouts.settings.network.network_layout import NetworkLayoutMici
 from openpilot.selfdrive.ui.mici.layouts.settings.device import DeviceLayoutMici, PairBigButton
 from openpilot.selfdrive.ui.mici.layouts.settings.developer import DeveloperLayoutMici
 from openpilot.selfdrive.ui.mici.layouts.settings.firehose import FirehoseLayout
@@ -20,23 +20,23 @@ class SettingsLayout(NavScroller):
    self._params = Params()

    toggles_panel = TogglesLayoutMici()
-    toggles_btn = SettingsBigButton("toggles", "", "icons_mici/settings.png")
+    toggles_btn = SettingsBigButton("toggles", "", gui_app.texture("icons_mici/settings.png", 64, 64))
    toggles_btn.set_click_callback(lambda: gui_app.push_widget(toggles_panel))

    network_panel = NetworkLayoutMici()
-    network_btn = SettingsBigButton("network", "", "icons_mici/settings/network/wifi_strength_full.png", icon_size=(76, 56))
+    network_btn = SettingsBigButton("network", "", gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 76, 56))
    network_btn.set_click_callback(lambda: gui_app.push_widget(network_panel))

    device_panel = DeviceLayoutMici()
-    device_btn = SettingsBigButton("device", "", "icons_mici/settings/device_icon.png", icon_size=(74, 60))
+    device_btn = SettingsBigButton("device", "", gui_app.texture("icons_mici/settings/device_icon.png", 72, 58))
    device_btn.set_click_callback(lambda: gui_app.push_widget(device_panel))

    developer_panel = DeveloperLayoutMici()
-    developer_btn = SettingsBigButton("developer", "", "icons_mici/settings/developer_icon.png", icon_size=(64, 60))
+    developer_btn = SettingsBigButton("developer", "", gui_app.texture("icons_mici/settings/developer_icon.png", 64, 60))
    developer_btn.set_click_callback(lambda: gui_app.push_widget(developer_panel))

    firehose_panel = FirehoseLayout()
-    firehose_btn = SettingsBigButton("firehose", "", "icons_mici/settings/firehose.png", icon_size=(52, 62))
+    firehose_btn = SettingsBigButton("firehose", "", gui_app.texture("icons_mici/settings/firehose.png", 52, 62))
    firehose_btn.set_click_callback(lambda: gui_app.push_widget(firehose_panel))

    self._scroller.add_widgets([
@@ -231,7 +231,7 @@ class AlertRenderer(Widget, SpeedLimitAlertRenderer):
    self._alpha_filter.update(0 if alert is None else 1)

    if gui_app.sunnypilot_ui():
-      ui_state.onroad_brightness_handle_alerts(ui_state.started, alert)
+      ui_state.onroad_brightness_handle_alerts(ui_state, alert)

    if alert is None:
      # If still animating out, keep the previous alert
@@ -272,8 +272,8 @@ class AlertRenderer(Widget, SpeedLimitAlertRenderer):
    else:
      icon_alpha = int(min(self._turn_signal_alpha_filter.x, 255))

-    rl.draw_texture(alert_layout.icon.texture, pos_x, int(self._rect.y + alert_layout.icon.margin_y),
-                    rl.Color(255, 255, 255, int(icon_alpha * self._alpha_filter.x)))
+    rl.draw_texture_ex(alert_layout.icon.texture, rl.Vector2(pos_x, self._rect.y + alert_layout.icon.margin_y), 0.0, 1.0,
+                       rl.Color(255, 255, 255, int(icon_alpha * self._alpha_filter.x)))

  def _draw_background(self, alert: Alert) -> None:
    # draw top gradient for alert text at top
@@ -130,7 +130,7 @@ class BookmarkIcon(Widget):
    if self._offset_filter.x > 0:
      icon_x = self.rect.x + self.rect.width - round(self._offset_filter.x)
      icon_y = self.rect.y + (self.rect.height - self._icon.height) / 2  # Vertically centered
-      rl.draw_texture(self._icon, int(icon_x), int(icon_y), rl.WHITE)
+      rl.draw_texture_ex(self._icon, rl.Vector2(icon_x, icon_y), 0.0, 1.0, rl.WHITE)


 class AugmentedRoadView(CameraView):
@@ -251,7 +251,7 @@ class AugmentedRoadView(CameraView):
    # Draw darkened background and text if not onroad
    if not ui_state.started:
      rl.draw_rectangle(int(self.rect.x), int(self.rect.y), int(self.rect.width), int(self.rect.height), rl.Color(0, 0, 0, 175))
-      self._offroad_label.render(self._content_rect)
+      self._offroad_label.render(self._rect)

    # publish uiDebug
    msg = messaging.new_message('uiDebug')
@@ -155,11 +155,11 @@ class CameraView(Widget):
      # Prevent old frames from showing when going onroad. Qt has a separate thread
      # which drains the VisionIpcClient SubSocket for us. Re-connecting is not enough
      # and only clears internal buffers, not the message queue.
-      self.frame = None
      self.available_streams.clear()
      if self.client:
        del self.client
      self.client = VisionIpcClient(self._name, self._stream_type, conflate=True)
+    self.frame = None

  def _set_placeholder_color(self, color: rl.Color):
    """Set a placeholder color to be drawn when no frame is available."""
@@ -61,7 +61,7 @@ class DriverStateRenderer(Widget):
    self._dm_cone = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_cone.png", cone_and_person_size, cone_and_person_size)
    center_size = round(36 / self.BASE_SIZE * self._rect.width)
    self._dm_center = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_center.png", center_size, center_size)
-    self._dm_background = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_background.png", self._rect.width, self._rect.height)
+    self._dm_background = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_background.png", int(self._rect.width), int(self._rect.height))

  def set_should_draw(self, should_draw: bool):
    self._should_draw = should_draw
@@ -88,15 +88,14 @@ class DriverStateRenderer(Widget):
    if DEBUG:
      rl.draw_rectangle_lines_ex(self._rect, 1, rl.RED)

-    rl.draw_texture(self._dm_background,
-                    int(self._rect.x),
-                    int(self._rect.y),
-                    rl.Color(255, 255, 255, int(255 * self._fade_filter.x)))
+    rl.draw_texture_ex(self._dm_background,
+                       rl.Vector2(self._rect.x, self._rect.y), 0.0, 1.0,
+                       rl.Color(255, 255, 255, int(255 * self._fade_filter.x)))

-    rl.draw_texture(self._dm_person,
-                    int(self._rect.x + (self._rect.width - self._dm_person.width) / 2),
-                    int(self._rect.y + (self._rect.height - self._dm_person.height) / 2),
-                    rl.Color(255, 255, 255, int(255 * 0.9 * self._fade_filter.x)))
+    rl.draw_texture_ex(self._dm_person,
+                       rl.Vector2(self._rect.x + (self._rect.width - self._dm_person.width) / 2,
+                                  self._rect.y + (self._rect.height - self._dm_person.height) / 2), 0.0, 1.0,
+                       rl.Color(255, 255, 255, int(255 * 0.9 * self._fade_filter.x)))

    if self.effective_active:
      source_rect = rl.Rectangle(0, 0, self._dm_cone.width, self._dm_cone.height)
@@ -172,8 +172,7 @@ class HudRenderer(Widget):
  def _render(self, rect: rl.Rectangle) -> None:
    """Render HUD elements to the screen."""

-    if ui_state.sm['controlsState'].lateralControlState.which() != 'angleState':
-      self._torque_bar.render(rect)
+    self._torque_bar.render(rect)

    if self.is_cruise_set:
      self._draw_set_speed(rect)
@@ -222,7 +221,7 @@ class HudRenderer(Widget):
      EXCLAMATION_POINT_SPACING = 10
      exclamation_pos_x = pos_x - self._txt_exclamation_point.width / 2 + wheel_txt.width / 2 + EXCLAMATION_POINT_SPACING
      exclamation_pos_y = pos_y - self._txt_exclamation_point.height / 2
-      rl.draw_texture(self._txt_exclamation_point, int(exclamation_pos_x), int(exclamation_pos_y), rl.WHITE)
+      rl.draw_texture_ex(self._txt_exclamation_point, rl.Vector2(exclamation_pos_x, exclamation_pos_y), 0.0, 1.0, rl.WHITE)

  def _draw_set_speed(self, rect: rl.Rectangle) -> None:
    """Draw the MAX speed indicator box."""
@@ -145,6 +145,9 @@ def arc_bar_pts(cx: float, cy: float,
  return pts


+DEFAULT_MAX_LAT_ACCEL = 3.0  # m/s^2
+
+
 class TorqueBar(Widget):
  def __init__(self, demo: bool = False, scale: float = 1.0, always: bool = False):
    super().__init__()
@@ -167,16 +170,23 @@ class TorqueBar(Widget):
      controls_state = ui_state.sm['controlsState']
      car_state = ui_state.sm['carState']
      live_parameters = ui_state.sm['liveParameters']
-      lateral_acceleration = controls_state.curvature * car_state.vEgo ** 2 - live_parameters.roll * ACCELERATION_DUE_TO_GRAVITY
-      # TODO: pull from carparams
-      max_lateral_acceleration = 3
+      car_control = ui_state.sm['carControl']

-      # from selfdrived
+      # Include lateral accel error in estimated torque utilization
      actual_lateral_accel = controls_state.curvature * car_state.vEgo ** 2
      desired_lateral_accel = controls_state.desiredCurvature * car_state.vEgo ** 2
      accel_diff = (desired_lateral_accel - actual_lateral_accel)

-      self._torque_filter.update(min(max(lateral_acceleration / max_lateral_acceleration + accel_diff, -1), 1))
+      # Include road roll in estimated torque utilization
+      # Roll is less accurate near standstill, so reduce its effect at low speed
+      roll_compensation = live_parameters.roll * ACCELERATION_DUE_TO_GRAVITY * np.interp(car_state.vEgo, [5, 15], [0.0, 1.0])
+      lateral_acceleration = actual_lateral_accel - roll_compensation
+      max_lateral_acceleration = ui_state.CP.maxLateralAccel if ui_state.CP else DEFAULT_MAX_LAT_ACCEL
+
+      if not car_control.latActive:
+        self._torque_filter.update(0.0)
+      else:
+        self._torque_filter.update(np.clip((lateral_acceleration + accel_diff) / max_lateral_acceleration, -1, 1))
    else:
      self._torque_filter.update(-ui_state.sm['carOutput'].actuatorsOutput.torque)

@@ -10,7 +10,7 @@ from openpilot.system.ui.widgets import Widget
 from openpilot.selfdrive.ui.mici.layouts.onboarding import TrainingGuide as MiciTrainingGuide, OnboardingWindow as MiciOnboardingWindow
 from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import DriverCameraDialog as MiciDriverCameraDialog
 from openpilot.selfdrive.ui.mici.widgets.pairing_dialog import PairingDialog as MiciPairingDialog
-from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialogV2, BigInputDialog
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialog, BigInputDialog
 from openpilot.selfdrive.ui.mici.layouts.settings.device import MiciFccModal

 # tici dialogs
@@ -44,7 +44,7 @@ KNOWN_LEAKS = {
  "openpilot.system.ui.widgets.scroller_tici.Scroller",
  "openpilot.system.ui.widgets.label.UnifiedLabel",
  "openpilot.system.ui.widgets.mici_keyboard.MiciKeyboard",
-  "openpilot.selfdrive.ui.mici.widgets.dialog.BigConfirmationDialogV2",
+  "openpilot.selfdrive.ui.mici.widgets.dialog.BigConfirmationDialog",
  "openpilot.system.ui.widgets.keyboard.Keyboard",
  "openpilot.system.ui.widgets.slider.BigSlider",
  "openpilot.selfdrive.ui.mici.widgets.dialog.BigInputDialog",
@@ -68,9 +68,11 @@ def test_dialogs_do_not_leak():

  for ctor in (
    # mici
-    MiciDriverCameraDialog, MiciTrainingGuide, MiciOnboardingWindow, MiciPairingDialog,
+    MiciDriverCameraDialog, MiciPairingDialog,
+    lambda: MiciTrainingGuide(lambda: None),
+    lambda: MiciOnboardingWindow(lambda: None),
    lambda: BigDialog("test", "test"),
-    lambda: BigConfirmationDialogV2("test", "icons_mici/settings/network/new/trash.png"),
+    lambda: BigConfirmationDialog("test", gui_app.texture("icons_mici/settings/network/new/trash.png", 54, 64), lambda: None),
    lambda: BigInputDialog("test"),
    lambda: MiciFccModal(text="test"),
    # tici
--- a/Show More
+++ b/Show More