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

* ci: point to master-tici for certain submodules

* new

* new

* minimal

* check

* revert

* try this out

* more

.github/workflows/auto_pr_review.yaml

@@ -29,11 +29,11 @@ jobs:
       env:
         GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
       with:
-        target: /^(?!master$).*/
+        target: /^(?!master-tici$).*/
         exclude: /sunnypilot:.*/
         change-to: ${{ github.base_ref }}
         already-exists-action: close_this
-        already-exists-comment: "Your PR should be made against the `master` branch"
+        already-exists-comment: "Your PR should be made against the `master-tici` branch"
 
   update-pr-labels:
     name: Update fork's PR Labels

.github/workflows/badges.yaml

@@ -5,7 +5,7 @@ on:
   workflow_dispatch:
 
 env:
-  BASE_IMAGE: sunnypilot-base
+  BASE_IMAGE: sunnypilot-tici-base
   DOCKER_REGISTRY: ghcr.io/sunnypilot
   RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c
 

.github/workflows/cereal_validation.yaml

@@ -3,7 +3,7 @@ name: cereal validation
 on:
   push:
     branches:
-      - master
+      - master-tici
   pull_request:
     paths:
       - 'cereal/**'
@@ -16,7 +16,7 @@ on:
         type: string
 
 concurrency:
-  group: cereal-validation-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: cereal-validation-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
   cancel-in-progress: true
 
 env:

.github/workflows/ci_weekly_report.yaml

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

.github/workflows/ci_weekly_run.yaml

@@ -12,6 +12,6 @@ concurrency:
 
 jobs:
   selfdrive_tests:
-    uses: sunnypilot/sunnypilot/.github/workflows/selfdrive_tests.yaml@master
+    uses: sunnypilot/sunnypilot/.github/workflows/selfdrive_tests.yaml@master-tici
     with:
       run_number: ${{ inputs.run_number }}

.github/workflows/compile-openpilot/action.yaml

@@ -15,7 +15,7 @@ runs:
                           scons -j$(nproc) --cache-populate"
     - name: Save scons cache
       uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
+      if: github.ref == 'refs/heads/master-tici'
       with:
         path: .ci_cache/scons_cache
         key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}

.github/workflows/docs.yaml

@@ -3,7 +3,7 @@ name: docs
 on:
   push:
     branches:
-      - master
+      - master-tici
   pull_request:
   workflow_call:
     inputs:
@@ -12,7 +12,7 @@ on:
         required: true
         type: string
 concurrency:
-  group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
   cancel-in-progress: true
 
 jobs:
@@ -35,13 +35,13 @@ jobs:
 
     # Push to docs.comma.ai
     - uses: actions/checkout@v4
-      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
+      if: github.ref == 'refs/heads/master-tici' && github.repository == 'sunnypilot/sunnypilot'
       with:
         path: openpilot-docs
         ssh-key: ${{ secrets.OPENPILOT_DOCS_KEY }}
         repository: sunnypilot/sunnypilot-docs
     - name: Push
-      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
+      if: github.ref == 'refs/heads/master-tici' && github.repository == 'sunnypilot/sunnypilot'
       run: |
         set -x
 

.github/workflows/prebuilt.yaml

@@ -24,11 +24,11 @@ jobs:
       if: ${{ github.event_name != 'workflow_dispatch' }}
       uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
       with:
-        ref: master
+        ref: master-tici
         wait-interval: 30
         running-workflow-name: 'build prebuilt'
         repo-token: ${{ secrets.GITHUB_TOKEN }}
-        check-regexp: ^((?!.*(build master-ci).*).)*$
+        check-regexp: ^((?!.*(build __nightly).*).)*$
     - uses: actions/checkout@v4
       with:
         submodules: true

.github/workflows/release-drafter.yml

@@ -19,6 +19,7 @@ jobs:
       contents: write
       pull-requests: write
     runs-on: ubuntu-latest
+    if: False
     steps:
       - uses: release-drafter/release-drafter@v6
         with:

.github/workflows/release.yaml

@@ -10,7 +10,7 @@ jobs:
     env:
       ImageOS: ubuntu24
     container:
-      image: ghcr.io/sunnypilot/sunnypilot-base:latest
+      image: ghcr.io/sunnypilot/sunnypilot-tici-base:latest
     runs-on: ubuntu-latest
     if: github.repository == 'sunnypilot/sunnypilot'
     permissions:
@@ -25,7 +25,7 @@ jobs:
       if: ${{ github.event_name == 'schedule' }}
       uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
       with:
-        ref: master
+        ref: master-tici
         wait-interval: 30
         running-workflow-name: 'build __nightly'
         repo-token: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/repo-maintenance.yaml

@@ -6,7 +6,7 @@ on:
   workflow_dispatch:
 
 env:
-  BASE_IMAGE: sunnypilot-base
+  BASE_IMAGE: sunnypilot-tici-base
   BUILD: release/ci/docker_build_sp.sh base
   RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
 
@@ -28,7 +28,7 @@ jobs:
           title: "[bot] Update translations"
           body: "Automatic PR from repo-maintenance -> update_translations"
           branch: "update-translations"
-          base: "master"
+          base: "master-tici"
           delete-branch: true
           labels: bot
 
@@ -36,13 +36,14 @@ jobs:
     name: package_updates
     runs-on: ubuntu-latest
     container:
-      image: ghcr.io/sunnypilot/sunnypilot-base:latest
+      image: ghcr.io/sunnypilot/sunnypilot-tici-base:latest
     if: github.repository == 'sunnypilot/sunnypilot'
     steps:
     - uses: actions/checkout@v4
       with:
         submodules: true
     - name: uv lock
+      if: github.repository == 'commaai/openpilot'
       run: |
         python3 -m ensurepip --upgrade
         pip3 install uv
@@ -67,7 +68,7 @@ jobs:
         commit-message: Update Python packages
         title: '[bot] Update Python packages'
         branch: auto-package-updates
-        base: master
+        base: master-tici
         delete-branch: true
         body: 'Automatic PR from repo-maintenance -> package_updates'
         labels: bot

.github/workflows/selfdrive_tests.yaml

@@ -3,7 +3,7 @@ name: selfdrive
 on:
   push:
     branches:
-      - master
+      - master-tici
   pull_request:
   workflow_dispatch:
   workflow_call:
@@ -14,12 +14,12 @@ on:
         type: string
 
 concurrency:
-  group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
   cancel-in-progress: true
 
 env:
   PYTHONWARNINGS: error
-  BASE_IMAGE: sunnypilot-base
+  BASE_IMAGE: sunnypilot-tici-base
   AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
 
   DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
@@ -68,10 +68,10 @@ jobs:
       if: github.repository == 'sunnypilot/sunnypilot'
       timeout-minutes: 3
       run: |
-        if [ "${{ github.ref }}" != "refs/heads/master" ]; then
-          git fetch  origin master:refs/remotes/origin/master
+        if [ "${{ github.ref }}" != "refs/heads/master-tici" ]; then
+          git fetch  origin master-tici:refs/remotes/origin/master-tici
 
-          SUBMODULE_PATHS=$(git diff origin/master HEAD --name-only | grep -E '^[^/]+$' | while read path; do
+          SUBMODULE_PATHS=$(git diff origin/master-tici HEAD --name-only | grep -E '^[^/]+$' | while read path; do
             if git ls-files --stage "$path" | grep -q "^160000"; then
               echo "$path"
             fi
@@ -97,7 +97,7 @@ jobs:
       with:
         submodules: true
     - name: Setup docker push
-      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'sunnypilot/sunnypilot'
+      if: github.ref == 'refs/heads/master-tici' && github.event_name != 'pull_request' && github.repository == 'sunnypilot/sunnypilot'
       run: |
         echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
         $DOCKER_LOGIN
@@ -129,7 +129,7 @@ jobs:
         PYTHONWARNINGS: default
     - name: Save Homebrew cache
       uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
+      if: github.ref == 'refs/heads/master-tici'
       with:
         path: ~/Library/Caches/Homebrew
         key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
@@ -146,7 +146,7 @@ jobs:
       run: . .venv/bin/activate && scons -j$(nproc)
     - name: Save scons cache
       uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
+      if: github.ref == 'refs/heads/master-tici'
       with:
         path: /tmp/scons_cache
         key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
@@ -305,5 +305,5 @@ jobs:
       - name: Upload Test Report
         uses: actions/upload-artifact@v4
         with:
-          name: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
+          name: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && 'master-tici' || github.event.number }}
           path: selfdrive/ui/tests/test_ui/report_1/screenshots

.github/workflows/sunnypilot-build-model.yaml

@@ -14,7 +14,7 @@ on:
       upstream_branch:
         description: 'Upstream branch to build from'
         required: true
-        default: 'master'
+        default: 'master-tici'
         type: string
       custom_name:
         description: 'Custom name for the model (no date, only name)'
@@ -35,7 +35,7 @@ on:
       upstream_branch:
         description: 'Upstream branch to build from'
         required: true
-        default: 'master'
+        default: 'master-tici'
         type: string
       custom_name:
         description: 'Custom name for the model (no date, only name)'

.github/workflows/sunnypilot-build-prebuilt.yaml

@@ -8,21 +8,15 @@ env:
   PUBLIC_REPO_URL: "https://github.com/sunnypilot/sunnypilot"
   
   # Branch configurations
-  STAGING_C3_SOURCE_BRANCH: ${{ vars.STAGING_C3_SOURCE_BRANCH || 'master' }} # vars are set on repo settings.
-  DEV_C3_SOURCE_BRANCH: ${{ vars.DEV_C3_SOURCE_BRANCH || 'master-dev-c3-new' }} # vars are set on repo settings.
-  
-  # Target branch configurations
-  STAGING_TARGET_BRANCH: ${{ vars.STAGING_TARGET_BRANCH || 'staging-c3-new' }} # vars are set on repo settings.
-  DEV_TARGET_BRANCH: ${{ vars.DEV_TARGET_BRANCH || 'dev-c3-new' }} # vars are set on repo settings.
-  RELEASE_TARGET_BRANCH: ${{ vars.RELEASE_TARGET_BRANCH || 'release-c3-new' }} # vars are set on repo settings.
+  STAGING_C3_SOURCE_BRANCH: 'master-tici' # vars.STAGING_C3_SOURCE_BRANCH could be used, set on repo settings.
   
   # Runtime configuration
   SOURCE_BRANCH: "${{ github.head_ref || github.ref_name }}"
 
 on:
   push:
-    branches: [ master, master-dev-c3-new ]
-    tags: [ '*' ]
+    branches: [ master-tici ]
+    tags: [ 'release/*' ]
   pull_request_target:
     types: [ labeled ]
   workflow_dispatch:
@@ -34,9 +28,72 @@ on:
         default: false
 
 jobs:
+  prepare_strategy:
+    runs-on: ubuntu-24.04
+    if: (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
+    outputs:
+      environment: ${{ steps.strategy.outputs.environment }}
+      new_branch: ${{ steps.strategy.outputs.new_branch }}
+      extra_version_identifier: ${{ steps.strategy.outputs.extra_version_identifier }}
+      version: ${{ steps.strategy.outputs.version }}
+      cancel_publish_in_progress: ${{ steps.strategy.outputs.cancel_publish_in_progress }}
+      publish_concurrency_group: ${{ steps.strategy.outputs.publish_concurrency_group }}
+      is_stable_branch: ${{ steps.strategy.outputs.is_stable_branch }}
+      build: ${{ steps.strategy.outputs.build }}
+    steps:
+      - uses: actions/checkout@v4
+      - name: Extract deploy strategy
+        id: strategy
+        run: |
+          echo '::group::Strategy Extraction'
+          BRANCH="${{ github.head_ref || github.ref_name }}"
+          echo "Current branch: $BRANCH"
+
+          STRATEGY_JSON='${{ vars.DEPLOY_STRATEGY }}'
+          CONFIG=$(echo "$STRATEGY_JSON" | jq -r --arg branch "$BRANCH" '
+            .configs[] | select(.branch == $branch)
+          ')
+
+          BUILD="$(date '+%Y.%m.%d')-${{ github.run_number }}"
+          if [[ -z "$CONFIG" || "$CONFIG" == "null" ]]; then
+            echo "No exact strategy match found. Falling back to feature/fork logic."
+            IS_FORK="${{ github.event.pull_request.head.repo.fork && 'true' || 'false' }}"
+            FORK_SUFFIX=$( [[ "$IS_FORK" == "true" ]] && echo "-fork" || echo "" )
+            NEW_BRANCH="${BRANCH}${FORK_SUFFIX}-prebuilt"
+
+            echo "new_branch=$NEW_BRANCH" >> $GITHUB_OUTPUT
+            echo "version=$BUILD" >> $GITHUB_OUTPUT
+            echo "cancel_publish_in_progress=true" >> $GITHUB_OUTPUT
+            echo "publish_concurrency_group=publish-${BRANCH}" >> $GITHUB_OUTPUT
+            echo "environment=feature-branch" >> $GITHUB_OUTPUT
+            echo "extra_version_identifier=feature-branch" >> $GITHUB_OUTPUT
+          else
+          echo "Matched config: $CONFIG"
+            environment=$(echo "$CONFIG" | jq -r '.environment')
+            echo "environment=$environment" >> $GITHUB_OUTPUT
+            echo "new_branch=$(echo "$CONFIG" | jq -r '.target_branch')" >> $GITHUB_OUTPUT
+            cancel="$(echo "$CONFIG" | jq -r '.cancel_publish_in_progress')";
+            echo "cancel_publish_in_progress=$( [ "$cancel" = "null" ] && echo "true" || echo $cancel)" >> $GITHUB_OUTPUT
+            echo "publish_concurrency_group=publish-${BRANCH}$( [ "$cancel" = "null" ] || [ "$cancel" = "true" ] || echo "${{ github.sha }}" )" >> $GITHUB_OUTPUT
+          
+            is_stable_branch="$(echo "$CONFIG" | jq -r '.stable_branch // false')";
+            echo "is_stable_branch=$is_stable_branch" >> $GITHUB_OUTPUT
+
+            stable_version=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g');
+            echo "version=$([ "$is_stable_branch" = "true" ] && echo "$stable_version" || echo "$BUILD")" >> $GITHUB_OUTPUT
+            echo "extra_version_identifier=${environment}" >> $GITHUB_OUTPUT
+          fi
+          echo "build=$BUILD" >> $GITHUB_OUTPUT
+          cat $GITHUB_OUTPUT
+  
   validate_tests:
     runs-on: ubuntu-24.04
-    if: ((github.event_name == 'workflow_dispatch' && inputs.wait_for_tests) || contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
+    needs: [ prepare_strategy ]
+    if: ${{
+      ((github.event_name == 'workflow_dispatch' && inputs.wait_for_tests) ||
+      (github.event_name == 'push' && needs.prepare_strategy.outputs.is_stable_branch == 'true') ||
+      contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
+      }}
     steps:
       - uses: actions/checkout@v4
       - name: Wait for Tests
@@ -44,19 +101,26 @@ jobs:
         with:
           workflow: selfdrive_tests.yaml # The workflow file to monitor
           github-token: ${{ secrets.GITHUB_TOKEN }}
+          should-wait-for-start: ${{ github.event_name == 'push' && 'true' || 'false' }}
 
   build:
-    needs: [ validate_tests ]
+    needs: [ validate_tests, prepare_strategy ]
     concurrency:
       group: build-${{ github.head_ref || github.ref_name }}
       cancel-in-progress: false
     runs-on: [self-hosted, tici]
     outputs:
-      new_branch: ${{ steps.set-env.outputs.new_branch }}
-      version: ${{ steps.set-env.outputs.version }}
-      extra_version_identifier: ${{ steps.set-env.outputs.extra_version_identifier }}
-      commit_sha: ${{ steps.set-env.outputs.commit_sha }}
-    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
+      new_branch: ${{ needs.prepare_strategy.outputs.new_branch }}
+      version: ${{ needs.prepare_strategy.outputs.version }}
+      extra_version_identifier: ${{ needs.prepare_strategy.outputs.extra_version_identifier }}
+      commit_sha: ${{ github.sha }}
+    if: ${{
+      (always() && !cancelled() && !failure()) &&
+      needs.prepare_strategy.result == 'success' &&
+      (needs.validate_tests.result == 'success' || needs.validate_tests.result == 'skipped') &&
+      (!contains(github.event_name, 'pull_request') ||
+      (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) 
+      }}
     steps:
       - uses: actions/checkout@v4
         with:
@@ -77,61 +141,12 @@ jobs:
             scons-${{ runner.os }}-${{ runner.arch }}-${{ env.STAGING_C3_SOURCE_BRANCH }}
             scons-${{ runner.os }}-${{ runner.arch }}
 
-      - name: Set Feature Branch Prebuilt Configuration
-        id: set_feature_configuration
-        if: (
-          !(env.SOURCE_BRANCH == env.DEV_C3_SOURCE_BRANCH) &&
-          !(env.SOURCE_BRANCH == env.STAGING_C3_SOURCE_BRANCH) &&
-          !(startsWith(github.ref, 'refs/tags/'))
-          )
-        run: |
-          echo "NEW_BRANCH=${{ env.SOURCE_BRANCH }}${{ github.event.pull_request.head.repo.fork && '-fork' || '' }}-prebuilt" >> $GITHUB_ENV
-          echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
-
-      - name: Set dev-c3-new prebuilt Configuration
-        id: set_dev_configuration
-        if: (
-          steps.set_feature_configuration.outcome == 'skipped' &&
-          env.SOURCE_BRANCH == env.DEV_C3_SOURCE_BRANCH
-          )
-        run: |
-          echo "NEW_BRANCH=${{ env.DEV_TARGET_BRANCH }}" >> $GITHUB_ENV
-          echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
-          echo "EXTRA_VERSION_IDENTIFIER=${{ github.run_number }}" >> $GITHUB_ENV
-
-      - name: Set staging-c3-new prebuilt Configuration
-        id: set_staging_configuration
-        if: (
-          steps.set_feature_configuration.outcome == 'skipped' &&
-          !contains(github.event_name, 'pull_request') &&
-          steps.set_dev_configuration.outcome == 'skipped' &&
-          (env.SOURCE_BRANCH == env.STAGING_C3_SOURCE_BRANCH)
-          )
-        run: |
-          echo "NEW_BRANCH=${{ env.STAGING_TARGET_BRANCH }}" >> $GITHUB_ENV
-          echo "EXTRA_VERSION_IDENTIFIER=staging" >> $GITHUB_ENV
-          echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-staging" >> $GITHUB_ENV
-
-      - name: Set release-c3-new prebuilt Configuration
-        id: set_tag_configuration
-        if: (
-          steps.set_feature_configuration.outcome == 'skipped' &&
-          !contains(github.event_name, 'pull_request') &&
-          steps.set_staging_configuration.outcome == 'skipped' &&
-          startsWith(github.ref, 'refs/tags/')
-          )
-        run: |
-          echo "NEW_BRANCH=${{ env.RELEASE_TARGET_BRANCH }}" >> $GITHUB_ENV
-          echo "EXTRA_VERSION_IDENTIFIER=release" >> $GITHUB_ENV
-          echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-release" >> $GITHUB_ENV
-
       - name: Set environment variables
         id: set-env
         run: |
-          # Write to GITHUB_OUTPUT from environment variables
-          echo "new_branch=$NEW_BRANCH" >> $GITHUB_OUTPUT
-          [[ ! -z "$EXTRA_VERSION_IDENTIFIER" ]] && echo "extra_version_identifier=$EXTRA_VERSION_IDENTIFIER" >> $GITHUB_OUTPUT
-          [[ ! -z "$VERSION" ]] && echo "version=$VERSION" >> $GITHUB_OUTPUT
+          echo "new_branch=${{ needs.prepare_strategy.outputs.new_branch }}" >> $GITHUB_OUTPUT
+          echo "version=${{ needs.prepare_strategy.outputs.version }}" >> $GITHUB_OUTPUT
+          echo "extra_version_identifier=${{ needs.prepare_strategy.outputs.extra_version_identifier }}" >> $GITHUB_OUTPUT
           echo "commit_sha=${{ github.sha }}" >> $GITHUB_OUTPUT
           
           # Set up common environment
@@ -226,15 +241,19 @@ jobs:
         if: always()
         run: |
           PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
-
+  
+  
   publish:
     concurrency:
-      group: publish-${{ github.head_ref || github.ref_name }}
-      cancel-in-progress: true
-    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
-    needs: [ build ]
+      # We do a bit of a hack here to avoid canceling the publishing job if a new commit comes in while we're publishing by adding the sha to the group name.
+      # This means that if multiple commits come in while we're publishing, they will be queued up and publish one after the other.
+      # Otherwise, if a job is waiting to be published due to environment wait time, it would be canceled by a new commit and restart the wait time.
+      group: ${{ needs.prepare_strategy.outputs.publish_concurrency_group }}
+      cancel-in-progress: ${{ needs.prepare_strategy.outputs.cancel_publish_in_progress == 'true' }}
+    if: ${{ (always() && !cancelled() && !failure()) && needs.build.result == 'success' && needs.prepare_strategy.result == 'success' && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
+    needs: [ build, prepare_strategy ]
     runs-on: ubuntu-24.04
-    environment: ${{ (contains(fromJSON(vars.AUTO_DEPLOY_PREBUILT_BRANCHES), github.head_ref || github.ref_name) || contains(github.event.pull_request.labels.*.name, 'prebuilt')) && 'auto-deploy' || 'feature-branch' }}
+    environment: ${{ needs.prepare_strategy.outputs.environment }}
     steps:
       - uses: actions/checkout@v4
 
@@ -266,7 +285,7 @@ jobs:
             "${{ needs.build.outputs.new_branch }}" \
             "${{ needs.build.outputs.version }}" \
             "https://x-access-token:${{github.token}}@github.com/sunnypilot/sunnypilot.git" \
-            "-${{ needs.build.outputs.extra_version_identifier }}"
+            "${{ needs.build.outputs.extra_version_identifier }}"
 
           echo ""
           echo "----   ℹ️ To update the list of branches that auto deploy prebuilts  -----"
@@ -274,11 +293,18 @@ jobs:
           echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/AUTO_DEPLOY_PREBUILT_BRANCHES"
           echo "2. Current value: ${{ vars.AUTO_DEPLOY_PREBUILT_BRANCHES }}"
           echo "3. Update as needed (JSON array with no spaces)"
+      
+      - name: Tag ${{ needs.prepare_strategy.outputs.environment }}
+        if: ${{ needs.prepare_strategy.outputs.is_stable_branch == 'true' && (github.event_name != 'push' || !startsWith(github.ref, 'refs/tags/')) }}
+        run: |
+            TAG="${{ needs.prepare_strategy.outputs.environment }}/${{ needs.prepare_strategy.outputs.version }}/${{ needs.prepare_strategy.outputs.build }}"
+            git tag -f -a ${TAG} -m "${{ needs.prepare_strategy.outputs.environment }} @ ${{ needs.prepare_strategy.outputs.version }} of build ${{ needs.build.outputs.build }}."
+            git push -f origin ${TAG}
 
   notify:
     needs: [ build, publish ]
     runs-on: ubuntu-24.04
-    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
+    if: ${{ (always() && !cancelled() && !failure()) && needs.publish.result == 'success' && !failure() && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
     steps:
       - uses: actions/checkout@v4
       - name: Setup Alpine Linux environment

.github/workflows/sunnypilot-master-dev-c3-prep.yaml

@@ -1,7 +1,7 @@
 name: Build dev-c3-new
 
 env:
-  DEFAULT_SOURCE_BRANCH: "master"
+  DEFAULT_SOURCE_BRANCH: "master-tici"
   DEFAULT_TARGET_BRANCH: "master-dev-c3-new"
   PR_LABEL: "dev-c3"
   LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
@@ -10,17 +10,17 @@ env:
 on:
   push:
     branches:
-      - master
+      - master-tici
   pull_request_target:
     types: [ labeled ]
     branches:
-      - 'master'
+      - 'master-tici'
   workflow_dispatch:
     inputs:
       source_branch:
         description: 'Source branch to reset from'
         required: true
-        default: 'master'
+        default: 'master-tici'
         type: string
       target_branch:
         description: 'Target branch to reset and squash into'
@@ -40,11 +40,7 @@ concurrency:
 jobs:
   reset-and-squash:
     runs-on: ubuntu-latest
-    if: (
-      (github.event_name == 'workflow_dispatch')
-      || (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-      || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
-      )
+    if: False
     steps:
       - uses: actions/checkout@v4
         with:

.github/workflows/ui_preview.yaml

@@ -2,19 +2,19 @@ name: "ui preview"
 on:
   push:
     branches:
-      - master
+      - master-tici
   pull_request_target:
     types: [assigned, opened, synchronize, reopened, edited]
     branches:
-      - 'master'
+      - 'master-tici'
     paths:
       - 'selfdrive/ui/**'
   workflow_dispatch:
 
 env:
   UI_JOB_NAME: "Create UI Report"
-  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
+  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && 'master-tici' || github.event.number }}
+  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && github.sha || github.event.pull_request.head.sha }}
   BRANCH_NAME: "openpilot/pr-${{ github.event.number }}"
 
 jobs:
@@ -55,7 +55,7 @@ jobs:
           name: report-1-${{ env.REPORT_NAME }}
           path: ${{ github.workspace }}/pr_ui
 
-      - name: Getting master ui
+      - name: Getting master-tici ui
         uses: actions/checkout@v4
         with:
           repository: sunnypilot/ci-artifacts
@@ -63,8 +63,8 @@ jobs:
           path: ${{ github.workspace }}/master_ui
           ref: openpilot_master_ui
 
-      - name: Saving new master ui
-        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
+      - name: Saving new master-tici ui
+        if: github.ref == 'refs/heads/master-tici' && github.event_name == 'push'
         working-directory: ${{ github.workspace }}/master_ui
         run: |
           git checkout --orphan=new_master_ui
@@ -93,9 +93,9 @@ jobs:
 
           for ((i=0; i<${#A[*]}; i=i+1));
           do
-            # Check if the master file exists
+            # Check if the master-tici file exists
             if [ ! -f "${{ github.workspace }}/master_ui/${A[$i]}.png" ]; then
-              # This is a new file in PR UI that doesn't exist in master
+              # This is a new file in PR UI that doesn't exist in master-tici
               DIFF="${DIFF}<details open>"
               DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{cyan}\\text{NEW}}\$\$</summary>"
               DIFF="${DIFF}<table>"
@@ -118,7 +118,7 @@ jobs:
               DIFF="${DIFF}<table>"
 
               DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> master <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
+              DIFF="${DIFF}  <td> master-tici <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
               DIFF="${DIFF}  <td> proposed <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
               DIFF="${DIFF}</tr>"
 

Dockerfile.sunnypilot

@@ -1,4 +1,4 @@
-FROM ghcr.io/sunnypilot/sunnypilot-base:latest
+FROM ghcr.io/sunnypilot/sunnypilot-tici-base:latest
 
 ENV PYTHONUNBUFFERED=1
 

README.md

@@ -22,19 +22,47 @@ https://docs.sunnypilot.ai/ is your one stop shop for everything from features t
 Detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
 
 ## Installation
-Please refer to [Recommended Branches](#-recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `release-c3` branch.
+Please refer to [Recommended Branches](#-recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `staging-tici` branch.
+
+### If you want to use our newest branches (our rewrite)
+> [!TIP]
+>You can see the rewrite state on our [rewrite project board](https://github.com/orgs/sunnypilot/projects/2), and to install the new branches, you can use the following links
 
 * sunnypilot not installed or you installed a version before 0.8.17?
   1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
   2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option.
-  3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```release-c3.sunnypilot.ai```.
+  3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```https://staging-tici.sunnypilot.ai```.
   4. Complete the rest of the installation following the onscreen instructions.
 
 * sunnypilot already installed and you installed a version after 0.8.17?
   1. On the comma three, go to `Settings` ▶️ `Software`.
   2. At the `Download` option, press `CHECK`. This will fetch the list of latest branches from sunnypilot.
   3. At the `Target Branch` option, press `SELECT` to open the Target Branch selector.
-  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `release-c3`
+  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `staging-tici`
+
+
+|     Branch      |               Installation URL                |
+|:---------------:|:---------------------------------------------:|
+| `staging-tici`  |     `https://staging-tici.sunnypilot.ai`      |
+| `custom-branch` | `https://install.sunnypilot.ai/{branch_name}` |
+| `release-tici`  |            **Not yet available**.             |
+
+> [!TIP]
+> You can use sunnypilot/targetbranch as an install URL. Example: 'sunnypilot/staging-tici'.
+
+> [!NOTE]
+> Do you require further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.
+
+
+<details>
+
+<summary>Older legacy branches</summary>
+
+### If you want to use our older legacy branches (*not recommended*)
+
+> [**IMPORTANT**]
+> It is recommended to [re-flash AGNOS](https://flash.comma.ai/) if you intend to downgrade from the new branches.
+> You can still restore the latest sunnylink backup made on the old branches.
 
 |    Branch    |         Installation URL         |
 |:------------:|:--------------------------------:|
@@ -42,25 +70,9 @@ Please refer to [Recommended Branches](#-recommended-branches) to find your pref
 | `staging-c3` | https://staging-c3.sunnypilot.ai |
 |   `dev-c3`   | https://dev-c3.sunnypilot.ai     |
 
-### If you want to use our newest branches (our rewrite)
-> [!TIP]
->You can see the rewrite state on our [rewrite project board](https://github.com/orgs/sunnypilot/projects/2), and to install the new branches, you can use the following links
+</details>
 
 
-> [!IMPORTANT]
-> It is recommended to [re-flash AGNOS](https://flash.comma.ai/) if you intend to downgrade from the new branches.
-> You can still restore the latest sunnylink backup made on the old branches.
-
-|      Branch      |                 Installation URL              |
-|:----------------:|:---------------------------------------------:|
-| `staging-c3-new` | `https://staging-c3-new.sunnypilot.ai`        |
-|   `dev-c3-new`   | `https://dev-c3-new.sunnypilot.ai`            |
-| `custom-branch`  | `https://install.sunnypilot.ai/{branch_name}` |
-| `release-c3-new` |            **Not yet available**.             |
-
-> [!TIP]
-> Do you require further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.
-
 ## 🎆 Pull Requests
 We welcome both pull requests and issues on GitHub. Bug fixes are encouraged.
 

cereal/custom.capnp

@@ -172,6 +172,8 @@ struct OnroadEventSP @0xda96579883444c35 {
     experimentalModeSwitched @14;
     wrongCarModeAlertOnly @15;
     pedalPressedAlertOnly @16;
+    laneTurnLeft @17;
+    laneTurnRight @18;
   }
 }
 
@@ -200,7 +202,20 @@ struct CarControlSP @0xa5cd762cd951a455 {
 
   struct Param {
     key @0 :Text;
-    value @1 :Text;
+    type @2 :ParamType;
+    value @3 :Data;
+
+    valueDEPRECATED @1 :Text; # The data type change may cause issues with backwards compatibility.
+  }
+  
+  enum ParamType {
+    string @0;
+    bool @1;
+    int @2;
+    float @3;
+    time @4;
+    json @5;
+    bytes @6;
   }
 }
 
@@ -258,9 +273,16 @@ struct LiveMapDataSP @0xf416ec09499d9d19 {
   roadName @5 :Text;
 }
 
-struct CustomReserved9 @0xa1680744031fdb2d {
+struct ModelDataV2SP @0xa1680744031fdb2d {
+  laneTurnDirection @0 :TurnDirection;
 }
 
+  enum TurnDirection {
+    none @0;
+    turnLeft @1;
+    turnRight @2;
+  }
+
 struct CustomReserved10 @0xcb9fd56c7057593a {
 }
 

cereal/log.capnp

@@ -2631,7 +2631,7 @@ struct Event {
     backupManagerSP @113 :Custom.BackupManagerSP;
     carStateSP @114 :Custom.CarStateSP;
     liveMapDataSP @115 :Custom.LiveMapDataSP;
-    customReserved9 @116 :Custom.CustomReserved9;
+    modelDataV2SP @116 :Custom.ModelDataV2SP;
     customReserved10 @136 :Custom.CustomReserved10;
     customReserved11 @137 :Custom.CustomReserved11;
     customReserved12 @138 :Custom.CustomReserved12;

cereal/services.py

@@ -88,6 +88,7 @@ _services: dict[str, tuple] = {
   "carControlSP": (True, 100., 10),
   "carStateSP": (True, 100., 10),
   "liveMapDataSP": (True, 1., 1),
+  "modelDataV2SP": (True, 20.),
 
   # debug
   "uiDebug": (True, 0., 1),

common/params_keys.h

@@ -146,6 +146,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"CustomAccLongPressIncrement", {PERSISTENT | BACKUP, INT, "5"}},
     {"CustomAccShortPressIncrement", {PERSISTENT | BACKUP, INT, "1"}},
     {"DeviceBootMode", {PERSISTENT | BACKUP, INT, "0"}},
+    {"DevUIInfo", {PERSISTENT | BACKUP, INT, "0"}},
+    {"EnableCopyparty", {PERSISTENT | BACKUP, BOOL}},
     {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
     {"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},
     {"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
@@ -153,8 +155,10 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},
     {"ModelRunnerTypeCache", {CLEAR_ON_ONROAD_TRANSITION, INT}},
     {"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"Offroad_TiciSupport", {CLEAR_ON_MANAGER_START, JSON}},
     {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     // MADS params
@@ -167,6 +171,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ModelManager_ActiveBundle", {PERSISTENT, JSON}},
     {"ModelManager_ClearCache", {CLEAR_ON_MANAGER_START, BOOL}},
     {"ModelManager_DownloadIndex", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, INT, "0"}},
+    {"ModelManager_Favs", {PERSISTENT | BACKUP, STRING}},
     {"ModelManager_LastSyncTime", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
     {"ModelManager_ModelsCache", {PERSISTENT | BACKUP, JSON}},
 
@@ -192,10 +197,12 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
 
-    // model panel params
+    // sunnypilot model params
     {"LagdToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"LagdToggleDelay", {PERSISTENT | BACKUP, FLOAT, "0.2"}},
     {"LagdValueCache", {PERSISTENT, FLOAT, "0.2"}},
+    {"LaneTurnDesire", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"LaneTurnValue", {PERSISTENT | BACKUP, FLOAT, "19.0"}},
 
     // mapd
     {"MapAdvisorySpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT}},

docs/CARS.md

@@ -4,12 +4,13 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 326 Supported Cars
+# 334 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
 |Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
+|Acura|MDX 2025|All except Type S|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025">Buy Here</a></sub></details>|||
 |Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
 |Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
 |Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
@@ -72,12 +73,15 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|GV80 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 2023">Buy Here</a></sub></details>|||
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Accord 2023|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023">Buy Here</a></sub></details>|||
+|Honda|Accord 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
 |Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
+|Honda|Accord Hybrid 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
+|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-21">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Civic Hatchback Hybrid 2025|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
@@ -85,7 +89,9 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Clarity 2018-21|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector + Honda Clarity Proxy Board<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://shop.retropilot.org/product/honda-clarity-proxy-board-kit">Buy Here</a></sub></details>|||
 |Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2015-16">Buy Here</a></sub></details>|||
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
+|Honda|CR-V 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-25">Buy Here</a></sub></details>|||
 |Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
+|Honda|CR-V Hybrid 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-25">Buy Here</a></sub></details>|||
 |Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
 |Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit 2018-20">Buy Here</a></sub></details>|||
 |Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Freed 2020">Buy Here</a></sub></details>|||
@@ -96,6 +102,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
 |Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
 |Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2016-22">Buy Here</a></sub></details>|||
+|Honda|Pilot 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2023-25">Buy Here</a></sub></details>|||
 |Honda|Ridgeline 2017-25|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Ridgeline 2017-25">Buy Here</a></sub></details>|||
 |Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera 2022">Buy Here</a></sub></details>|||
 |Hyundai|Azera Hybrid 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera Hybrid 2019">Buy Here</a></sub></details>|||
@@ -120,7 +127,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
 |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2020">Buy Here</a></sub></details>|||
-|Hyundai|Kona 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2022">Buy Here</a></sub></details>|||
+|Hyundai|Kona 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2022-23">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2018-21">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2022-23">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
@@ -298,6 +305,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Wildlander PHEV 2021|All|openpilot|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Wildlander PHEV 2021">Buy Here</a></sub></details>|||
 |Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||

launch_openpilot.sh

@@ -1,3 +1,20 @@
 #!/usr/bin/env bash
+set -euo pipefail
+IFS=$'\n\t'
+
+# On any failure, run the fallback launcher
+trap 'exec ./launch_chffrplus.sh' ERR
+C3_LAUNCH_SH="./sunnypilot/system/hardware/c3/launch_chffrplus.sh"
+
+MODEL="$(tr -d '\0' < "/sys/firmware/devicetree/base/model")"
+export MODEL
+
+if [ "$MODEL" = "comma tici" ]; then
+  # Force a failure if the launcher doesn't exist
+  [ -x "$C3_LAUNCH_SH" ] || false
+
+  # If it exists, run it
+  exec "$C3_LAUNCH_SH"
+fi
 
 exec ./launch_chffrplus.sh

release/check-submodules.sh

@@ -31,13 +31,25 @@ while read hash submodule ref; do
       exit 1
     fi
   else
-    git -C $submodule fetch --depth 100 origin master
-    git -C $submodule branch -r --contains $hash | grep "origin/master"
-    if [ "$?" -eq 0 ]; then
-      echo "$submodule ok"
+    # Check against master-tici for specific submodules, master for others
+    if [ "$submodule" = "opendbc_repo" ] || [ "$submodule" = "panda" ]; then
+      git -C $submodule fetch --depth 100 origin master-tici
+      remote_hash=$(git -C $submodule rev-parse FETCH_HEAD)
+      if git -C $submodule merge-base --is-ancestor $hash $remote_hash; then
+        echo "$submodule ok"
+      else
+        echo "$submodule: $hash is not on master-tici"
+        exit 1
+      fi
     else
-      echo "$submodule: $hash is not on master"
-      exit 1
+      git -C $submodule fetch --depth 100 origin master
+      git -C $submodule branch -r --contains $hash | grep "origin/master"
+      if [ "$?" -eq 0 ]; then
+        echo "$submodule ok"
+      else
+        echo "$submodule: $hash is not on master"
+        exit 1
+      fi
     fi
   fi
 done <<< $(git submodule status --recursive)

release/ci/docker_common_sp.sh

@@ -1,8 +1,8 @@
 if [ "$1" = "base" ]; then
-  export DOCKER_IMAGE=sunnypilot-base
+  export DOCKER_IMAGE=sunnypilot-tici-base
   export DOCKER_FILE=Dockerfile.sunnypilot_base
 elif [ "$1" = "prebuilt" ]; then
-  export DOCKER_IMAGE=sunnypilot-prebuilt
+  export DOCKER_IMAGE=sunnypilot-tici-prebuilt
   export DOCKER_FILE=Dockerfile.sunnypilot
 else
   echo "Invalid docker build image: '$1'"

release/ci/publish.sh

@@ -51,26 +51,19 @@ git fetch origin $DEV_BRANCH || (git checkout -b $DEV_BRANCH && git commit --all
 
 echo "[-] committing version $VERSION T=$SECONDS"
 git add -f .
-git commit -a -m "sunnypilot v$VERSION release"
-git branch --set-upstream-to=origin/$DEV_BRANCH
 
 # include source commit hash and build date in commit
 GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
 DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
-SP_VERSION=$(cat $SOURCE_DIR/common/version.h | awk -F\" '{print $2}')
+SP_VERSION=$(awk -F\" '{print $2}' $SOURCE_DIR/common/version.h)
 
-# Add built files to git
-git add -f .
-if [ "$EXTRA_VERSION_IDENTIFIER" = "-release" ] || [ "$EXTRA_VERSION_IDENTIFIER" = "-staging" ]; then
-  export VERSION=${VERSION%"$EXTRA_VERSION_IDENTIFIER"}
-  git commit --amend -m "sunnypilot v$VERSION"
-else
-  git commit --amend -m "sunnypilot v$VERSION
-  version: sunnypilot v$SP_VERSION release
-  date: $DATETIME
-  master commit: $GIT_HASH
-  "
-fi
+# Commit with detailed message
+git commit -a -m "sunnypilot v$VERSION
+version: sunnypilot v$SP_VERSION (${EXTRA_VERSION_IDENTIFIER})
+date: $DATETIME
+master commit: $GIT_HASH
+"
+git branch --set-upstream-to=origin/$DEV_BRANCH
 git branch -m $DEV_BRANCH
 
 # Push!

selfdrive/controls/controlsd.py

@@ -95,6 +95,8 @@ class Controls(ControlsExt, ModelStateBase):
         self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered,
                                            torque_params.frictionCoefficientFiltered)
 
+        self.LaC.extension.update_limits()
+
       self.LaC.extension.update_model_v2(self.sm['modelV2'])
 
       self.lat_delay = get_lat_delay(self.params, self.sm["liveDelay"].lateralDelay)

selfdrive/controls/lib/desire_helper.py

@@ -1,7 +1,8 @@
-from cereal import log
+from cereal import log, custom
 from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_MDL
 from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController, AutoLaneChangeMode
+from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTurnController
 
 LaneChangeState = log.LaneChangeState
 LaneChangeDirection = log.LaneChangeDirection
@@ -30,6 +31,12 @@ DESIRES = {
   },
 }
 
+TURN_DESIRES = {
+  custom.TurnDirection.none: log.Desire.none,
+  custom.TurnDirection.turnLeft: log.Desire.turnLeft,
+  custom.TurnDirection.turnRight: log.Desire.turnRight,
+}
+
 
 class DesireHelper:
   def __init__(self):
@@ -41,13 +48,21 @@ class DesireHelper:
     self.prev_one_blinker = False
     self.desire = log.Desire.none
     self.alc = AutoLaneChangeController(self)
+    self.lane_turn_controller = LaneTurnController(self)
+    self.lane_turn_direction = custom.TurnDirection.none
 
   def update(self, carstate, lateral_active, lane_change_prob):
     self.alc.update_params()
+    self.lane_turn_controller.update_params()
     v_ego = carstate.vEgo
     one_blinker = carstate.leftBlinker != carstate.rightBlinker
     below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN
 
+    # Lane turn controller update
+    self.lane_turn_controller.update_lane_turn(blindspot_left=carstate.leftBlindspot, blindspot_right=carstate.rightBlindspot,
+                                               left_blinker=carstate.leftBlinker, right_blinker=carstate.rightBlinker, v_ego=v_ego)
+    self.lane_turn_direction = self.lane_turn_controller.get_turn_direction()
+
     if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX or self.alc.lane_change_set_timer == AutoLaneChangeMode.OFF:
       self.lane_change_state = LaneChangeState.off
       self.lane_change_direction = LaneChangeDirection.none
@@ -106,7 +121,10 @@ class DesireHelper:
 
     self.prev_one_blinker = one_blinker
 
-    self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
+    if self.lane_turn_direction != custom.TurnDirection.none:
+      self.desire = TURN_DESIRES[self.lane_turn_direction]
+    else:
+      self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
 
     # Send keep pulse once per second during LaneChangeStart.preLaneChange
     if self.lane_change_state in (LaneChangeState.off, LaneChangeState.laneChangeStarting):

selfdrive/controls/lib/latcontrol_torque.py

@@ -35,7 +35,7 @@ class LatControlTorque(LatControl):
     self.update_limits()
     self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
 
-    self.extension = LatControlTorqueExt(self, CP, CP_SP)
+    self.extension = LatControlTorqueExt(self, CP, CP_SP, CI)
 
   def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
     self.torque_params.latAccelFactor = latAccelFactor
@@ -73,12 +73,6 @@ class LatControlTorque(LatControl):
       ff = gravity_adjusted_lateral_accel
       ff += get_friction(desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
 
-      # Lateral acceleration torque controller extension updates
-      # Overrides stock ff and pid_log.error
-      ff, pid_log = self.extension.update(CS, VM, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
-                                          desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
-                                          desired_curvature, actual_curvature)
-
       freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
       output_lataccel = self.pid.update(pid_log.error,
                                       feedforward=ff,
@@ -86,6 +80,12 @@ class LatControlTorque(LatControl):
                                       freeze_integrator=freeze_integrator)
       output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params)
 
+      # Lateral acceleration torque controller extension updates
+      # Overrides pid_log.error and output_torque
+      pid_log, output_torque = self.extension.update(CS, VM, self.pid, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
+                                                     desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
+                                                     desired_curvature, actual_curvature, steer_limited_by_safety, output_torque)
+
       pid_log.active = True
       pid_log.p = float(self.pid.p)
       pid_log.i = float(self.pid.i)

selfdrive/modeld/modeld.py

@@ -216,7 +216,7 @@ def main(demo=False):
     cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
 
   # messaging
-  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"])
+  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"])
   sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])
 
   publish_state = PublishState()
@@ -333,6 +333,7 @@ def main(demo=False):
       modelv2_send = messaging.new_message('modelV2')
       drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
+      mdv2sp_send = messaging.new_message('modelDataV2SP')
 
       action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
       prev_action = action
@@ -347,6 +348,7 @@ def main(demo=False):
       DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
       modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
       modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
+      mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
       drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
       drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction
 
@@ -354,6 +356,7 @@ def main(demo=False):
       pm.send('modelV2', modelv2_send)
       pm.send('drivingModelData', drivingdata_send)
       pm.send('cameraOdometry', posenet_send)
+      pm.send('modelDataV2SP', mdv2sp_send)
     last_vipc_frame_id = meta_main.frame_id
 
 

selfdrive/selfdrived/alerts_offroad.json

@@ -49,5 +49,10 @@
     "text": "openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device's Dongle ID for troubleshooting.",
     "severity": 1,
     "_comment": "Set extra field to lateral or longitudinal."
+  },
+  "Offroad_TiciSupport": {
+    "text": "<b>Unsupported branch detected</b> - The current version of <b><u>%1</u></b> branch is no longer supported on the comma three. Please go to <b>[Device > Software]</b> and install a supported branch with <b><u>-tici</u></b> in the branch name for the comma three.",
+    "severity": 1,
+    "_comment": "Set extra field to the current branch name."
   }
 }

selfdrive/selfdrived/selfdrived.py

@@ -86,7 +86,7 @@ class SelfdriveD(CruiseHelper):
     # TODO: de-couple selfdrived with card/conflate on carState without introducing controls mismatches
     self.car_state_sock = messaging.sub_sock('carState', timeout=20)
 
-    ignore = self.sensor_packets + self.gps_packets + ['alertDebug']
+    ignore = self.sensor_packets + self.gps_packets + ['alertDebug'] + ['modelDataV2SP']
     if SIMULATION:
       ignore += ['driverCameraState', 'managerState']
     if REPLAY:
@@ -95,7 +95,8 @@ class SelfdriveD(CruiseHelper):
     self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
                                    'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay',
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
-                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback'] + \
+                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback',
+                                   'modelDataV2SP'] + \
                                    self.camera_packets + self.sensor_packets + self.gps_packets,
                                   ignore_alive=ignore, ignore_avg_freq=ignore,
                                   ignore_valid=ignore, frequency=int(1/DT_CTRL))
@@ -300,6 +301,13 @@ class SelfdriveD(CruiseHelper):
                                                     LaneChangeState.laneChangeFinishing):
       self.events.add(EventName.laneChange)
 
+    # Handle lane turn
+    lane_turn_direction = self.sm['modelDataV2SP'].laneTurnDirection
+    if lane_turn_direction == custom.TurnDirection.turnLeft:
+      self.events_sp.add(custom.OnroadEventSP.EventName.laneTurnLeft)
+    elif lane_turn_direction == custom.TurnDirection.turnRight:
+      self.events_sp.add(custom.OnroadEventSP.EventName.laneTurnRight)
+
     for i, pandaState in enumerate(self.sm['pandaStates']):
       # All pandas must match the list of safetyConfigs, and if outside this list, must be silent or noOutput
       if i < len(self.CP.safetyConfigs):

selfdrive/ui/qt/onroad/alerts.cc

@@ -4,6 +4,9 @@
 #include <map>
 
 #include "selfdrive/ui/qt/util.h"
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/ui.h"
+#endif
 
 void OnroadAlerts::updateState(const UIState &s) {
   Alert a = getAlert(*(s.sm), s.scene.started_frame);
@@ -73,6 +76,12 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
   }
   QRect r = QRect(0 + margin, height() - h + margin, width() - margin*2, h - margin*2);
 
+#ifdef SUNNYPILOT
+  const int dev_ui_info = uiStateSP()->scene.dev_ui_info;
+  const int adjustment = dev_ui_info > 1 && alert.size != cereal::SelfdriveState::AlertSize::FULL ? 30 : 0;
+  r = QRect(0 + margin, height() - h + margin - adjustment, width() - margin*2, h - margin*2);
+#endif
+
   QPainter p(this);
 
   // draw background + gradient

selfdrive/ui/qt/onroad/annotated_camera.h

@@ -12,6 +12,7 @@
 #include "selfdrive/ui/sunnypilot/qt/onroad/model.h"
 #define ExperimentalButton ExperimentalButtonSP
 #define ModelRenderer ModelRendererSP
+#define HudRenderer HudRendererSP
 #else
 #include "selfdrive/ui/qt/onroad/buttons.h"
 #include "selfdrive/ui/qt/onroad/hud.h"

selfdrive/ui/qt/onroad/driver_monitoring.cc

@@ -73,6 +73,11 @@ void DriverMonitorRenderer::draw(QPainter &painter, const QRect &surface_rect) {
   float y = surface_rect.height() - offset;
   float opacity = is_active ? 0.65f : 0.2f;
 
+#ifdef SUNNYPILOT
+  const int dev_ui_info = uiStateSP()->scene.dev_ui_info;
+  y -= dev_ui_info > 1 ? 50 : 0;
+#endif
+
   drawIcon(painter, QPoint(x, y), dm_img, QColor(0, 0, 0, 70), opacity);
 
   QPointF keypoints[std::size(DEFAULT_FACE_KPTS_3D)];

selfdrive/ui/qt/widgets/input.cc

@@ -336,8 +336,8 @@ QString MultiOptionDialog::getSelection(const QString &prompt_text, const QStrin
   return "";
 }
 
-TreeOptionDialog::TreeOptionDialog(const QString &prompt_text, const QList<QPair<QString, QStringList>> &items,
-                                   const QString &current, QWidget *parent) : DialogBase(parent) {
+TreeOptionDialog::TreeOptionDialog(const QString &prompt_text, const QList<TreeFolder> &items,
+                                   const QString &current, const QString &favParam, QWidget *parent) : DialogBase(parent) {
   QFrame *container = new QFrame(this);
   container->setStyleSheet(R"(
     QFrame { background-color: #1B1B1B; }
@@ -375,6 +375,9 @@ TreeOptionDialog::TreeOptionDialog(const QString &prompt_text, const QList<QPair
   main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop);
   main_layout->addSpacing(25);
 
+  iconBlank = QIcon("../../sunnypilot/selfdrive/assets/icons/star-empty.png");
+  iconFilled = QIcon ("../../sunnypilot/selfdrive/assets/icons/star-filled.png");
+
   treeWidget = new QTreeWidget(this);
   treeWidget->setHeaderHidden(true);
   treeWidget->setIndentation(50);
@@ -396,34 +399,49 @@ TreeOptionDialog::TreeOptionDialog(const QString &prompt_text, const QList<QPair
 
   QScroller::grabGesture(treeWidget->viewport(), QScroller::LeftMouseButtonGesture);
 
+  // Create initial list of favorites from param
+  const QString favs = QString::fromStdString(params.get(favParam.toStdString()));
+  mapFavs = new QMap<QString, QList<QPushButton*>>();
+  favRefs = new QStringList(favs.split(";"));
+  for (const QString &item : *favRefs)
+  {
+    mapFavs->insert( item, {});
+  }
+
   // Populate tree
-  QListIterator<QPair<QString, QStringList>> iter(items);
+  QListIterator<TreeFolder> iter(items);
   while (iter.hasNext()) {
-    QPair currItem = iter.next();
-    if (currItem.first.isEmpty()) {
-      for (const QString &item : currItem.second) {
+    TreeFolder currItem = iter.next();
+    QString prevFolder;
+    QString currentFolder;
+    if (currItem.folder.isEmpty()) {
+      for (const TreeNode &item : currItem.items) {
         QTreeWidgetItem *topLevel = new QTreeWidgetItem();
-        topLevel->setText(0, item);
+        topLevel->setText(0, item.displayName);
+        topLevel->setData(0, Qt::UserRole, item.ref);
         topLevel->setFlags(topLevel->flags() | Qt::ItemIsSelectable);
         treeWidget->addTopLevelItem(topLevel);
-        if (item == current) {
+        if (item.ref == current) {
           topLevel->setSelected(true);
         }
       }
     } else {
-      QTreeWidgetItem *folderItem = new QTreeWidgetItem(treeWidget);
+      QList<QTreeWidgetItem*> folders = treeWidget->findItems(currItem.folder, Qt::MatchExactly, 0);
+      QTreeWidgetItem *folderItem = nullptr;
+      if (folders.isEmpty()) {
+        folderItem = new QTreeWidgetItem(treeWidget);
+      } else {
+        folderItem = folders.first();
+      }
       folderItem->setIcon(0, QIcon(QPixmap("../assets/icons/menu.png")));
-      folderItem->setText(0, "  " + currItem.first);
+      folderItem->setText(0, "  " + currItem.folder);
       folderItem->setFlags(folderItem->flags() | Qt::ItemIsAutoTristate);
       folderItem->setFlags(folderItem->flags() & ~Qt::ItemIsSelectable);
 
-      for (const QString &item : currItem.second)
+      for (const TreeNode item : currItem.items)
       {
-        QTreeWidgetItem *childItem = new QTreeWidgetItem(folderItem);
-        childItem->setText(0, item);
-        childItem->setFlags(childItem->flags() | Qt::ItemIsSelectable);
-
-        if (item == current) {
+        QTreeWidgetItem *childItem = addChildItem(item.displayName, item.ref, folderItem);
+        if (item.ref == current) {
           childItem->setSelected(true);
           folderItem->setExpanded(true);
         }
@@ -431,6 +449,39 @@ TreeOptionDialog::TreeOptionDialog(const QString &prompt_text, const QList<QPair
     }
   }
 
+  // Create favorites folder
+  favorites = new QTreeWidgetItem();
+  favorites->setIcon(0, QIcon(QPixmap("../assets/icons/menu.png")));
+  favorites->setText(0, "  " + tr("Favorites"));
+  favorites->setFlags(favorites->flags() | Qt::ItemIsAutoTristate);
+  favorites->setFlags(favorites->flags() & ~Qt::ItemIsSelectable);
+  treeWidget->insertTopLevelItem(1, favorites);
+
+  // Create favorite nodes
+  for (int i = favRefs->size() - 1; i >= 0; --i) {
+    QString item = favRefs->at(i);
+    if (item.isEmpty()) continue;
+
+    QTreeWidgetItemIterator treeIt(treeWidget);
+    QTreeWidgetItem *nodeItem = nullptr;
+    while (*treeIt) {
+      if (item == (*treeIt)->data(0, Qt::UserRole).toString()) {
+        nodeItem = (*treeIt);
+        break;
+      }
+      ++treeIt;
+    }
+    if (nodeItem == nullptr) continue;
+
+    QTreeWidgetItem *childItem = addChildItem(nodeItem->text(0),
+      nodeItem->data(0, Qt::UserRole).toString(), favorites);
+    if (item == current) {
+      treeWidget->collapseAll();
+      childItem->setSelected(true);
+      favorites->setExpanded(true);
+    }
+  }
+
   confirm_btn = new QPushButton(tr("Select"));
   confirm_btn->setObjectName("confirm_btn");
   confirm_btn->setEnabled(false);
@@ -438,7 +489,7 @@ TreeOptionDialog::TreeOptionDialog(const QString &prompt_text, const QList<QPair
   QObject::connect(treeWidget, &QTreeWidget::itemSelectionChanged, [=]() {
     QList<QTreeWidgetItem*> selectedItems = treeWidget->selectedItems();
     if (!selectedItems.isEmpty()) {
-      selection = selectedItems.first()->text(0);
+      selection = selectedItems.first()->data(0, Qt::UserRole).toString();
       confirm_btn->setEnabled(selection != current);
     }
   });
@@ -465,11 +516,91 @@ TreeOptionDialog::TreeOptionDialog(const QString &prompt_text, const QList<QPair
   outer_layout->addWidget(container);
 }
 
-QString TreeOptionDialog::getSelection(const QString &prompt_text, const QList<QPair<QString, QStringList>> &items,
-                                     const QString &current, QWidget *parent) {
-  TreeOptionDialog d(prompt_text, items, current, parent);
+QString TreeOptionDialog::getSelection(const QString &prompt_text, const QList<TreeFolder> &items,
+                                     const QString &current, const QString &favParam, QWidget *parent) {
+  TreeOptionDialog d(prompt_text, items, current, favParam, parent);
   if (d.exec()) {
     return d.selection;
   }
   return "";
 }
+
+/**
+ * Handles the addition or removal of items from the "favorites" list based on the provided reference identifier.
+ *
+ * @param displayName The text label associated with the item to be added or removed in the favorites.
+ * @param ref A unique reference key identifying the item.
+ * @param btn A pointer to the QPushButton associated with the item. The button's icon is updated to indicate
+ *            whether the item is currently favorited or not.
+ *
+ * If the item is already in the favorites, it is removed from the list, its associated buttons have their
+ * icons reset, and the favorites tree is updated accordingly. If the item is not in the favorites, it is
+ * added to the list, a new associated button is created, and the favorites tree is updated. The current
+ * state of the favorites is stored in the Params object as a semicolon-separated string.
+ */
+void TreeOptionDialog::handleFavorites(const QString &displayName, const QString &ref, QPushButton *btn) {
+  if (mapFavs->keys().contains(ref)) { // Remove from favorites
+    for (auto *itemBtn:mapFavs->value(ref))
+    {
+      itemBtn->setIcon(iconBlank);
+    }
+    mapFavs->remove(ref);
+    favRefs->removeAll(ref);
+    for (int i = 0; i < favorites->childCount(); ++i) {
+      QTreeWidgetItem* child = favorites->child(i);
+      if (child && child->data(0, Qt::UserRole).toString() == ref) {
+        favorites->removeChild(child);
+      }
+    }
+  } else { // Add to favorites
+    QPushButton *favBtn = new QPushButton();
+    btn->setIcon(iconFilled);
+    mapFavs->insert(ref, {btn, favBtn});
+    favRefs->append(ref);
+    addChildItem(displayName, ref, favorites, favBtn, true);
+  }
+
+  const QString favs =favRefs->join(";");
+  params.put("ModelManager_Favs", favs.toStdString());
+}
+
+/**
+ * Adds a child item to a given folder item within the QTreeWidget.
+ *
+ * @param displayName The text to display for the child item.
+ * @param ref A reference string that uniquely identifies the child item.
+ * @param folderItem The parent folder item to which the child item will be added.
+ * @param btn A pointer to a QPushButton associated with the child item. If nullptr, a new button will be created.
+ * @param addAtTop If true, the child item is added as the first child of the folder item; otherwise, it is appended to the end.
+ * @return A pointer to the created QTreeWidgetItem representing the child item.
+ */
+QTreeWidgetItem* TreeOptionDialog::addChildItem(const QString &displayName, const QString &ref, QTreeWidgetItem *folderItem, QPushButton *btn, bool addAtTop) {
+  QTreeWidgetItem *childItem = new QTreeWidgetItem();
+  if (btn == nullptr) {
+    btn = new QPushButton();
+  }
+  if (mapFavs->keys().contains(ref)) {
+    btn->setIcon(iconFilled);
+    (*mapFavs)[ref].append(btn);
+  } else {
+    btn->setIcon(iconBlank);
+  }
+  btn->setIconSize(QSize(100, 100));
+  QWidget *buttonContainer = new QWidget();
+  QHBoxLayout *layout = new QHBoxLayout(buttonContainer);
+  layout->addWidget(btn, 0, Qt::AlignRight);
+  childItem->setText(0, displayName);
+  childItem->setData(0, Qt::UserRole, ref);
+  childItem->setFlags(childItem->flags() | Qt::ItemIsSelectable);
+  if (addAtTop) {
+    folderItem->insertChild(0, childItem);
+  } else {
+    folderItem->addChild(childItem);
+  }
+  treeWidget->setItemWidget(childItem, 0, buttonContainer);
+
+  connect(btn, &QPushButton::clicked, btn, [=]() {
+    handleFavorites(displayName, ref, btn);
+  });
+  return childItem;
+}

selfdrive/ui/qt/widgets/input.h

@@ -8,9 +8,22 @@
 #include <QWidget>
 #include <QTreeWidget>
 
+#include "common/params.h"
 #include "selfdrive/ui/qt/widgets/keyboard.h"
 
 
+struct TreeNode {
+  QString folder;
+  QString displayName;
+  QString ref;
+  int index;
+};
+
+struct TreeFolder {
+  QString folder;
+  QList<TreeNode> items;
+};
+
 class DialogBase : public QDialog {
   Q_OBJECT
 
@@ -75,11 +88,20 @@ class TreeOptionDialog : public DialogBase {
   Q_OBJECT
 
 public:
-  explicit TreeOptionDialog(const QString &prompt_text, const QList<QPair<QString, QStringList>> &items, const QString &current, QWidget *parent = nullptr);
-  static QString getSelection(const QString &prompt_text, const QList<QPair<QString, QStringList>> &items, const QString &current, QWidget *parent = nullptr);
+  explicit TreeOptionDialog(const QString &prompt_text, const QList<TreeFolder> &items, const QString &current, const QString &favParam, QWidget *parent = nullptr);
+  static QString getSelection(const QString &prompt_text, const QList<TreeFolder> &items, const QString &current, const QString &favParam, QWidget *parent = nullptr);
+  void handleFavorites(const QString &displayName, const QString &ref, QPushButton* btn);
+  QTreeWidgetItem* addChildItem(const QString &displayName, const QString &ref, QTreeWidgetItem* folderItem, QPushButton* btn = nullptr, bool addAtTop = false);
   QString selection;
 
 private:
   QTreeWidget *treeWidget;
   QPushButton *confirm_btn;
+  Params params;
+  QMap<QString, QList<QPushButton*>> *mapFavs;
+  QStringList *favRefs;
+  QTreeWidgetItem *favorites;
+
+  QIcon iconBlank;
+  QIcon iconFilled;
 };

selfdrive/ui/sunnypilot/SConscript

@@ -4,6 +4,7 @@ widgets_src = [
   "sunnypilot/qt/widgets/controls.cc",
   "sunnypilot/qt/widgets/drive_stats.cc",
   "sunnypilot/qt/widgets/expandable_row.cc",
+  "sunnypilot/qt/widgets/external_storage.cc",
   "sunnypilot/qt/widgets/prime.cc",
   "sunnypilot/qt/widgets/scrollview.cc",
   "sunnypilot/qt/network/networking.cc",
@@ -38,6 +39,7 @@ qt_src = [
   "sunnypilot/qt/offroad/settings/visuals_panel.cc",
   "sunnypilot/qt/onroad/annotated_camera.cc",
   "sunnypilot/qt/onroad/buttons.cc",
+  "sunnypilot/qt/onroad/developer_ui/developer_ui.cc",
   "sunnypilot/qt/onroad/hud.cc",
   "sunnypilot/qt/onroad/model.cc",
   "sunnypilot/qt/onroad/onroad_home.cc",

selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc

@@ -5,9 +5,14 @@
  * See the LICENSE.md file in the root directory for more details.
  */
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/external_storage.h"
 
 DeveloperPanelSP::DeveloperPanelSP(SettingsWindow *parent) : DeveloperPanel(parent) {
 
+  #ifndef __APPLE__
+  addItem(new ExternalStorageControl());
+  #endif
+
   // Advanced Controls Toggle
   showAdvancedControls = new ParamControlSP("ShowAdvancedControls", tr("Show Advanced Controls"), tr("Toggle visibility of advanced sunnypilot controls.\nThis only toggles the visibility of the controls; it does not toggle the actual control enabled/disabled state."), "");
   addItem(showAdvancedControls);
@@ -22,6 +27,10 @@ DeveloperPanelSP::DeveloperPanelSP(SettingsWindow *parent) : DeveloperPanel(pare
   enableGithubRunner = new ParamControlSP("EnableGithubRunner", tr("Enable GitHub runner service"), tr("Enables or disables the github runner service."), "", this, true);
   addItem(enableGithubRunner);
 
+  // Copyparty Toggle
+  enableCopyparty = new ParamControlSP("EnableCopyparty", tr("Enable Copyparty service"), tr("Copyparty is a very capable file server, you can use it to download your routes, view your logs and even make some edits on some files from your browser. Requires you to connect to your comma locally via it's IP."), "", this, false);
+  addItem(enableCopyparty);
+
   // Quickboot Mode Toggle
   prebuiltToggle = new ParamControlSP("QuickBootToggle", tr("Enable Quickboot Mode"), tr(""), "", this, true);
   addItem(prebuiltToggle);

selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h

@@ -16,6 +16,7 @@ public:
   explicit DeveloperPanelSP(SettingsWindow *parent);
 
 private:
+  ParamControlSP *enableCopyparty;
   ParamControlSP *enableGithubRunner;
   ButtonControlSP *errorLogBtn;
   ParamControlSP *prebuiltToggle;

selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc

@@ -101,32 +101,42 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
   QString policyType = tr("Policy Model");
   policyFrame = createModelDetailFrame(this, policyType, policyProgressBar);
   list->addItem(policyFrame);
-
   list->addItem(horizontal_line());
 
+  // Lane Turn Desire toggle
+  lane_turn_desire_toggle = new ParamControlSP("LaneTurnDesire", tr("Use Lane Turn Desires"),
+                            "If you’re driving at 20 mph (32 km/h) or below and have your blinker on, "
+                            "the car will plan a turn in that direction at the nearest drivable path. "
+                            "This prevents situations (like at red lights) where the car might plan the wrong turn direction.",
+                             "../assets/offroad/icon_shell.png");
+  list->addItem(lane_turn_desire_toggle);
+
+  // Lane Turn Value control
+  int max_value_mph = 20;
+  bool is_metric_initial = params.getBool("IsMetric");
+  const float K = 1.609344f;
+  int per_value_change_scaled = is_metric_initial ? static_cast<int>(std::round((1.0f / K) * 100.0f)) : 100; // 100 -> 1 mph
+  lane_turn_value_control = new OptionControlSP("LaneTurnValue", tr("Adjust Lane Turn Speed"),
+    tr("Set the maximum speed for lane turn desires. Default is 19 %1.").arg(is_metric_initial ? "km/h" : "mph"),
+    "", {5 * 100, max_value_mph * 100}, per_value_change_scaled, false, nullptr, true, true);
+  lane_turn_value_control->showDescription();
+  list->addItem(lane_turn_value_control);
+
+  // Show based on toggle
+  refreshLaneTurnValueControl();
+  connect(lane_turn_desire_toggle, &ParamControlSP::toggleFlipped, this, &ModelsPanel::refreshLaneTurnValueControl);
+  connect(lane_turn_value_control, &OptionControlSP::updateLabels, this, &ModelsPanel::refreshLaneTurnValueControl);
+
   // LiveDelay toggle
   lagd_toggle_control = new ParamControlSP("LagdToggle", tr("Live Learning Steer Delay"), "", "../assets/offroad/icon_shell.png");
   lagd_toggle_control->showDescription();
   list->addItem(lagd_toggle_control);
 
   // Software delay control
-  int liveDelayMaxInt = 30;
-  std::string liveDelayBytes = params.get("LiveDelay");
-  if (!liveDelayBytes.empty()) {
-    capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
-      reinterpret_cast<const capnp::word*>(liveDelayBytes.data()),
-      liveDelayBytes.size() / sizeof(capnp::word)));
-    auto event = msg.getRoot<cereal::Event>();
-    if (event.hasLiveDelay()) {
-      auto liveDelay = event.getLiveDelay();
-      float lateralDelay = liveDelay.getLateralDelay();
-      liveDelayMaxInt = static_cast<int>(lateralDelay * 100.0f) + 20;
-    }
-  }
   delay_control = new OptionControlSP("LagdToggleDelay", tr("Adjust Software Delay"),
-                                     tr("Adjust the software delay when Live Learning Steer Delay is toggled off."
-                                        "\nThe default software delay value is 0.2"),
-                                     "", {5, liveDelayMaxInt}, 1, false, nullptr, true, true);
+                                      tr("Adjust the software delay when Live Learning Steer Delay is toggled off."
+                                         "\nThe default software delay value is 0.2"),
+                                      "", {5, 50}, 1, false, nullptr, true, true);
 
   connect(delay_control, &OptionControlSP::updateLabels, [=]() {
     float value = QString::fromStdString(params.get("LagdToggleDelay")).toFloat();
@@ -159,6 +169,19 @@ QFrame* ModelsPanel::createModelDetailFrame(QWidget *parent, QString &typeName,
   return frame;
 }
 
+void ModelsPanel::refreshLaneTurnValueControl() {
+  if (!lane_turn_value_control) return;
+  float stored_mph = QString::fromStdString(params.get("LaneTurnValue")).toFloat();
+  bool is_metric = params.getBool("IsMetric");
+  QString unit = is_metric ? "km/h" : "mph";
+  float display_value = stored_mph;
+  if (is_metric) {
+    display_value = stored_mph * 1.609344f;
+  }
+  lane_turn_value_control->setLabel(QString::number(static_cast<int>(std::round(display_value))) + " " + unit);
+  lane_turn_value_control->setVisible(params.getBool("LaneTurnDesire"));
+}
+
 /**
  * @brief Updates the UI with bundle download progress information
  * Reads status from modelManagerSP cereal message and displays status for all models
@@ -259,6 +282,18 @@ QString ModelsPanel::GetActiveModelInternalName() {
   return DEFAULT_MODEL;
 }
 
+/**
+ * @brief Gets the ref of the currently selected model bundle
+ * @return ref of the selected bundle or default model name
+ */
+QString ModelsPanel::GetActiveModelRef() {
+  if (model_manager.hasActiveBundle()) {
+    return QString::fromStdString(model_manager.getActiveBundle().getRef());
+  }
+
+  return DEFAULT_MODEL;
+}
+
 void ModelsPanel::updateModelManagerState() {
   const SubMaster &sm = *(uiStateSP()->sm);
   model_manager = sm["modelManagerSP"].getModelManagerSP();
@@ -272,34 +307,31 @@ void ModelsPanel::handleCurrentModelLblBtnClicked() {
   currentModelLblBtn->setEnabled(false);
   currentModelLblBtn->setValue(tr("Fetching models..."));
 
-  struct ModelEntry {
-    QString folder;
-    QString displayName;
-    int index;
-  };
-  QList<ModelEntry> sortedModels;
+  QList<TreeNode> sortedModels;
   QSet<QString> modelFolders;
+  QRegularExpression re("\\(([^)]*)\\)[^(]*$");
   const auto bundles = model_manager.getAvailableBundles();
 
   for (const auto &bundle : bundles) {
     auto overrides = bundle.getOverrides();
-    QString gen;
+    QString folder;
     for (const auto &override : overrides) {
       if (override.getKey() == "folder") {
-        gen = QString::fromStdString(override.getValue().cStr());
+        folder = QString::fromStdString(override.getValue().cStr());
       }
     }
 
-    modelFolders.insert(gen);
-    sortedModels.append(ModelEntry{
-      gen,
+    modelFolders.insert(folder);
+    sortedModels.append(TreeNode{
+      folder,
       QString::fromStdString(bundle.getDisplayName()),
+      QString::fromStdString(bundle.getRef()),
       static_cast<int>(bundle.getIndex())
     });
   }
 
   std::sort(sortedModels.begin(), sortedModels.end(),
-    [](const ModelEntry &a, const ModelEntry &b) {
+    [](const TreeNode &a, const TreeNode &b) {
       return a.index > b.index;
     });
 
@@ -322,37 +354,46 @@ void ModelsPanel::handleCurrentModelLblBtnClicked() {
       });
 
   // Create the final items list using sorted folders
-  QList<QPair<QString, QStringList>> items;
+  QList<TreeFolder> items;
   for (const auto &folderPair : folderMaxIndices) {
-    QStringList folderModels;
+    QList<TreeNode> folderModels;
+    QString folder = folderPair.first;
     for (const auto &model : sortedModels) {
       if (model.folder == folderPair.first) {
-        folderModels.append(model.displayName);
+        if (model.index == folderPair.second) {
+          QRegularExpressionMatch match = re.match(model.displayName);
+          if (match.hasMatch()) {
+            folder.append(" - (Updated: ").append(match.captured(1)).append(")");
+          }
+        }
+        folderModels.append(model);
       }
     }
-    items.append(qMakePair(folderPair.first, folderModels));
+    items.append(TreeFolder{folder, folderModels});
   }
 
-  items.insert(0, qMakePair(QString(""), QStringList{DEFAULT_MODEL}));
+  items.insert(0, TreeFolder{"", {
+    TreeNode{"", DEFAULT_MODEL, DEFAULT_MODEL, -1}
+  }});
 
   currentModelLblBtn->setValue(GetActiveModelInternalName());
 
-  const QString selectedBundleName = TreeOptionDialog::getSelection(
-    tr("Select a Model"), items, GetActiveModelName(), this);
+  const QString selectedBundleRef = TreeOptionDialog::getSelection(
+    tr("Select a Model"), items, GetActiveModelRef(), QString("ModelManager_Favs"), this);
 
-  if (selectedBundleName.isEmpty() || !canContinueOnMeteredDialog()) {
+  if (selectedBundleRef.isEmpty() || !canContinueOnMeteredDialog()) {
     return;
   }
 
   // Handle "Stock" selection differently
-  if (selectedBundleName == DEFAULT_MODEL) {
+  if (selectedBundleRef == DEFAULT_MODEL) {
     params.remove("ModelManager_ActiveBundle");
     currentModelLblBtn->setValue(tr("Default"));
     showResetParamsDialog();
   } else {
     // Find selected bundle and initiate download
     for (const auto &bundle: bundles) {
-      if (QString::fromStdString(bundle.getDisplayName()) == selectedBundleName) {
+      if (QString::fromStdString(bundle.getRef()) == selectedBundleRef) {
         params.put("ModelManager_DownloadIndex", std::to_string(bundle.getIndex()));
         if (bundle.getGeneration() != model_manager.getActiveBundle().getGeneration()) {
           showResetParamsDialog();
@@ -383,34 +424,28 @@ void ModelsPanel::updateLabels() {
                    "Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.");
   bool lagdEnabled = params.getBool("LagdToggle");
   if (lagdEnabled) {
-    std::string liveDelayBytes = params.get("LiveDelay");
+    auto liveDelayBytes = params.get("LiveDelay");
     if (!liveDelayBytes.empty()) {
-      capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
-        reinterpret_cast<const capnp::word*>(liveDelayBytes.data()),
-        liveDelayBytes.size() / sizeof(capnp::word)));
-      auto event = msg.getRoot<cereal::Event>();
-      if (event.hasLiveDelay()) {
-        auto liveDelay = event.getLiveDelay();
-        float lateralDelay = liveDelay.getLateralDelay();
-        desc += QString("<br><br><b><span style=\"color:#e0e0e0\">%1</span></b> <span style=\"color:#e0e0e0\">%2 s</span>")
-                .arg(tr("Live Steer Delay:")).arg(QString::number(lateralDelay, 'f', 3));
-      }
+      auto LD = loadCerealEvent(params, "LiveDelay");
+      float lateralDelay = LD->getLiveDelay().getLateralDelay();
+      desc += QString("<br><br><b><span style=\"color:#e0e0e0\">%1</span></b> <span style=\"color:#e0e0e0\">%2 s</span>")
+              .arg(tr("Live Steer Delay:")).arg(QString::number(lateralDelay, 'f', 3));
     }
   } else {
-    std::string carParamsBytes = params.get("CarParamsPersistent");
+    auto carParamsBytes = params.get("CarParamsPersistent");
     if (!carParamsBytes.empty()) {
-      capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
-        reinterpret_cast<const capnp::word*>(carParamsBytes.data()),
-        carParamsBytes.size() / sizeof(capnp::word)));
-      auto carParams = msg.getRoot<cereal::CarParams>();
-      float steerDelay = carParams.getSteerActuatorDelay();
+      AlignedBuffer aligned_buf_cp;
+      capnp::FlatArrayMessageReader cmsg(aligned_buf_cp.align(carParamsBytes.data(), carParamsBytes.size()));
+      cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+
+      float steerDelay = CP.getSteerActuatorDelay();
       float softwareDelay = QString::fromStdString(params.get("LagdToggleDelay")).toFloat();
       float totalLag = steerDelay + softwareDelay;
       desc += QString("<br><br><span style=\"color:#e0e0e0\">"
                       "<b>%1</b> %2 s + <b>%3</b> %4 s = <b>%5</b> %6 s</span>")
-           .arg(tr("Actuator Delay:"), QString::number(steerDelay, 'f', 2),
-                tr("Software Delay:"), QString::number(softwareDelay, 'f', 2),
-                tr("Total Delay:"), QString::number(totalLag, 'f', 2));
+             .arg(tr("Actuator Delay:"), QString::number(steerDelay, 'f', 2),
+                  tr("Software Delay:"), QString::number(softwareDelay, 'f', 2),
+                  tr("Total Delay:"), QString::number(totalLag, 'f', 2));
     }
   }
   lagd_toggle_control->setDescription(desc);
@@ -421,6 +456,9 @@ void ModelsPanel::updateLabels() {
     delay_control->setLabel(QString::number(value, 'f', 2) + "s");
   }
 
+  // Update lane turn desire label and visibility
+  refreshLaneTurnValueControl();
+
   clearModelCacheBtn->setValue(QString::number(calculateCacheSize(), 'f', 2) + " MB");
 }
 

selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h

@@ -9,6 +9,7 @@
 
 #include <QProgressBar>
 
+#include "selfdrive/ui/sunnypilot/qt/util.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 
 class ModelsPanel : public QWidget {
@@ -20,6 +21,7 @@ public:
 private:
   QString GetActiveModelName();
   QString GetActiveModelInternalName();
+  QString GetActiveModelRef();
   void updateModelManagerState();
   void showEvent(QShowEvent *event) override;
 
@@ -36,6 +38,7 @@ private:
   void updateLabels();
   void handleCurrentModelLblBtnClicked();
   void handleBundleDownloadProgress();
+  void refreshLaneTurnValueControl();
   void showResetParamsDialog();
   QProgressBar* createProgressBar(QWidget *parent);
   QFrame* createModelDetailFrame(QWidget *parent, QString &typeName, QProgressBar *progressBar);
@@ -80,5 +83,6 @@ private:
   Params params;
   ButtonControlSP *clearModelCacheBtn;
   ButtonControlSP *refreshAvailableModelsBtn;
-
+  ParamControlSP *lane_turn_desire_toggle;
+  OptionControlSP *lane_turn_value_control;
 };

selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc

@@ -11,12 +11,39 @@ SoftwarePanelSP::SoftwarePanelSP(QWidget *parent) : SoftwarePanel(parent) {
   // branch selector
   QObject::disconnect(targetBranchBtn, nullptr, nullptr, nullptr);
   connect(targetBranchBtn, &ButtonControlSP::clicked, [=]() {
-    InputDialog d(tr("Search Branch"), this, tr("Enter search keywords, or leave blank to list all branches."), false);
+    if (Hardware::get_device_type() == cereal::InitData::DeviceType::TICI) {
+      auto current = params.get("GitBranch");
+      QStringList allBranches = QString::fromStdString(params.get("UpdaterAvailableBranches")).split(",");
+      QStringList branches;
+      for (const QString &b : allBranches) {
+        if (b.endsWith("-tici")) {
+          branches.append(b);
+        }
+      }
+
+      for (QString b : {current.c_str(), "master-tici", "staging-tici", "release-tici"}) {
+        auto i = branches.indexOf(b);
+        if (i >= 0) {
+          branches.removeAt(i);
+          branches.insert(0, b);
+        }
+      }
+
+      QString cur = QString::fromStdString(params.get("UpdaterTargetBranch"));
+      QString selection = MultiOptionDialog::getSelection(tr("Select a branch"), branches, cur, this);
+      if (!selection.isEmpty()) {
+        params.put("UpdaterTargetBranch", selection.toStdString());
+        targetBranchBtn->setValue(QString::fromStdString(params.get("UpdaterTargetBranch")));
+        checkForUpdates();
+      }
+    } else {
+      InputDialog d(tr("Search Branch"), this, tr("Enter search keywords, or leave blank to list all branches."), false);
       d.setMinLength(0);
       const int ret = d.exec();
       if (ret) {
         searchBranches(d.text());
       }
+    }
   });
 
   // Disable Updates toggle

selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc

@@ -34,6 +34,27 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
   vlayout->setContentsMargins(50, 20, 50, 20);
 
   auto *list = new ListWidget(this, false);
+
+  QVBoxLayout *titleLayout = new QVBoxLayout;
+  QLabel *title = new QLabel(tr("🚀 sunnylink 🚀"));
+  title->setStyleSheet("font-size: 90px; font-weight: 500; font-family: 'Noto Color Emoji';");
+  titleLayout->addWidget(title, 0, Qt::AlignCenter);
+
+  QLabel *sunnylinkDesc = new QLabel("<div align='center'><font color='green'>"+
+    tr("For secure backup, restore, and remote configuration")+ "</font></div>");
+
+  QLabel *sponsorMsg = new QLabel("<div align='center'><font color='orange'>"+
+    tr("Sponsorship isn't required for basic backup/restore") + "<br>" +
+       tr("Click the sponsor button for more details")+ "</font></div>");
+
+  sunnylinkDesc->setStyleSheet("font-size: 40px; font-weight: 100; font-family: 'Noto';");
+  sponsorMsg->setStyleSheet("font-size: 35px; font-weight: 100; font-family: 'Noto';");
+
+  titleLayout->addWidget(sunnylinkDesc, 0, Qt::AlignCenter);
+  titleLayout->addWidget(sponsorMsg, 0, Qt::AlignCenter);
+
+  list->addItem(titleLayout);
+
   QString sunnylinkEnabledBtnDesc = tr("This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that.");
   sunnylinkEnabledBtn = new ParamControl(
     "SunnylinkEnabled",

selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc

@@ -28,6 +28,13 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
       "../assets/offroad/icon_monitoring.png",
       false,
     },
+    {
+      "RainbowMode",
+      tr("Enable Tesla Rainbow Mode"),
+      RainbowizeWords(tr("A beautiful rainbow effect on the path the model wants to take.")) + "<br/><i>" + tr("It")+ " <b>" + tr("does not") + "</b> " + tr("affect driving in any way.") + "</i>",
+      "../assets/offroad/icon_monitoring.png",
+      false,
+    },
   };
 
   // Add regular toggles first
@@ -65,6 +72,15 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
   list->addItem(chevron_info_settings);
   param_watcher->addParam("ChevronInfo");
 
+  // Visuals: Developer UI Info (Dev UI)
+  std::vector<QString> dev_ui_settings_texts{tr("Off"), tr("Right"), tr("Right &&\nBottom")};
+  dev_ui_settings = new ButtonParamControlSP(
+    "DevUIInfo", tr("Developer UI"), tr("Display real-time parameters and metrics from various sources."),
+    "",
+    dev_ui_settings_texts,
+    380);
+  list->addItem(dev_ui_settings);
+
   sunnypilotScroller = new ScrollViewSP(list, this);
   vlayout->addWidget(sunnypilotScroller);
 
@@ -83,4 +99,7 @@ void VisualsPanel::paramsRefresh() {
   if (chevron_info_settings) {
     chevron_info_settings->refresh();
   }
+  if (dev_ui_settings) {
+    dev_ui_settings->refresh();
+  }
 }

selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h

@@ -28,4 +28,5 @@ protected:
  std::map<std::string, ParamControlSP*> toggles;
  ParamWatcher * param_watcher;
  ButtonParamControlSP *chevron_info_settings;
+ ButtonParamControlSP *dev_ui_settings;
 };

selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.cc

@@ -14,3 +14,8 @@ AnnotatedCameraWidgetSP::AnnotatedCameraWidgetSP(VisionStreamType type, QWidget
 void AnnotatedCameraWidgetSP::updateState(const UIState &s) {
   AnnotatedCameraWidget::updateState(s);
 }
+
+void AnnotatedCameraWidgetSP::showEvent(QShowEvent *event) {
+  AnnotatedCameraWidget::showEvent(event);
+  ui_update_params_sp(uiState());
+}

selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h

@@ -15,4 +15,7 @@ class AnnotatedCameraWidgetSP : public AnnotatedCameraWidget {
 public:
   explicit AnnotatedCameraWidgetSP(VisionStreamType type, QWidget *parent = nullptr);
   void updateState(const UIState &s) override;
+
+protected:
+  void showEvent(QShowEvent *event) override;
 };

selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.cc

@@ -0,0 +1,227 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+#include <cmath>
+
+#include "common/util.h"
+#include "selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.h"
+
+
+// Add Relative Distance to Primary Lead Car
+// Unit: Meters
+UiElement DeveloperUi::getDRel(bool lead_status, float lead_d_rel) {
+  QString value = lead_status ? QString::number(lead_d_rel, 'f', 0) : "-";
+  QColor color = QColor(255, 255, 255, 255);
+
+  if (lead_status) {
+    // Orange if close, Red if very close
+    if (lead_d_rel < 5) {
+      color = QColor(255, 0, 0, 255);
+    } else if (lead_d_rel < 15) {
+      color = QColor(255, 188, 0, 255);
+    }
+  }
+
+  return UiElement(value, "REL DIST", "m", color);
+}
+
+// Add Relative Velocity vs Primary Lead Car
+// Unit: kph if metric, else mph
+UiElement DeveloperUi::getVRel(bool lead_status, float lead_v_rel, bool is_metric, const QString &speed_unit) {
+  QString value = lead_status ? QString::number(lead_v_rel * (is_metric ? MS_TO_KPH : MS_TO_MPH), 'f', 0) : "-";
+  QColor color = QColor(255, 255, 255, 255);
+
+  if (lead_status) {
+    // Red if approaching faster than 10mph
+    // Orange if approaching (negative)
+    if (lead_v_rel < -4.4704) {
+      color = QColor(255, 0, 0, 255);
+    } else if (lead_v_rel < 0) {
+      color = QColor(255, 188, 0, 255);
+    }
+  }
+
+  return UiElement(value, "REL SPEED", speed_unit, color);
+}
+
+// Add Real Steering Angle
+// Unit: Degrees
+UiElement DeveloperUi::getSteeringAngleDeg(float angle_steers, bool lat_active, bool steer_override) {
+  QString value = QString("%1%2%3").arg(QString::number(angle_steers, 'f', 1)).arg("°").arg("");
+  QColor color = lat_active ? (steer_override ? QColor(0x91, 0x9b, 0x95, 0xff) : QColor(0, 255, 0, 255)) : QColor(255, 255, 255, 255);
+
+  // Red if large steering angle
+  // Orange if moderate steering angle
+  if (std::fabs(angle_steers) > 180) {
+    color = QColor(255, 0, 0, 255);
+  } else if (std::fabs(angle_steers) > 90) {
+    color = QColor(255, 188, 0, 255);
+  }
+
+  return UiElement(value, "REAL STEER", "", color);
+}
+
+// Add Actual Lateral Acceleration (roll compensated) when using Torque
+// Unit: m/s²
+UiElement DeveloperUi::getActualLateralAccel(float curvature, float v_ego, float roll, bool lat_active, bool steer_override) {
+  double actualLateralAccel = (curvature * pow(v_ego, 2)) - (roll * 9.81);
+
+  QString value = QString::number(actualLateralAccel, 'f', 2);
+  QColor color = lat_active ? (steer_override ? QColor(0x91, 0x9b, 0x95, 0xff) : QColor(0, 255, 0, 255)) : QColor(255, 255, 255, 255);
+
+  return UiElement(value, "ACTUAL L.A.", "m/s²", color);
+}
+
+// Add Desired Steering Angle when using PID
+// Unit: Degrees
+UiElement DeveloperUi::getSteeringAngleDesiredDeg(bool lat_active, float steer_angle_desired, float angle_steers) {
+  QString value = lat_active ? QString("%1%2%3").arg(QString::number(steer_angle_desired, 'f', 1)).arg("°").arg("") : "-";
+  QColor color = QColor(255, 255, 255, 255);
+
+  if (lat_active) {
+    // Red if large steering angle
+    // Orange if moderate steering angle
+    if (std::fabs(angle_steers) > 180) {
+      color = QColor(255, 0, 0, 255);
+    } else if (std::fabs(angle_steers) > 90) {
+      color = QColor(255, 188, 0, 255);
+    } else {
+      color = QColor(0, 255, 0, 255);
+    }
+  }
+
+  return UiElement(value, "DESIRED STEER", "", color);
+}
+
+// Add Device Memory (RAM) Usage
+// Unit: Percent
+UiElement DeveloperUi::getMemoryUsagePercent(int memory_usage_percent) {
+  QString value = QString("%1%2").arg(QString::number(memory_usage_percent, 'd', 0)).arg("%");
+  QColor color = (memory_usage_percent > 85) ? QColor(255, 188, 0, 255) : QColor(255, 255, 255, 255);
+
+  return UiElement(value, "RAM", "", color);
+}
+
+// Add Vehicle Current Acceleration
+// Unit: m/s²
+UiElement DeveloperUi::getAEgo(float a_ego) {
+  QString value = QString::number(a_ego, 'f', 1);
+  QColor color = QColor(255, 255, 255, 255);
+
+  return UiElement(value, "ACC.", "m/s²", color);
+}
+
+// Add Relative Velocity to Primary Lead Car
+// Unit: kph if metric, else mph
+UiElement DeveloperUi::getVEgoLead(bool lead_status, float lead_v_rel, float v_ego, bool is_metric, const QString &speed_unit) {
+  QString value = lead_status ? QString::number((lead_v_rel + v_ego) * (is_metric ? MS_TO_KPH : MS_TO_MPH), 'f', 0) : "-";
+  QColor color = QColor(255, 255, 255, 255);
+
+  if (lead_status) {
+    // Red if approaching faster than 10mph
+    // Orange if approaching (negative)
+    if (lead_v_rel < -4.4704) {
+      color = QColor(255, 0, 0, 255);
+    } else if (lead_v_rel < 0) {
+      color = QColor(255, 188, 0, 255);
+    }
+  }
+
+  return UiElement(value, "L.S.", speed_unit, color);
+}
+
+// Add Friction Coefficient Raw from torqued
+// Unit: None
+UiElement DeveloperUi::getFrictionCoefficientFiltered(float friction_coefficient_filtered, bool live_valid) {
+  QString value = QString::number(friction_coefficient_filtered, 'f', 3);
+  QColor color = live_valid ? QColor(0, 255, 0, 255) : QColor(255, 255, 255, 255);
+
+  return UiElement(value, "FRIC.", "", color);
+}
+
+// Add Lateral Acceleration Factor Raw from torqued
+// Unit: m/s²
+UiElement DeveloperUi::getLatAccelFactorFiltered(float lat_accel_factor_filtered, bool live_valid) {
+  QString value = QString::number(lat_accel_factor_filtered, 'f', 3);
+  QColor color = live_valid ? QColor(0, 255, 0, 255) : QColor(255, 255, 255, 255);
+
+  return UiElement(value, "L.A.", "m/s²", color);
+}
+
+// Add Steering Torque from Car EPS
+// Unit: Newton Meters
+UiElement DeveloperUi::getSteeringTorqueEps(float steering_torque_eps) {
+  QString value = QString::number(std::fabs(steering_torque_eps), 'f', 1);
+  QColor color = QColor(255, 255, 255, 255);
+
+  return UiElement(value, "E.T.", "N·dm", color);
+}
+
+// Add Bearing Degree and Direction from Car (Compass)
+// Unit: Meters
+UiElement DeveloperUi::getBearingDeg(float bearing_accuracy_deg, float bearing_deg) {
+  QString value = (bearing_accuracy_deg != 180.00) ? QString("%1%2%3").arg(QString::number(bearing_deg, 'd', 0)).arg("°").arg("") : "-";
+  QColor color = QColor(255, 255, 255, 255);
+  QString dir_value;
+
+  if (bearing_accuracy_deg != 180.00) {
+    if (((bearing_deg >= 337.5) && (bearing_deg <= 360)) || ((bearing_deg >= 0) && (bearing_deg <= 22.5))) {
+      dir_value = "N";
+    } else if ((bearing_deg > 22.5) && (bearing_deg < 67.5)) {
+      dir_value = "NE";
+    } else if ((bearing_deg >= 67.5) && (bearing_deg <= 112.5)) {
+      dir_value = "E";
+    } else if ((bearing_deg > 112.5) && (bearing_deg < 157.5)) {
+      dir_value = "SE";
+    } else if ((bearing_deg >= 157.5) && (bearing_deg <= 202.5)) {
+      dir_value = "S";
+    } else if ((bearing_deg > 202.5) && (bearing_deg < 247.5)) {
+      dir_value = "SW";
+    } else if ((bearing_deg >= 247.5) && (bearing_deg <= 292.5)) {
+      dir_value = "W";
+    } else if ((bearing_deg > 292.5) && (bearing_deg < 337.5)) {
+      dir_value = "NW";
+    }
+  } else {
+    dir_value = "OFF";
+  }
+
+  return UiElement(QString("%1 | %2").arg(dir_value).arg(value), "B.D.", "", color);
+}
+
+// Add Altitude of Current Location
+// Unit: Meters
+UiElement DeveloperUi::getAltitude(float gps_accuracy, float altitude) {
+  QString value = (gps_accuracy != 0.00) ? QString::number(altitude, 'f', 1) : "-";
+  QColor color = QColor(255, 255, 255, 255);
+
+  return UiElement(value, "ALT.", "m", color);
+}
+
+// Add Actuators Output
+// Unit: Degree (angle) or m/s² (torque)
+UiElement DeveloperUi::getActuatorsOutputLateral(cereal::CarParams::SteerControlType steerControlType,
+                                                 cereal::CarControl::Actuators::Reader &actuators,
+                                                 float desiredCurvature, float v_ego, float roll, bool lat_active, bool steer_override) {
+  QString label;
+  QString value;
+  QString unit;
+
+  if (steerControlType == cereal::CarParams::SteerControlType::ANGLE) {
+    label = "DESIRED STEER";
+    value = QString("%1%2%3").arg(QString::number(actuators.getSteeringAngleDeg(), 'f', 1)).arg("°").arg("");
+  } else {
+    label = "DESIRED L.A.";
+    double desiredLateralAccel = (desiredCurvature * pow(v_ego, 2)) - (roll * 9.81);
+    value = QString::number(desiredLateralAccel, 'f', 2);
+    unit = "m/s²";
+  }
+
+  value = lat_active ? value : "-";
+  QColor color = lat_active ? (steer_override ? QColor(0x91, 0x9b, 0x95, 0xff) : QColor(0, 255, 0, 255)) : QColor(255, 255, 255, 255);
+
+  return UiElement(value, label, unit, color);
+}

selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.h

@@ -0,0 +1,31 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+#pragma once
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/qt/onroad/developer_ui/ui_elements.h"
+
+class DeveloperUi {
+
+public:
+  static UiElement getDRel(bool lead_status, float lead_d_rel);
+  static UiElement getVRel(bool lead_status, float lead_v_rel, bool is_metric, const QString &speed_unit);
+  static UiElement getSteeringAngleDeg(float angle_steers, bool lat_active, bool steer_override);
+  static UiElement getActualLateralAccel(float curvature, float v_ego, float roll, bool lat_active, bool steer_override);
+  static UiElement getSteeringAngleDesiredDeg(bool lat_active, float steer_angle_desired, float angle_steers);
+  static UiElement getMemoryUsagePercent(int memory_usage_percent);
+  static UiElement getAEgo(float a_ego);
+  static UiElement getVEgoLead(bool lead_status, float lead_v_rel, float v_ego, bool is_metric, const QString &speed_unit);
+  static UiElement getFrictionCoefficientFiltered(float friction_coefficient_filtered, bool live_valid);
+  static UiElement getLatAccelFactorFiltered(float lat_accel_factor_filtered, bool live_valid);
+  static UiElement getSteeringTorqueEps(float steering_torque_eps);
+  static UiElement getBearingDeg(float bearing_accuracy_deg, float bearing_deg);
+  static UiElement getAltitude(float gps_accuracy, float altitude);
+  static UiElement getActuatorsOutputLateral(cereal::CarParams::SteerControlType steerControlType,
+                                             cereal::CarControl::Actuators::Reader &actuators,
+                                             float desiredCurvature, float v_ego, float roll, bool lat_active, bool steer_override);
+};

selfdrive/ui/sunnypilot/qt/onroad/developer_ui/ui_elements.h

@@ -0,0 +1,19 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+#pragma once
+
+#include <QColor>
+
+struct UiElement {
+  QString value{};
+  QString label{};
+  QString units{};
+  QColor color{};
+
+  explicit UiElement(const QString &value = "", const QString &label = "", const QString &units = "", const QColor &color = QColor(255, 255, 255, 255))
+    : value(value), label(label), units(units), color(color) {}
+};

selfdrive/ui/sunnypilot/qt/onroad/hud.cc

@@ -7,12 +7,202 @@
 
 #include "selfdrive/ui/sunnypilot/qt/onroad/hud.h"
 
+#include "selfdrive/ui/qt/util.h"
+
+
 HudRendererSP::HudRendererSP() {}
 
 void HudRendererSP::updateState(const UIState &s) {
   HudRenderer::updateState(s);
+
+  const SubMaster &sm = *(s.sm);
+  const bool cs_alive = sm.alive("controlsState");
+  const auto cs = sm["controlsState"].getControlsState();
+  const auto car_state = sm["carState"].getCarState();
+  const auto car_control = sm["carControl"].getCarControl();
+  const auto radar_state = sm["radarState"].getRadarState();
+  const auto is_gps_location_external = sm.rcv_frame("gpsLocationExternal") > 1;
+  const auto gpsLocation = is_gps_location_external ? sm["gpsLocationExternal"].getGpsLocationExternal() : sm["gpsLocation"].getGpsLocation();
+  const auto ltp = sm["liveTorqueParameters"].getLiveTorqueParameters();
+  const auto car_params = sm["carParams"].getCarParams();
+
+  static int reverse_delay = 0;
+  bool reverse_allowed = false;
+  if (int(car_state.getGearShifter()) != 4) {
+    reverse_delay = 0;
+    reverse_allowed = false;
+  } else {
+    reverse_delay += 50;
+    if (reverse_delay >= 1000) {
+      reverse_allowed = true;
+    }
+  }
+
+  reversing = reverse_allowed;
+  is_metric = s.scene.is_metric;
+
+  // Handle older routes where vEgoCluster is not set
+  v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0;
+  float v_ego = v_ego_cluster_seen ? car_state.getVEgoCluster() : car_state.getVEgo();
+  speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
+  speed *= is_metric ? MS_TO_KPH : MS_TO_MPH;
+
+  latActive = car_control.getLatActive();
+  steerOverride = car_state.getSteeringPressed();
+
+  devUiInfo = s.scene.dev_ui_info;
+
+  speedUnit = is_metric ? tr("km/h") : tr("mph");
+  lead_d_rel = radar_state.getLeadOne().getDRel();
+  lead_v_rel = radar_state.getLeadOne().getVRel();
+  lead_status = radar_state.getLeadOne().getStatus();
+  steerControlType = car_params.getSteerControlType();
+  actuators = car_control.getActuators();
+  torqueLateral = steerControlType == cereal::CarParams::SteerControlType::TORQUE;
+  angleSteers = car_state.getSteeringAngleDeg();
+  desiredCurvature = cs.getDesiredCurvature();
+  curvature = cs.getCurvature();
+  roll = sm["liveParameters"].getLiveParameters().getRoll();
+  memoryUsagePercent = sm["deviceState"].getDeviceState().getMemoryUsagePercent();
+  gpsAccuracy = is_gps_location_external ? gpsLocation.getHorizontalAccuracy() : 1.0;  // External reports accuracy, internal does not.
+  altitude = gpsLocation.getAltitude();
+  vEgo = car_state.getVEgo();
+  aEgo = car_state.getAEgo();
+  steeringTorqueEps = car_state.getSteeringTorqueEps();
+  bearingAccuracyDeg = gpsLocation.getBearingAccuracyDeg();
+  bearingDeg = gpsLocation.getBearingDeg();
+  torquedUseParams = ltp.getUseParams();
+  latAccelFactorFiltered = ltp.getLatAccelFactorFiltered();
+  frictionCoefficientFiltered = ltp.getFrictionCoefficientFiltered();
+  liveValid = ltp.getLiveValid();
 }
 
 void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
   HudRenderer::draw(p, surface_rect);
+  if (!reversing) {
+    // Bottom Dev UI
+    if (devUiInfo == 2) {
+      QRect rect_bottom(surface_rect.left(), surface_rect.bottom() - 60, surface_rect.width(), 61);
+      p.setPen(Qt::NoPen);
+      p.setBrush(QColor(0, 0, 0, 100));
+      p.drawRect(rect_bottom);
+      drawBottomDevUI(p, rect_bottom.left(), rect_bottom.center().y());
+    }
+
+    // Right Dev UI
+    if (devUiInfo != 0) {
+      QRect rect_right(surface_rect.right() - (UI_BORDER_SIZE * 2), UI_BORDER_SIZE * 1.5, 184, 170);
+      drawRightDevUI(p, surface_rect.right() - 184 - UI_BORDER_SIZE * 2, UI_BORDER_SIZE * 2 + rect_right.height());
+    }
+  }
+}
+
+void HudRendererSP::drawText(QPainter &p, int x, int y, const QString &text, QColor color) {
+  QRect real_rect = p.fontMetrics().boundingRect(text);
+  real_rect.moveCenter({x, y - real_rect.height() / 2});
+  p.setPen(color);
+  p.drawText(real_rect.x(), real_rect.bottom(), text);
+}
+
+int HudRendererSP::drawRightDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color) {
+
+  p.setFont(InterFont(28, QFont::Bold));
+  x += 92;
+  y += 80;
+  drawText(p, x, y, label);
+
+  p.setFont(InterFont(30 * 2, QFont::Bold));
+  y += 65;
+  drawText(p, x, y, value, color);
+
+  p.setFont(InterFont(28, QFont::Bold));
+
+  if (units.length() > 0) {
+    p.save();
+    x += 120;
+    y -= 25;
+    p.translate(x, y);
+    p.rotate(-90);
+    drawText(p, 0, 0, units);
+    p.restore();
+  }
+
+  return 130;
+}
+
+void HudRendererSP::drawRightDevUI(QPainter &p, int x, int y) {
+  int rh = 5;
+  int ry = y;
+
+  UiElement dRelElement = DeveloperUi::getDRel(lead_status, lead_d_rel);
+  rh += drawRightDevUIElement(p, x, ry, dRelElement.value, dRelElement.label, dRelElement.units, dRelElement.color);
+  ry = y + rh;
+
+  UiElement vRelElement = DeveloperUi::getVRel(lead_status, lead_v_rel, is_metric, speedUnit);
+  rh += drawRightDevUIElement(p, x, ry, vRelElement.value, vRelElement.label, vRelElement.units, vRelElement.color);
+  ry = y + rh;
+
+  UiElement steeringAngleDegElement = DeveloperUi::getSteeringAngleDeg(angleSteers, latActive, steerOverride);
+  rh += drawRightDevUIElement(p, x, ry, steeringAngleDegElement.value, steeringAngleDegElement.label, steeringAngleDegElement.units, steeringAngleDegElement.color);
+  ry = y + rh;
+
+  UiElement actuatorsOutputLateralElement = DeveloperUi::getActuatorsOutputLateral(steerControlType, actuators, desiredCurvature, vEgo, roll, latActive, steerOverride);
+  rh += drawRightDevUIElement(p, x, ry, actuatorsOutputLateralElement.value, actuatorsOutputLateralElement.label, actuatorsOutputLateralElement.units, actuatorsOutputLateralElement.color);
+  ry = y + rh;
+
+  UiElement actualLateralAccelElement = DeveloperUi::getActualLateralAccel(curvature, vEgo, roll, latActive, steerOverride);
+  rh += drawRightDevUIElement(p, x, ry, actualLateralAccelElement.value, actualLateralAccelElement.label, actualLateralAccelElement.units, actualLateralAccelElement.color);
+}
+
+int HudRendererSP::drawBottomDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color) {
+  p.setFont(InterFont(38, QFont::Bold));
+  QFontMetrics fm(p.font());
+  QRect init_rect = fm.boundingRect(label + " ");
+  QRect real_rect = fm.boundingRect(init_rect, 0, label + " ");
+  real_rect.moveCenter({x, y});
+
+  QRect init_rect2 = fm.boundingRect(value);
+  QRect real_rect2 = fm.boundingRect(init_rect2, 0, value);
+  real_rect2.moveTop(real_rect.top());
+  real_rect2.moveLeft(real_rect.right() + 10);
+
+  QRect init_rect3 = fm.boundingRect(units);
+  QRect real_rect3 = fm.boundingRect(init_rect3, 0, units);
+  real_rect3.moveTop(real_rect.top());
+  real_rect3.moveLeft(real_rect2.right() + 10);
+
+  p.setPen(Qt::white);
+  p.drawText(real_rect, Qt::AlignLeft | Qt::AlignVCenter, label);
+
+  p.setPen(color);
+  p.drawText(real_rect2, Qt::AlignRight | Qt::AlignVCenter, value);
+  p.drawText(real_rect3, Qt::AlignLeft | Qt::AlignVCenter, units);
+  return 430;
+}
+
+void HudRendererSP::drawBottomDevUI(QPainter &p, int x, int y) {
+  int rw = 90;
+
+  UiElement aEgoElement = DeveloperUi::getAEgo(aEgo);
+  rw += drawBottomDevUIElement(p, rw, y, aEgoElement.value, aEgoElement.label, aEgoElement.units, aEgoElement.color);
+
+  UiElement vEgoLeadElement = DeveloperUi::getVEgoLead(lead_status, lead_v_rel, vEgo, is_metric, speedUnit);
+  rw += drawBottomDevUIElement(p, rw, y, vEgoLeadElement.value, vEgoLeadElement.label, vEgoLeadElement.units, vEgoLeadElement.color);
+
+  if (torqueLateral && torquedUseParams) {
+    UiElement frictionCoefficientFilteredElement = DeveloperUi::getFrictionCoefficientFiltered(frictionCoefficientFiltered, liveValid);
+    rw += drawBottomDevUIElement(p, rw, y, frictionCoefficientFilteredElement.value, frictionCoefficientFilteredElement.label, frictionCoefficientFilteredElement.units, frictionCoefficientFilteredElement.color);
+
+    UiElement latAccelFactorFilteredElement = DeveloperUi::getLatAccelFactorFiltered(latAccelFactorFiltered, liveValid);
+    rw += drawBottomDevUIElement(p, rw, y, latAccelFactorFilteredElement.value, latAccelFactorFilteredElement.label, latAccelFactorFilteredElement.units, latAccelFactorFilteredElement.color);
+  } else {
+    UiElement steeringTorqueEpsElement = DeveloperUi::getSteeringTorqueEps(steeringTorqueEps);
+    rw += drawBottomDevUIElement(p, rw, y, steeringTorqueEpsElement.value, steeringTorqueEpsElement.label, steeringTorqueEpsElement.units, steeringTorqueEpsElement.color);
+
+    UiElement bearingDegElement = DeveloperUi::getBearingDeg(bearingAccuracyDeg, bearingDeg);
+    rw += drawBottomDevUIElement(p, rw, y, bearingDegElement.value, bearingDegElement.label, bearingDegElement.units, bearingDegElement.color);
+  }
+
+  UiElement altitudeElement = DeveloperUi::getAltitude(gpsAccuracy, altitude);
+  rw += drawBottomDevUIElement(p, rw, y, altitudeElement.value, altitudeElement.label, altitudeElement.units, altitudeElement.color);
 }

selfdrive/ui/sunnypilot/qt/onroad/hud.h

@@ -7,9 +7,8 @@
 
 #pragma once
 
-#include <QPainter>
-
 #include "selfdrive/ui/qt/onroad/hud.h"
+#include "selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.h"
 
 class HudRendererSP : public HudRenderer {
   Q_OBJECT
@@ -18,4 +17,40 @@ public:
   HudRendererSP();
   void updateState(const UIState &s) override;
   void draw(QPainter &p, const QRect &surface_rect) override;
+
+private:
+  Params params;
+  void drawText(QPainter &p, int x, int y, const QString &text, QColor color = Qt::white);
+  void drawRightDevUI(QPainter &p, int x, int y);
+  int drawRightDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color);
+  int drawBottomDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color);
+  void drawBottomDevUI(QPainter &p, int x, int y);
+
+  bool lead_status;
+  float lead_d_rel;
+  float lead_v_rel;
+  bool torqueLateral;
+  float angleSteers;
+  float desiredCurvature;
+  float curvature;
+  float roll;
+  int memoryUsagePercent;
+  int devUiInfo;
+  float gpsAccuracy;
+  float altitude;
+  float vEgo;
+  float aEgo;
+  float steeringTorqueEps;
+  float bearingAccuracyDeg;
+  float bearingDeg;
+  bool torquedUseParams;
+  float latAccelFactorFiltered;
+  float frictionCoefficientFiltered;
+  bool liveValid;
+  QString speedUnit;
+  bool latActive;
+  bool steerOverride;
+  bool reversing;
+  cereal::CarParams::SteerControlType steerControlType;
+  cereal::CarControl::Actuators::Reader actuators;
 };

selfdrive/ui/sunnypilot/qt/onroad/model.cc

@@ -48,5 +48,43 @@ void ModelRendererSP::drawPath(QPainter &painter, const cereal::ModelDataV2::Rea
       painter.drawPolygon(right_blindspot_vertices);
     }
   }
-  ModelRenderer::drawPath(painter, model, surface_rect.height());
+
+  bool rainbow = Params().getBool("RainbowMode");
+  //float v_ego = sm["carState"].getCarState().getVEgo();
+
+  if (rainbow) {
+    // Simple time-based animation
+    float time_offset = std::chrono::duration_cast<std::chrono::milliseconds>(
+        std::chrono::steady_clock::now().time_since_epoch()).count() / 1000.0f;
+
+    // simple linear gradient from bottom to top
+    QLinearGradient bg(0, surface_rect.height(), 0, 0);
+
+    // evenly spaced colors across the spectrum
+    // The animation shifts the entire spectrum smoothly
+    float animation_speed = 40.0f; // speed vroom vroom
+    float hue_offset = fmod(time_offset * animation_speed, 360.0f);
+
+    // 6-8 color stops for smooth transitions more color makes it laggy
+    const int num_stops = 7;
+    for (int i = 0; i < num_stops; i++) {
+      float position = static_cast<float>(i) / (num_stops - 1);
+
+      float hue = fmod(hue_offset + position * 360.0f, 360.0f);
+      float saturation = 0.9f;
+      float lightness = 0.6f;
+
+      // Alpha fades out towards the far end of the path
+      float alpha = 0.8f * (1.0f - position * 0.3f);
+
+      QColor color = QColor::fromHslF(hue / 360.0f, saturation, lightness, alpha);
+      bg.setColorAt(position, color);
+    }
+
+    painter.setBrush(bg);
+    painter.drawPolygon(track_vertices);
+  } else {
+    // Normal path rendering
+    ModelRenderer::drawPath(painter, model, surface_rect.height());
+  }
 }

selfdrive/ui/sunnypilot/qt/util.cc

@@ -110,3 +110,16 @@ QStringList searchFromList(const QString &query, const QStringList &list) {
   }
   return search_results;
 }
+
+std::optional<cereal::Event::Reader> loadCerealEvent(Params& params, const std::string& _param) {
+  std::string bytes = params.get(_param);
+
+  try {
+    AlignedBuffer aligned_buf;
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(bytes.data(), bytes.size()));
+    return cmsg.getRoot<cereal::Event>();
+  } catch (kj::Exception& e) {
+    qInfo() << "invalid " << QString::fromStdString(_param) << ":" << e.getDescription().cStr();
+    return std::nullopt;
+  }
+}

selfdrive/ui/sunnypilot/qt/util.h

@@ -15,8 +15,11 @@
 #include <QRegularExpression>
 #include <QWidget>
 
+#include "selfdrive/ui/sunnypilot/ui.h"
+
 QString getUserAgent(bool sunnylink = false);
 std::optional<QString> getSunnylinkDongleId();
 std::optional<QString> getParamIgnoringDefault(const std::string &param_name, const std::string &default_value);
 QMap<QString, QVariantMap> loadPlatformList();
 QStringList searchFromList(const QString &query, const QStringList &list);
+std::optional<cereal::Event::Reader> loadCerealEvent(Params& params, const std::string& _param);

selfdrive/ui/sunnypilot/qt/widgets/controls.h

@@ -750,3 +750,24 @@ public:
     setFixedSize(400, 100);
   }
 };
+
+inline QString RainbowizeWords(const QString &text) {
+  const QStringList colors = {
+    "#FF6F61",  // soft coral red
+    "#FFA177",  // warm peach
+    "#FFD966",  // soft golden yellow
+    "#88D498",  // mint green
+    "#6EC6FF",  // sky blue
+    "#A78BFA",  // soft lavender
+    "#F78FB3"   // rose pink
+  };
+    
+    QString result;
+    QStringList words = text.split(' ');
+    
+    for (int i = 0; i < words.size(); ++i) {
+      result += QString("<font color='%1'>%2</font> ").arg(colors[i % colors.size()]).arg(words[i].toHtmlEscaped());
+    }
+    
+    return result.trimmed();
+  }

selfdrive/ui/sunnypilot/qt/widgets/external_storage.cc

@@ -0,0 +1,170 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/external_storage.h"
+
+#include <QProcess>
+#include <QCoreApplication>
+#include <QShowEvent>
+#include <QTimer>
+#include <QtConcurrent>
+
+#include "common/params.h"
+#include "selfdrive/ui/qt/api.h"
+#include "selfdrive/ui/qt/widgets/input.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+
+ExternalStorageControl::ExternalStorageControl() :
+  ButtonControl(tr("External Storage"), "", tr("Extend your comma device's storage by inserting a USB drive into the aux port.")) {
+
+  QObject::connect(this, &ButtonControl::clicked, [=]() {
+    if (text() == tr("CHECK") || text() == tr("MOUNT")) {
+      mountStorage();
+    } else if (text() == tr("UNMOUNT")) {
+      unmountStorage();
+    } else if (text() == tr("FORMAT")) {
+      if (ConfirmationDialog::confirm(tr("Are you sure you want to format this drive? This will erase all data."), tr("Format"), this)) {
+        formatStorage();
+      }
+    }
+  });
+
+  QObject::connect(uiState(), &UIState::offroadTransition, this, &ExternalStorageControl::updateState);
+  updateState(!uiState()->scene.started);
+
+  refresh();
+}
+
+void ExternalStorageControl::updateState(bool offroad) {
+  setEnabled(offroad);
+}
+
+void ExternalStorageControl::debouncedRefresh() {
+  if (refreshPending) return;
+  refreshPending = true;
+
+  QTimer::singleShot(250, this, [=]() {
+    refreshPending = false;
+    refresh();
+  });
+}
+
+void ExternalStorageControl::refresh() {
+  QtConcurrent::run([=]() {
+    auto run = [](const QString &cmd) {
+      QProcess p;
+      p.start("sh", QStringList() << "-c" << cmd);
+      p.waitForFinished();
+      return p.exitCode() == 0;
+    };
+
+    bool isMounted = run("findmnt -n /mnt/external_realdata");
+    bool hasDrive = run("lsblk -f /dev/sdg");
+    bool hasFs = run("lsblk -f /dev/sdg1 | grep -q ext4");
+    bool hasLabel = run("sudo blkid /dev/sdg1 | grep -q 'LABEL=\"openpilot\"'");
+
+    QString info;
+    if (isMounted && hasLabel) {
+      QProcess df;
+      df.start("sh", QStringList() << "-c" << "df -h /mnt/external_realdata | awk 'NR==2 {print $3 \"/\" $2}'");
+      df.waitForFinished();
+      info = df.readAllStandardOutput().trimmed();
+    }
+
+    QMetaObject::invokeMethod(this, [=]() {
+      if (formatting) {
+        setValue(tr("formatting"));
+        setText(tr("FORMAT"));
+        setEnabled(false);
+      } else {
+        if (!hasDrive) {
+          setValue(tr("insert drive"));
+          setText(tr("CHECK"));
+        } else if (!hasFs || !hasLabel) {
+          setValue(tr("needs format"));
+          setText(tr("FORMAT"));
+        } else if (isMounted) {
+          setValue(info);
+          setText(tr("UNMOUNT"));
+        } else {
+          setValue("drive detected");
+          setText(tr("MOUNT"));
+        }
+        updateState(!uiState()->scene.started);
+      }
+    }, Qt::QueuedConnection);
+  });
+}
+
+void ExternalStorageControl::mountStorage() {
+  setValue(tr("mounting"));
+  setEnabled(false);
+
+  QtConcurrent::run([=]() {
+    QProcess process;
+    process.start("sh", QStringList() << "-c" <<
+      "sudo mount -o remount,rw / && "
+      "sudo mkdir -p /mnt/external_realdata && "
+      "grep -q '/dev/sdg1 /mnt/external_realdata' /etc/fstab || "
+      "echo '/dev/sdg1 /mnt/external_realdata ext4 defaults,nofail 0 2' | sudo tee -a /etc/fstab && "
+      "sudo systemctl daemon-reexec && "
+      "sudo mount /mnt/external_realdata && "
+      "sudo chown -R comma:comma /mnt/external_realdata && "
+      "sudo chmod -R 775 /mnt/external_realdata && "
+      "sudo mount -o remount,ro /");
+    process.waitForFinished();
+
+    QMetaObject::invokeMethod(this, [=]() {
+      debouncedRefresh();
+    }, Qt::QueuedConnection);
+  });
+}
+
+void ExternalStorageControl::unmountStorage() {
+  setValue(tr("unmounting"));
+  setEnabled(false);
+
+  QtConcurrent::run([=]() {
+    QProcess process;
+    process.start("sh", QStringList() << "-c" << "sudo umount /mnt/external_realdata");
+    process.waitForFinished();
+
+    QMetaObject::invokeMethod(this, [=]() {
+      debouncedRefresh();
+    }, Qt::QueuedConnection);
+  });
+}
+
+void ExternalStorageControl::formatStorage() {
+  unmountStorage();
+  formatting = true;
+  setValue(tr("formatting"));
+  setEnabled(false);
+
+  QProcess *process = new QProcess(this);
+  connect(process, static_cast<void(QProcess::*)(int, QProcess::ExitStatus)>(&QProcess::finished),
+          this, [=](int exitCode, QProcess::ExitStatus status) {
+            process->deleteLater();
+            formatting = false;
+            if (exitCode == 0 && status == QProcess::NormalExit) {
+              mountStorage();
+            } else {
+              setValue(tr("needs format"));
+              updateState(!uiState()->scene.started);
+            }
+          });
+  process->start("sh", QStringList() << "-c" <<
+    "sudo wipefs -a /dev/sdg && "
+    "sudo parted -s /dev/sdg mklabel gpt mkpart primary ext4 0% 100% && "
+    "sudo mkfs.ext4 -F -L openpilot /dev/sdg1"
+  );
+}
+
+void ExternalStorageControl::showEvent(QShowEvent *event) {
+  ButtonControl::showEvent(event);
+  QTimer::singleShot(100, this, &ExternalStorageControl::debouncedRefresh);
+}

selfdrive/ui/sunnypilot/qt/widgets/external_storage.h

@@ -0,0 +1,34 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "system/hardware/hw.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#define ButtonControl ButtonControlSP
+
+class ExternalStorageControl : public ButtonControl {
+  Q_OBJECT
+
+public:
+  ExternalStorageControl();
+
+protected:
+  void showEvent(QShowEvent *event) override;
+
+private:
+  Params params;
+
+  bool refreshPending = false;
+  bool formatting = false;
+  void updateState(bool offroad);
+  void refresh();
+  void debouncedRefresh();
+  void mountStorage();
+  void unmountStorage();
+  void formatStorage();
+};

selfdrive/ui/sunnypilot/ui.cc

@@ -18,13 +18,22 @@ UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
     "pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2",
     "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
-    "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP"
+    "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP",
+    "carControl", "gpsLocationExternal", "gpsLocation", "liveTorqueParameters",
+    "carStateSP", "liveParameters"
   });
 
   // update timer
   timer = new QTimer(this);
   QObject::connect(timer, &QTimer::timeout, this, &UIStateSP::update);
   timer->start(1000 / UI_FREQ);
+
+  // Param watcher for UIScene param updates
+  param_watcher = new ParamWatcher(this);
+  connect(param_watcher, &ParamWatcher::paramChanged, [=](const QString &param_name, const QString &param_value) {
+    ui_update_params_sp(this);
+  });
+  param_watcher->addParam("DevUIInfo");
 }
 
 // This method overrides completely the update method from the parent class intentionally.
@@ -39,6 +48,11 @@ void UIStateSP::update() {
   emit uiUpdate(*this);
 }
 
+void ui_update_params_sp(UIStateSP *s) {
+  auto params = Params();
+  s->scene.dev_ui_info = std::atoi(params.get("DevUIInfo").c_str());
+}
+
 DeviceSP::DeviceSP(QObject *parent) : Device(parent) {
   QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &DeviceSP::update);
   QObject::connect(this, &Device::displayPowerChanged, this, &DeviceSP::handleDisplayPowerChanged);

selfdrive/ui/sunnypilot/ui.h

@@ -13,6 +13,7 @@
 #include "selfdrive/ui/sunnypilot/qt/network/sunnylink/models/role_model.h"
 #include "selfdrive/ui/sunnypilot/qt/network/sunnylink/models/sponsor_role_model.h"
 #include "selfdrive/ui/ui.h"
+#include "selfdrive/ui/qt/util.h"
 
 class UIStateSP : public UIState {
   Q_OBJECT
@@ -73,6 +74,7 @@ private slots:
 private:
   std::vector<RoleModel> sunnylinkRoles = {};
   std::vector<UserModel> sunnylinkUsers = {};
+  ParamWatcher *param_watcher;
 };
 
 UIStateSP *uiStateSP();
@@ -92,3 +94,5 @@ private:
 
 DeviceSP *deviceSP();
 inline DeviceSP *device() { return deviceSP(); }
+
+void ui_update_params_sp(UIStateSP *s);

selfdrive/ui/sunnypilot/ui_scene.h

@@ -0,0 +1,12 @@
+/**
+  * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+  *
+  * This file is part of sunnypilot and is licensed under the MIT License.
+  * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+typedef struct UISceneSP : UIScene {
+  int dev_ui_info = 0;
+} UISceneSP;

selfdrive/ui/translations/main_ar.ts

@@ -2103,6 +2103,22 @@ Warning: You are on a metered connection!</source>
         <source>[Don&apos;t use] Enable sunnylink uploader</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>

selfdrive/ui/translations/main_de.ts

@@ -2085,6 +2085,22 @@ Warning: You are on a metered connection!</source>
         <source>[Don&apos;t use] Enable sunnylink uploader</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>

selfdrive/ui/translations/main_es.ts

@@ -2087,6 +2087,22 @@ Warning: You are on a metered connection!</source>
         <source>[Don&apos;t use] Enable sunnylink uploader</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>

selfdrive/ui/translations/main_fr.ts

@@ -2083,6 +2083,22 @@ Warning: You are on a metered connection!</source>
         <source>[Don&apos;t use] Enable sunnylink uploader</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>

selfdrive/ui/translations/main_ja.ts

@@ -2082,6 +2082,22 @@ Warning: You are on a metered connection!</source>
         <source>[Don&apos;t use] Enable sunnylink uploader</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>

selfdrive/ui/translations/main_ko.ts

@@ -2096,6 +2096,22 @@ Warning: You are on a metered connection!</source>
         <source>[Don&apos;t use] Enable sunnylink uploader</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>

selfdrive/ui/translations/main_pt-BR.ts

@@ -2087,6 +2087,22 @@ Warning: You are on a metered connection!</source>
         <source>[Don&apos;t use] Enable sunnylink uploader</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>

selfdrive/ui/translations/main_th.ts

@@ -2078,6 +2078,22 @@ Warning: You are on a metered connection!</source>
         <source>[Don&apos;t use] Enable sunnylink uploader</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>

selfdrive/ui/translations/main_tr.ts

@@ -2077,6 +2077,22 @@ Warning: You are on a metered connection!</source>
         <source>[Don&apos;t use] Enable sunnylink uploader</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>

selfdrive/ui/translations/main_zh-CHS.ts

@@ -2082,6 +2082,22 @@ Warning: You are on a metered connection!</source>
         <source>[Don&apos;t use] Enable sunnylink uploader</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>

selfdrive/ui/translations/main_zh-CHT.ts

@@ -2082,6 +2082,22 @@ Warning: You are on a metered connection!</source>
         <source>[Don&apos;t use] Enable sunnylink uploader</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>

selfdrive/ui/ui.h

@@ -66,6 +66,11 @@ typedef struct UIScene {
   uint64_t started_frame;
 } UIScene;
 
+#ifdef SUNNYPILOT
+#include "sunnypilot/ui_scene.h"
+#define UIScene UISceneSP
+#endif
+
 class UIState : public QObject {
   Q_OBJECT
 

sunnypilot/mapd/mapd_manager.py

@@ -6,11 +6,11 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 import json
-import time
 import platform
 import os
 import glob
 import shutil
+from datetime import datetime
 
 from openpilot.common.params import Params
 from openpilot.common.realtime import Ratekeeper, config_realtime_process
@@ -56,7 +56,7 @@ def cleanup_old_osm_data(files_to_remove: list[str]) -> None:
 
 
 def request_refresh_osm_location_data(nations: list[str], states: list[str] = None) -> None:
-  params.put("OsmDownloadedDate", str(time.monotonic()))
+  params.put("OsmDownloadedDate", str(datetime.now().timestamp()))
   params.put_bool("OsmDbUpdatesCheck", False)
 
   osm_download_locations = {

sunnypilot/modeld/modeld.py

@@ -177,7 +177,7 @@ def main(demo=False):
     cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
 
   # messaging
-  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"])
+  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"])
   sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])
 
   publish_state = PublishState()
@@ -304,6 +304,7 @@ def main(demo=False):
       modelv2_send = messaging.new_message('modelV2')
       drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
+      mdv2sp_send = messaging.new_message('modelDataV2SP')
       action = model.get_action_from_model(model_output, prev_action, long_delay + DT_MDL)
       fill_model_msg(drivingdata_send, modelv2_send, model_output, action, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
                      frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen,
@@ -316,6 +317,7 @@ def main(demo=False):
       DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
       modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
       modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
+      mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
       drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
       drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction
 
@@ -323,6 +325,7 @@ def main(demo=False):
       pm.send('modelV2', modelv2_send)
       pm.send('drivingModelData', drivingdata_send)
       pm.send('cameraOdometry', posenet_send)
+      pm.send('modelDataV2SP', mdv2sp_send)
 
     last_vipc_frame_id = meta_main.frame_id
 

sunnypilot/modeld_v2/modeld.py

@@ -27,7 +27,7 @@ from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
 from openpilot.sunnypilot.models.helpers import get_active_bundle
 from openpilot.sunnypilot.models.runners.helpers import get_model_runner
 
-PROCESS_NAME = "selfdrive.modeld.modeld"
+PROCESS_NAME = "selfdrive.modeld.modeld_tinygrad"
 
 
 class FrameMeta:
@@ -77,42 +77,47 @@ class ModelState(ModelStateBase):
         self.numpy_inputs[key] = np.zeros(shape, dtype=np.float32)
         # Temporal input: shape is [batch, history, features]
         if len(shape) == 3 and shape[1] > 1:
-          buffer_history_len = max(100, (shape[1] * 4 if shape[1] < 100 else shape[1]))   # Allow for higher history buffers in the future
+          buffer_history_len = shape[1] * 4 if shape[1] < 99 else shape[1]  # Allow for higher history buffers in the future
           feature_len = shape[2]
-          self.temporal_buffers[key] = np.zeros((1, buffer_history_len, feature_len), dtype=np.float32)
           features_buffer_shape = self.model_runner.input_shapes.get('features_buffer')
           if shape[1] in (24, 25) and features_buffer_shape is not None and features_buffer_shape[1] == 24:  # 20Hz
+            buffer_history_len = (features_buffer_shape[1] + 1) * 4
             step = int(-buffer_history_len / shape[1])
             self.temporal_idxs_map[key] = np.arange(step, step * (shape[1] + 1), step)[::-1]
           elif shape[1] == 25:  # Split
             skip = buffer_history_len // shape[1]
             self.temporal_idxs_map[key] = np.arange(buffer_history_len)[-1 - (skip * (shape[1] - 1))::skip]
-          elif shape[1] == buffer_history_len:  # non20hz
-            self.temporal_idxs_map[key] = np.arange(buffer_history_len)
+          elif shape[1] >= 99:  # non20hz
+            self.temporal_idxs_map[key] = np.arange(shape[1])
+          self.temporal_buffers[key] = np.zeros((1, buffer_history_len, feature_len), dtype=np.float32)
 
   @property
   def mlsim(self) -> bool:
     return bool(self.generation is not None and self.generation >= 11)
 
+  @property
+  def desire_key(self) -> str:
+    return next(key for key in self.numpy_inputs if key.startswith('desire'))
+
   def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
                 inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
     # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
-    inputs['desire'][0] = 0
-    new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
-    self.prev_desire[:] = inputs['desire']
-    self.temporal_buffers['desire'][0,:-1] = self.temporal_buffers['desire'][0,1:]
-    self.temporal_buffers['desire'][0,-1] = new_desire
+    inputs[self.desire_key][0] = 0
+    new_desire = np.where(inputs[self.desire_key] - self.prev_desire > .99, inputs[self.desire_key], 0)
+    self.prev_desire[:] = inputs[self.desire_key]
+    self.temporal_buffers[self.desire_key][0,:-1] = self.temporal_buffers[self.desire_key][0,1:]
+    self.temporal_buffers[self.desire_key][0,-1] = new_desire
 
     # Roll buffer and assign based on desire.shape[1] value
-    if self.temporal_buffers['desire'].shape[1] > self.numpy_inputs['desire'].shape[1]:
-      skip = self.temporal_buffers['desire'].shape[1] // self.numpy_inputs['desire'].shape[1]
-      self.numpy_inputs['desire'][:] = (
-        self.temporal_buffers['desire'][0].reshape(self.numpy_inputs['desire'].shape[0], self.numpy_inputs['desire'].shape[1], skip, -1).max(axis=2))
+    if self.temporal_buffers[self.desire_key].shape[1] > self.numpy_inputs[self.desire_key].shape[1]:
+      skip = self.temporal_buffers[self.desire_key].shape[1] // self.numpy_inputs[self.desire_key].shape[1]
+      self.numpy_inputs[self.desire_key][:] = (self.temporal_buffers[self.desire_key][0].reshape(
+                                               self.numpy_inputs[self.desire_key].shape[0], self.numpy_inputs[self.desire_key].shape[1], skip, -1).max(axis=2))
     else:
-      self.numpy_inputs['desire'][:] = self.temporal_buffers['desire'][0, self.temporal_idxs_map['desire']]
+      self.numpy_inputs[self.desire_key][:] = self.temporal_buffers[self.desire_key][0, self.temporal_idxs_map[self.desire_key]]
 
     for key in self.numpy_inputs:
-      if key in inputs and key not in ['desire']:
+      if key in inputs and key not in [self.desire_key]:
         self.numpy_inputs[key][:] = inputs[key]
 
     imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.model_runner.vision_input_names}
@@ -156,10 +161,11 @@ class ModelState(ModelStateBase):
     desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)
 
     desired_curvature = get_curvature_from_output(model_output, v_ego, lat_action_t, self.mlsim)
-    if v_ego > self.MIN_LAT_CONTROL_SPEED:
-      desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, self.LAT_SMOOTH_SECONDS)
-    else:
-      desired_curvature = prev_action.desiredCurvature
+    if self.generation is not None and self.generation >= 10: # smooth curvature for post FOF models
+      if v_ego > self.MIN_LAT_CONTROL_SPEED:
+        desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, self.LAT_SMOOTH_SECONDS)
+      else:
+        desired_curvature = prev_action.desiredCurvature
 
     return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature),desiredAcceleration=float(desired_accel), shouldStop=bool(should_stop))
 
@@ -202,7 +208,7 @@ def main(demo=False):
     cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
 
   # messaging
-  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"])
+  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"])
   sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])
 
   publish_state = PublishState()
@@ -306,7 +312,7 @@ def main(demo=False):
     bufs = {name: buf_extra if 'big' in name else buf_main for name in model.model_runner.vision_input_names}
     transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.model_runner.vision_input_names}
     inputs:dict[str, np.ndarray] = {
-      'desire': vec_desire,
+      model.desire_key: vec_desire,
       'traffic_convention': traffic_convention,
     }
 
@@ -322,6 +328,7 @@ def main(demo=False):
       modelv2_send = messaging.new_message('modelV2')
       drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
+      mdv2sp_send = messaging.new_message('modelDataV2SP')
 
       action = model.get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
       prev_action = action
@@ -336,6 +343,7 @@ def main(demo=False):
       DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
       modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
       modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
+      mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
       drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
       drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction
 
@@ -343,6 +351,7 @@ def main(demo=False):
       pm.send('modelV2', modelv2_send)
       pm.send('drivingModelData', drivingdata_send)
       pm.send('cameraOdometry', posenet_send)
+      pm.send('modelDataV2SP', mdv2sp_send)
     last_vipc_frame_id = meta_main.frame_id
 
 

sunnypilot/modeld_v2/tests/test_buffer_logic_inspect.py

@@ -8,12 +8,16 @@ import openpilot.sunnypilot.modeld_v2.modeld as modeld_module
 
 ModelState = modeld_module.ModelState
 
-
 # These are the shapes extracted/loaded from the model onnx
 SHAPE_MODE_PARAMS = [
-  ({'desire': (1, 25, 8), 'features_buffer': (1, 25, 512), 'prev_desired_curv': (1, 25, 1)}, 'split'),
-  ({'desire': (1, 25, 8), 'features_buffer': (1, 24, 512), 'prev_desired_curv': (1, 25, 1)}, '20hz'),
-  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), 'prev_desired_curv': (1, 100, 1)}, 'non20hz'),
+  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), "nav_features": (1, 256), "nav_instructions": (1, 150)}, 'non20hz'), # Optimus Prime
+  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), "lat_planner_state": (1, 4),}, 'non20hz'), # farmville
+  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), "lateral_control_params": (1, 2), "prev_desired_curv": (1, 100, 1)}, 'non20hz'), # wd40
+  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), 'prev_desired_curv': (1, 100, 1), "lateral_control_params": (1, 2),}, 'non20hz'), # NTS
+  ({'desire': (1, 25, 8), 'features_buffer': (1, 24, 512)}, '20hz'), # NPR
+  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), 'prev_desired_curv': (1, 100, 1), "lateral_control_params": (1, 2),}, 'non20hz'), # NTS
+  ({'desire': (1, 25, 8), 'features_buffer': (1, 25, 512)}, 'split'), # Steam Powered v2
+  ({'desire_pulse': (1, 25, 8), 'features_buffer': (1, 25, 512)}, 'split'), # desire rename
 ]
 
 
@@ -95,9 +99,7 @@ def get_expected_indices(shape, constants, mode, key=None):
     idxs = np.arange(step_size, step_size * (num_elements + 1), step_size)[::-1]
     return idxs
   elif mode == 'non20hz':
-    if key and shape[1] == constants.FULL_HISTORY_BUFFER_LEN:
-      return np.arange(constants.FULL_HISTORY_BUFFER_LEN)
-    return None
+    return np.arange(shape[1])
   return None
 
 
@@ -108,6 +110,8 @@ def test_buffer_shapes_and_indices(shapes, mode, apply_patches):
   for key in shapes:
     buf = state.temporal_buffers.get(key, None)
     idxs = state.temporal_idxs_map.get(key, None)
+    if buf is None:
+      continue    # not all shapes are 3D, and the non-3D ones are not buffered
     # Buffer shape logic
     if mode == 'split':
       expected_shape = (1, constants.FULL_HISTORY_BUFFER_LEN, shapes[key][2])
@@ -116,10 +120,7 @@ def test_buffer_shapes_and_indices(shapes, mode, apply_patches):
       expected_shape = (1, constants.FULL_HISTORY_BUFFER_LEN, shapes[key][2])
       expected_idxs = get_expected_indices(shapes[key], constants, '20hz', key)
     elif mode == 'non20hz':
-      if key == 'features_buffer':
-        expected_shape = (1, shapes[key][1]*4, shapes[key][2])
-      else:
-        expected_shape = (1, shapes[key][1], shapes[key][2])
+      expected_shape = (1, shapes[key][1], shapes[key][2])
       expected_idxs = get_expected_indices(shapes[key], constants, 'non20hz', key)
 
     assert buf is not None, f"{key}: buffer not found"
@@ -130,10 +131,10 @@ def test_buffer_shapes_and_indices(shapes, mode, apply_patches):
       assert idxs is None or idxs.size == 0, f"{key}: buffer idxs should be None or empty"
 
 
-def legacy_buffer_update(buf, new_val, mode, key, constants, idxs):
+def legacy_buffer_update(buf, new_val, mode, key, constants, idxs, input_shape, prev_desire=None):
   # This is what we compare the new dynamic logic to, to ensure it does the same thing
   if mode == 'split':
-    if key == 'desire':
+    if key == 'desire' or key.startswith('desire'):
       buf[0,:-1] = buf[0,1:]
       buf[0,-1] = new_val
       return buf.reshape((1, constants.INPUT_HISTORY_BUFFER_LEN, constants.TEMPORAL_SKIP, -1)).max(axis=2)
@@ -173,15 +174,22 @@ def legacy_buffer_update(buf, new_val, mode, key, constants, idxs):
       return legacy_buf[idxs]
   elif mode == 'non20hz':
     if key == 'desire':
-      length = new_val.shape[0]
-      buf[0,:-1,:length] = buf[0,1:,:length]
-      buf[0,-1,:length] = new_val[:length]
+      desire_len = constants.DESIRE_LEN
+      if prev_desire is None:
+        prev_desire = np.zeros(desire_len, dtype=np.float32)
+      # Set first element to zero
+      new_val = new_val.copy()
+      new_val[0] = 0
+      # Shift buffer by desire len
+      buf[0][:-desire_len] = buf[0][desire_len:]
+      # Only insert new desire if rising edge
+      buf[0][-desire_len:] = np.where(new_val - prev_desire > 0.99, new_val, 0)
+      prev_desire[:] = new_val
       return buf[0]
     elif key == 'features_buffer':
-      feature_len = new_val.shape[0]
-      buf[0,:-1,:feature_len] = buf[0,1:,:feature_len]
-      buf[0,-1,:feature_len] = new_val[:feature_len]
-      return buf[0]
+      buf[0, :-1] = buf[0, 1:]
+      buf[0, -1] = new_val
+      return buf[0, -input_shape[1]:]  # (99, 512)
     elif key == 'prev_desired_curv':
       length = new_val.shape[0]
       buf[0,:-length,0] = buf[0,length:,0]
@@ -191,32 +199,18 @@ def legacy_buffer_update(buf, new_val, mode, key, constants, idxs):
 
 
 def dynamic_buffer_update(state, key, new_val, mode):
-  if key == 'desire':
-    state.temporal_buffers['desire'][0,:-1] = state.temporal_buffers['desire'][0,1:]
-    state.temporal_buffers['desire'][0,-1] = new_val
-    if state.temporal_buffers['desire'].shape[1] > state.numpy_inputs['desire'].shape[1]:
-      skip = state.temporal_buffers['desire'].shape[1] // state.numpy_inputs['desire'].shape[1]
-      return state.temporal_buffers['desire'][0].reshape(
-        state.numpy_inputs['desire'].shape[0], state.numpy_inputs['desire'].shape[1], skip, -1
-      ).max(axis=2)
-    else:
-      return state.temporal_buffers['desire'][0, state.temporal_idxs_map['desire']]
-
-  inputs = {'desire': np.zeros((1, state.constants.DESIRE_LEN), dtype=np.float32)}
-  for k, tb in state.temporal_buffers.items():
-    if k in state.temporal_idxs_map:
-      continue
-    buf_len = tb.shape[1]
-    if k in state.numpy_inputs:
-      out_len = state.numpy_inputs[k].shape[1]
-      if out_len <= buf_len:
-        state.temporal_idxs_map[k] = np.arange(buf_len)[-out_len:]
-      else:
-        state.temporal_idxs_map[k] = np.arange(buf_len)
-    else:
-      state.temporal_idxs_map[k] = np.arange(buf_len)
+  if key == 'desire' or key.startswith('desire'):
+    inputs = {k: np.zeros(v[2], dtype=np.float32) if len(v) == 3 else np.zeros(v[1], dtype=np.float32)
+              for k, v in state.model_runner.input_shapes.items() if k != key}
+    inputs[key] = new_val.copy()
+    # ModelState.run expects desire as a pulse, so we zero the first element.
+    inputs[key][0] = 0
+    state.run({}, {}, inputs, prepare_only=False)
+    return state.numpy_inputs[key]
 
   if key == 'features_buffer':
+    inputs = {k: np.zeros(v[2], dtype=np.float32) if len(v) == 3 else np.zeros(v[1], dtype=np.float32)
+              for k, v in state.model_runner.input_shapes.items() if k != 'features_buffer'}
     def run_model_stub():
       return {
         'hidden_state': np.asarray(new_val, dtype=np.float32).reshape(1, -1),
@@ -226,6 +220,8 @@ def dynamic_buffer_update(state, key, new_val, mode):
     return state.numpy_inputs['features_buffer'][0]
 
   if key == 'prev_desired_curv':
+    inputs = {k: np.zeros(v[2], dtype=np.float32) if len(v) == 3 else np.zeros(v[1], dtype=np.float32)
+              for k, v in state.model_runner.input_shapes.items() if k != 'prev_desired_curv'}
     def run_model_stub():
       return {
         'hidden_state': np.zeros((1, state.constants.FEATURE_LEN), dtype=np.float32),
@@ -241,16 +237,27 @@ def dynamic_buffer_update(state, key, new_val, mode):
 @pytest.mark.parametrize("key", ["desire", "features_buffer", "prev_desired_curv"])
 def test_buffer_update_equivalence(shapes, mode, key, apply_patches):
   state = ModelState(None)
+  if key == "desire":
+    desire_keys = [k for k in shapes.keys() if k.startswith('desire')]
+    if desire_keys:
+      actual_key = desire_keys[0]  # Use the first (and likely only) desire key
+  else:
+    actual_key = key
+
+  if actual_key not in state.numpy_inputs:
+    pytest.skip()
+
   constants = DummyModelRunner(shapes).constants
-  buf = state.temporal_buffers.get(key, None)
-  idxs = state.temporal_idxs_map.get(key, None)
-  input_shape = shapes[key]
+  buf = state.temporal_buffers.get(actual_key, None)
+  idxs = state.temporal_idxs_map.get(actual_key, None)
+  input_shape = shapes[actual_key]
+  prev_desire = np.zeros(constants.DESIRE_LEN, dtype=np.float32) if key == 'desire' else None
+
   for step in range(20):    # multiple steps to ensure history is built up
     new_val = np.full((input_shape[2],), step, dtype=np.float32)
-    expected = legacy_buffer_update(buf, new_val, mode, key, constants, idxs)
-    actual = dynamic_buffer_update(state, key, new_val, mode)
-    # Model returns the reduced numpy_inputs history, compare the last n entries so the test is checking the same slices.
+    expected = legacy_buffer_update(buf, new_val, mode, actual_key, constants, idxs, input_shape, prev_desire)
+    actual = dynamic_buffer_update(state, actual_key, new_val, mode)
     if expected is not None and actual is not None and expected.shape != actual.shape:
       if expected.ndim == 2 and actual.ndim == 2 and expected.shape[1] == actual.shape[1]:
         expected = expected[-actual.shape[0]:]
-    assert np.allclose(actual, expected), f"{mode} {key}: dynamic buffer update does not match legacy logic"
+    assert np.allclose(actual, expected), f"{mode} {actual_key}: dynamic buffer update does not match legacy logic"

sunnypilot/models/fetcher.py

@@ -8,6 +8,7 @@ See the LICENSE.md file in the root directory for more details.
 import time
 
 import requests
+from requests.exceptions import (SSLError, RequestException, HTTPError)
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from sunnypilot.models.helpers import is_bundle_version_compatible
@@ -66,6 +67,7 @@ class ModelParser:
     model_bundle.is20hz = bundle.get("is_20hz", False)
     model_bundle.minimumSelectorVersion = int(bundle["minimum_selector_version"])
     model_bundle.overrides = ModelParser._parse_overrides(bundle.get("overrides", {}))
+    model_bundle.ref = bundle.get("ref")
 
     return model_bundle
 
@@ -121,19 +123,36 @@ class ModelFetcher:
     self.model_cache = ModelCache(params)
     self.model_parser = ModelParser()
 
-  def _fetch_and_cache_models(self) -> list[custom.ModelManagerSP.ModelBundle]:
-    """Fetches fresh model data from remote and updates cache"""
+  def _fetch_and_cache_models(self) -> list[custom.ModelManagerSP.ModelBundle] | None:
+    """Fetches fresh model data from remote and updates cache.
+    Returns None on transport errors. Raises on 404 and other fatal HTTP errors.
+    """
     try:
       response = requests.get(self.MODEL_URL, timeout=10)
-      response.raise_for_status()
-      json_data = response.json()
 
+      # Explicitly handle 404 differently
+      if response.status_code == 404:
+        cloudlog.error(f"Models URL returned 404 Not Found: {self.MODEL_URL}")
+        raise HTTPError(f"404 Not Found: {self.MODEL_URL}", response=response)
+
+      # Raise for any other 4xx/5xx
+      response.raise_for_status()
+
+      json_data = response.json()
       self.model_cache.set(json_data)
       cloudlog.debug("Successfully updated models cache")
       return self.model_parser.parse_models(json_data)
-    except Exception:
-      cloudlog.exception("Error fetching models")
-      raise
+
+    except ConnectionError as e:
+      cloudlog.warning(f"DNS/connection error while fetching models: {e}")
+    except SSLError as e:
+      cloudlog.warning(f"SSL error while fetching models: {e}")
+    except RequestException as e:
+      cloudlog.warning(f"Request transport error while fetching models: {e}")
+    except Exception as e:
+      cloudlog.exception(f"Unexpected error fetching models: {e}")
+
+    return None
 
   def get_available_bundles(self) -> list[custom.ModelManagerSP.ModelBundle]:
     """Gets the list of available models, with smart cache handling"""
@@ -143,12 +162,12 @@ class ModelFetcher:
       cloudlog.debug("Using valid cached models data")
       return self.model_parser.parse_models(cached_data)
 
-    try:
-      return self._fetch_and_cache_models()
-    except Exception:
-      if not cached_data:
-        cloudlog.exception("Failed to fetch fresh data and no cache available")
-        raise
+    fetched_bundles = self._fetch_and_cache_models()
+    if fetched_bundles is not None:
+      return fetched_bundles
+
+    if not cached_data:
+      cloudlog.warning("Failed to fetch fresh data and no cache available")
 
     cloudlog.warning("Failed to fetch fresh data. Using expired cache as fallback")
     return self.model_parser.parse_models(cached_data)

sunnypilot/models/helpers.py

@@ -19,7 +19,7 @@ from openpilot.system.hardware.hw import Paths
 from pathlib import Path
 
 # see the README.md for more details on the model selector versioning
-CURRENT_SELECTOR_VERSION = 9
+CURRENT_SELECTOR_VERSION = 10
 REQUIRED_MIN_SELECTOR_VERSION = 9
 
 USE_ONNX = os.getenv('USE_ONNX', PC)

sunnypilot/selfdrive/controls/controlsd_ext.py

@@ -73,7 +73,7 @@ class ControlsExt:
     # MADS state
     CC_SP.mads = sm['selfdriveStateSP'].mads
 
-    CC_SP.params = self.param_store.publish()
+    CC_SP.params = self.param_store.param_list
 
     return CC_SP
 

sunnypilot/selfdrive/controls/lib/lane_turn_desire.py

@@ -0,0 +1,45 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from cereal import custom
+
+from openpilot.common.constants import CV
+from openpilot.common.params import Params
+
+LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS
+
+
+class LaneTurnController:
+  def __init__(self, desire_helper):
+    self.DH = desire_helper
+    self.turn_direction = custom.TurnDirection.none
+    self.params = Params()
+    self.lane_turn_value = float(self.params.get("LaneTurnValue", return_default=True)) * CV.MPH_TO_MS
+    self.param_read_counter = 0
+    self.enabled = self.params.get_bool("LaneTurnDesire")
+
+  def read_params(self):
+    self.enabled = self.params.get_bool("LaneTurnDesire")
+    value = float(self.params.get("LaneTurnValue", return_default=True)) * CV.MPH_TO_MS
+    self.lane_turn_value = min(float(LANE_CHANGE_SPEED_MIN), value)
+
+  def update_params(self) -> None:
+    if self.param_read_counter % 50 == 0:
+      self.read_params()
+    self.param_read_counter += 1
+
+  def update_lane_turn(self, blindspot_left: bool, blindspot_right: bool, left_blinker: bool, right_blinker: bool, v_ego: float) -> None:
+    if left_blinker and not right_blinker and v_ego < self.lane_turn_value and not blindspot_left:
+      self.turn_direction = custom.TurnDirection.turnLeft
+    elif right_blinker and not left_blinker and v_ego < self.lane_turn_value and not blindspot_right:
+      self.turn_direction = custom.TurnDirection.turnRight
+    else:
+      self.turn_direction = custom.TurnDirection.none
+
+  def get_turn_direction(self):
+    if not self.enabled:
+      return custom.TurnDirection.none
+    return self.turn_direction

sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py

@@ -9,23 +9,28 @@ from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.nnlc import NeuralNetworkL
 
 
 class LatControlTorqueExt(NeuralNetworkLateralControl):
-  def __init__(self, lac_torque, CP, CP_SP):
-    super().__init__(lac_torque, CP, CP_SP)
+  def __init__(self, lac_torque, CP, CP_SP, CI):
+    super().__init__(lac_torque, CP, CP_SP, CI)
 
-  def update(self, CS, VM, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
+  def update(self, CS, VM, pid, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
              desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
-             desired_curvature, actual_curvature):
+             desired_curvature, actual_curvature, steer_limited_by_safety, output_torque):
     self._ff = ff
+    self._pid = pid
     self._pid_log = pid_log
     self._setpoint = setpoint
     self._measurement = measurement
+    self._roll_compensation = roll_compensation
     self._lateral_accel_deadzone = lateral_accel_deadzone
     self._desired_lateral_accel = desired_lateral_accel
     self._actual_lateral_accel = actual_lateral_accel
     self._desired_curvature = desired_curvature
     self._actual_curvature = actual_curvature
+    self._gravity_adjusted_lateral_accel = gravity_adjusted_lateral_accel
+    self._steer_limited_by_safety = steer_limited_by_safety
+    self._output_torque = output_torque
 
     self.update_calculations(CS, VM, desired_lateral_accel)
     self.update_neural_network_feedforward(CS, params, calibrated_pose)
 
-    return self._ff, self._pid_log
+    return self._pid_log, self._output_torque

sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py

@@ -7,6 +7,7 @@ See the LICENSE.md file in the root directory for more details.
 import math
 import numpy as np
 
+from openpilot.common.pid import PIDController
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
 from openpilot.selfdrive.modeld.constants import ModelConstants
 
@@ -43,9 +44,10 @@ def get_lookahead_value(future_vals, current_val):
 
 
 class LatControlTorqueExtBase:
-  def __init__(self, lac_torque, CP, CP_SP):
+  def __init__(self, lac_torque, CP, CP_SP, CI):
     self.model_v2 = None
     self.model_valid = False
+    self.lac_torque = lac_torque
     self.torque_params = lac_torque.torque_params
 
     self.actual_lateral_jerk: float = 0.0
@@ -53,17 +55,22 @@ class LatControlTorqueExtBase:
     self.lateral_jerk_measurement: float = 0.0
     self.lookahead_lateral_jerk: float = 0.0
 
-    self.torque_from_lateral_accel = lac_torque.torque_from_lateral_accel
+    self.torque_from_lateral_accel_in_torque_space = CI.torque_from_lateral_accel_in_torque_space()
 
     self._ff = 0.0
+    self._pid = PIDController(0.0, 0.0, k_f=0.0)
     self._pid_log = None
     self._setpoint = 0.0
     self._measurement = 0.0
+    self._roll_compensation = 0.0
     self._lateral_accel_deadzone = 0.0
     self._desired_lateral_accel = 0.0
     self._actual_lateral_accel = 0.0
     self._desired_curvature = 0.0
     self._actual_curvature = 0.0
+    self._gravity_adjusted_lateral_accel = 0.0
+    self._steer_limited_by_safety = False
+    self._output_torque = 0.0
 
     # twilsonco's Lateral Neural Network Feedforward
     # Instantaneous lateral jerk changes very rapidly, making it not useful on its own,

sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py

@@ -9,6 +9,8 @@ import math
 import numpy as np
 
 from opendbc.car.lateral import FRICTION_THRESHOLD, get_friction
+from opendbc.sunnypilot.car.interfaces import LatControlInputs
+from opendbc.sunnypilot.car.lateral_ext import get_friction as get_friction_in_torque_space
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.selfdrive.modeld.constants import ModelConstants
@@ -30,8 +32,8 @@ def roll_pitch_adjust(roll, pitch):
 
 
 class NeuralNetworkLateralControl(LatControlTorqueExtBase):
-  def __init__(self, lac_torque, CP, CP_SP):
-    super().__init__(lac_torque, CP, CP_SP)
+  def __init__(self, lac_torque, CP, CP_SP, CI):
+    super().__init__(lac_torque, CP, CP_SP, CI)
     self.params = Params()
     self.enabled = self.params.get_bool("NeuralNetworkLateralControl")
     self.has_nn_model = CP_SP.neuralNetworkLateralControl.model.path != MOCK_MODEL_PATH
@@ -57,14 +59,44 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase):
     self.error_deque = deque(maxlen=history_check_frames[0])
     self.past_future_len = len(self.past_times) + len(self.nn_future_times)
 
+  @property
+  def _nnlc_enabled(self):
+    return self.enabled and self.model_valid and self.has_nn_model
+
+  def update_limits(self):
+    if not self._nnlc_enabled:
+      return
+
+    self._pid.set_limits(self.lac_torque.steer_max, -self.lac_torque.steer_max)
+
   def update_lateral_lag(self, lag):
     super().update_lateral_lag(lag)
     self.nn_future_times = [t + self.desired_lat_jerk_time for t in self.future_times]
 
+  def update_feedforward_torque_space(self, CS):
+    torque_from_setpoint = self.torque_from_lateral_accel_in_torque_space(LatControlInputs(self._setpoint, self._roll_compensation, CS.vEgo, CS.aEgo),
+                                                                          self.torque_params, gravity_adjusted=False)
+    torque_from_measurement = self.torque_from_lateral_accel_in_torque_space(LatControlInputs(self._measurement, self._roll_compensation, CS.vEgo, CS.aEgo),
+                                                                             self.torque_params, gravity_adjusted=False)
+    self._pid_log.error = float(torque_from_setpoint - torque_from_measurement)
+    self._ff = self.torque_from_lateral_accel_in_torque_space(LatControlInputs(self._gravity_adjusted_lateral_accel, self._roll_compensation,
+                                                                               CS.vEgo, CS.aEgo), self.torque_params, gravity_adjusted=True)
+    self._ff += get_friction_in_torque_space(self._desired_lateral_accel - self._actual_lateral_accel, self._lateral_accel_deadzone,
+                                             FRICTION_THRESHOLD, self.torque_params)
+
+  def update_output_torque(self, CS):
+    freeze_integrator = self._steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
+    self._output_torque = self._pid.update(self._pid_log.error,
+                                           feedforward=self._ff,
+                                           speed=CS.vEgo,
+                                           freeze_integrator=freeze_integrator)
+
   def update_neural_network_feedforward(self, CS, params, calibrated_pose) -> None:
-    if not self.enabled or not self.model_valid or not self.has_nn_model:
+    if not self._nnlc_enabled:
       return
 
+    self.update_feedforward_torque_space(CS)
+
     low_speed_factor = float(np.interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y)) ** 2
     self._setpoint = self._desired_lateral_accel + low_speed_factor * self._desired_curvature
     self._measurement = self._actual_lateral_accel + low_speed_factor * self._actual_curvature
@@ -128,3 +160,5 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase):
     # apply friction override for cars with low NN friction response
     if self.model.friction_override:
       self._pid_log.error += get_friction(friction_input, self._lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
+
+    self.update_output_torque(CS)

sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py

@@ -3,6 +3,7 @@ from parameterized import parameterized
 
 from cereal import car, log, messaging
 from opendbc.car.car_helpers import interfaces
+from opendbc.car.gm.values import CAR as GM
 from opendbc.car.honda.values import CAR as HONDA
 from opendbc.car.hyundai.values import CAR as HYUNDAI
 from opendbc.car.toyota.values import CAR as TOYOTA
@@ -41,7 +42,7 @@ def generate_modelV2():
 
 class TestNeuralNetworkLateralControl:
 
-  @parameterized.expand([HONDA.HONDA_CIVIC, TOYOTA.TOYOTA_RAV4, HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN])
+  @parameterized.expand([HONDA.HONDA_CIVIC, TOYOTA.TOYOTA_RAV4, HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN, GM.CHEVROLET_BOLT_EUV])
   def test_saturation(self, car_name):
     params = Params()
     params.put_bool("NeuralNetworkLateralControl", True)
@@ -57,6 +58,7 @@ class TestNeuralNetworkLateralControl:
     VM = VehicleModel(CP)
 
     controller = LatControlTorque(CP.as_reader(), CP_SP.as_reader(), CI)
+    torque_params = CP.lateralTuning.torque
 
     CS = car.CarState.new_message()
     CS.vEgo = 30
@@ -77,17 +79,23 @@ class TestNeuralNetworkLateralControl:
     for _ in range(1000):
       controller.extension.update_model_v2(model_v2)
       controller.extension.update_lateral_lag(test_lag)
+      controller.update_live_torque_params(torque_params.latAccelFactor, torque_params.latAccelOffset, torque_params.friction)
+      controller.extension.update_limits()
       _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, True)
     assert lac_log.saturated
 
     for _ in range(1000):
       controller.extension.update_model_v2(model_v2)
       controller.extension.update_lateral_lag(test_lag)
+      controller.update_live_torque_params(torque_params.latAccelFactor, torque_params.latAccelOffset, torque_params.friction)
+      controller.extension.update_limits()
       _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, False)
     assert not lac_log.saturated
 
     for _ in range(1000):
       controller.extension.update_model_v2(model_v2)
       controller.extension.update_lateral_lag(test_lag)
+      controller.update_live_torque_params(torque_params.latAccelFactor, torque_params.latAccelOffset, torque_params.friction)
+      controller.extension.update_limits()
       _, _, lac_log = controller.update(True, CS, VM, params, False, 1, pose, False)
     assert lac_log.saturated

sunnypilot/selfdrive/controls/lib/param_store.py

@@ -4,39 +4,41 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-import capnp
-
 from cereal import custom
-
 from opendbc.car import structs
 from openpilot.common.params import Params
 
+from sunnypilot.sunnylink.utils import get_param_as_byte
+
 
 class ParamStore:
   keys: list[str]
-  values: dict[str, str]
+  _params: dict[str, custom.CarControlSP.Param]
 
   def __init__(self, CP: structs.CarParams):
     universal_params: list[str] = []
     brand_params: list[str] = []
 
     self.keys = universal_params + brand_params
-    self.values = {}
-    self.cached_params_list: list[capnp.lib.capnp._DynamicStructBuilder] | None = None
+    self._params = {}
 
     self.frame = 0
 
   def update(self, params: Params) -> None:
-    if self.frame % 300 == 0:
-      old_values = dict(self.values)
-      self.values = {k: params.get(k) or "0" for k in self.keys}
-      if old_values != self.values:
-        self.cached_params_list = None
-
     self.frame += 1
+    if self.frame % 300 != 0:
+      return
 
-  def publish(self) -> list[capnp.lib.capnp._DynamicStructBuilder]:
-    if self.cached_params_list is None:
-      # TODO-SP: Why are we doing a list instead of a dictionary here?
-      self.cached_params_list = [custom.CarControlSP.Param(key=k, value=self.values[k]) for k in self.keys]
-    return self.cached_params_list
+    for key in self.keys:
+      param_type = params.get_type(key).name.lower()  # Using string instead of number because its "loose" dependency, and could change by OP at anytime.
+
+      # Over engineering opportunity: It's possible this conversion is slow, we may check the value as params returns it for cache purposes. Not today.
+      param_value = get_param_as_byte(key, params)
+      if (existing_param := self._params.get(key)) is not None and existing_param.value == param_value:
+        continue
+
+      self._params[key] = custom.CarControlSP.Param(key=key, value=param_value, type=param_type)
+
+  @property
+  def param_list(self) -> list[custom.CarControlSP.Param]:
+    return [v for k,v in self._params.items()]

sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py

@@ -0,0 +1,113 @@
+import pytest
+from cereal import log
+from openpilot.common.params import Params
+
+from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
+from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTurnController, LANE_CHANGE_SPEED_MIN
+from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeMode
+
+
+class TurnDirection:
+    none = 0
+    turnLeft = 1
+    turnRight = 2
+
+
+@pytest.mark.parametrize("left_blinker,right_blinker,v_ego,blindspot_left,blindspot_right,expected", [
+    (True, False, 5, False, False, TurnDirection.turnLeft),
+    (False, True, 6, False, False, TurnDirection.turnRight),
+    (True, False, 9, False, False, TurnDirection.none),
+    (True, False, 7, True, False, TurnDirection.none),
+    (False, True, 6, False, True, TurnDirection.none),
+    (False, False, 5, False, False, TurnDirection.none),
+    (True, True, 5, False, False, TurnDirection.none),
+])
+def test_lane_turn_desire_conditions(left_blinker, right_blinker, v_ego, blindspot_left, blindspot_right, expected):
+    dh = DesireHelper()
+    controller = LaneTurnController(dh)
+    controller.enabled = True
+    controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+    controller.turn_direction = TurnDirection.none
+    controller.update_lane_turn(blindspot_left, blindspot_right, left_blinker, right_blinker, v_ego)
+    assert controller.get_turn_direction() == expected
+
+
+def test_lane_turn_desire_disabled():
+    dh = DesireHelper()
+    controller = LaneTurnController(dh)
+    controller.enabled = False
+    controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+    controller.turn_direction = TurnDirection.none
+    controller.update_lane_turn(False, False, True, False, 7)
+    assert controller.get_turn_direction() == TurnDirection.none
+
+
+def test_lane_turn_overrides_lane_change():
+    dh = DesireHelper()
+    controller = LaneTurnController(dh)
+    controller.enabled = True
+    controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+    controller.turn_direction = TurnDirection.none
+    # left turn desire
+    controller.update_lane_turn(False, False, True, False, 5)
+    assert controller.get_turn_direction() == TurnDirection.turnLeft
+    # right turn desire
+    controller.update_lane_turn(False, False, False, True, 6)
+    assert controller.get_turn_direction() == TurnDirection.turnRight
+    # no turn
+    controller.update_lane_turn(False, False, False, False, 7)
+    assert controller.get_turn_direction() == TurnDirection.none
+
+
+@pytest.mark.parametrize("v_ego,expected", [
+    (8.93, TurnDirection.turnLeft),   # just below threshold
+    (8.96, TurnDirection.none),       # above threshold
+    (8.95, TurnDirection.none),       # just above threshold
+])
+def test_lane_turn_desire_speed_boundary(v_ego, expected):
+    dh = DesireHelper()
+    controller = LaneTurnController(dh)
+    controller.enabled = True
+    controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+    controller.turn_direction = TurnDirection.none
+    controller.update_lane_turn(False, True, True, False, v_ego)
+    assert controller.get_turn_direction() == expected
+
+
+class DummyCarState:
+    def __init__(self, vEgo=0, leftBlinker=False, rightBlinker=False, leftBlindspot=False, rightBlindspot=False,
+                 steeringPressed=False, steeringTorque=0, brakePressed=False):
+        self.vEgo = vEgo
+        self.leftBlinker = leftBlinker
+        self.rightBlinker = rightBlinker
+        self.leftBlindspot = leftBlindspot
+        self.rightBlindspot = rightBlindspot
+        self.steeringPressed = steeringPressed
+        self.steeringTorque = steeringTorque
+        self.brakePressed = brakePressed
+
+@pytest.fixture
+def set_lane_turn_params():
+    params = Params()
+    params.put("LaneTurnDesire", True)
+    params.put("LaneTurnValue", 20.0)
+
+@pytest.mark.parametrize("carstate, lateral_active, lane_change_prob, expected_desire", [
+    # Lane turn desire overrides lane change desire
+    (DummyCarState(vEgo=5, leftBlinker=True, rightBlinker=False, leftBlindspot=False, rightBlindspot=False), True, 1.0, log.Desire.turnLeft),
+    (DummyCarState(vEgo=7, leftBlinker=False, rightBlinker=True, leftBlindspot=False, rightBlindspot=False), True, 1.0, log.Desire.turnRight),
+    # Lane change desire only (no turn desires)
+    (DummyCarState(vEgo=9, leftBlinker=True, rightBlinker=False, leftBlindspot=False, rightBlindspot=False,
+                   steeringPressed=True, steeringTorque=1), True, 1.0, log.Desire.laneChangeLeft),
+    (DummyCarState(vEgo=9, leftBlinker=False, rightBlinker=True, leftBlindspot=False, rightBlindspot=False,
+                   steeringPressed=True, steeringTorque=-1), True, 1.0, log.Desire.laneChangeRight),
+    # No desire (inactive)
+    (DummyCarState(vEgo=9, leftBlinker=False, rightBlinker=False), False, 1.0, log.Desire.none),
+    (DummyCarState(vEgo=4, leftBlinker=False, rightBlinker=False), True, 1.0, log.Desire.none),  # No blinkers? no desire!
+])
+def test_desire_helper_integration(carstate, lateral_active, lane_change_prob, expected_desire, set_lane_turn_params):
+    dh = DesireHelper()
+    dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
+    for _ in range(10):
+        dh.update(carstate, lateral_active, lane_change_prob)
+    assert dh.desire == expected_desire  # The first four tests were unit tests to test the controller, where this tests the integration in desire helpers

sunnypilot/selfdrive/selfdrived/events.py

@@ -132,6 +132,21 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
 
   EventNameSP.pedalPressedAlertOnly: {
     ET.WARNING: NoEntryAlert("Pedal Pressed")
-  }
+  },
 
+  EventNameSP.laneTurnLeft: {
+    ET.WARNING: Alert(
+      "Turning Left",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 1.),
+  },
+
+  EventNameSP.laneTurnRight: {
+    ET.WARNING: Alert(
+      "Turning Right",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 1.),
+  }
 }

sunnypilot/sunnylink/athena/sunnylinkd.py

@@ -3,7 +3,9 @@
 from __future__ import annotations
 
 import base64
+import errno
 import gzip
+import json
 import os
 import ssl
 import threading
@@ -17,11 +19,11 @@ from openpilot.common.swaglog import cloudlog
 from openpilot.system.athena.athenad import ws_send, jsonrpc_handler, \
   recv_queue, UploadQueueCache, upload_queue, cur_upload_items, backoff, ws_manage, log_handler, start_local_proxy_shim, upload_handler
 from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutException,
-                       create_connection)
+                       create_connection, WebSocketConnectionClosedException)
 
 import cereal.messaging as messaging
 from sunnypilot.sunnylink.api import SunnylinkApi
-from sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready
+from sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, get_param_as_byte, save_param_from_base64_encoded_string
 
 SUNNYLINK_ATHENA_HOST = os.getenv('SUNNYLINK_ATHENA_HOST', 'wss://ws.stg.api.sunnypilot.ai')
 HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
@@ -107,10 +109,13 @@ def ws_recv(ws: WebSocket, end_event: threading.Event) -> None:
     except WebSocketTimeoutException:
       ns_since_last_ping = int(time.monotonic() * 1e9) - last_ping
       if ns_since_last_ping > SUNNYLINK_RECONNECT_TIMEOUT_S * 1e9:
-        cloudlog.exception("sunnylinkd.ws_recv.timeout")
+        cloudlog.warning("sunnylinkd.ws_recv.timeout")
         end_event.set()
-    except Exception:
-      cloudlog.exception("sunnylinkd.ws_recv.exception")
+    except Exception as e:
+      if isinstance(e, WebSocketConnectionClosedException):
+        cloudlog.warning(f"sunnylinkd.ws_recv.{type(e).__name__}")
+      else:
+        cloudlog.exception("sunnylinkd.ws_recv.exception")
       end_event.set()
 
 
@@ -137,11 +142,15 @@ def ws_queue(end_event: threading.Event) -> None:
         sunnylink_api.resume_queued(timeout=29)
         resume_requested = True
         tries = 0
-    except Exception:
-      cloudlog.exception("sunnylinkd.ws_queue.resume_queued.exception")
+    except Exception as e:
+      if isinstance(e, (ConnectionError, TimeoutError)):
+        cloudlog.warning(f"sunnylinkd.ws_queue.resume_queued.{type(e).__name__}")
+      else:
+        cloudlog.exception("sunnylinkd.ws_queue.resume_queued.exception")
+
       resume_requested = False
       tries += 1
-      time.sleep(backoff(tries))  # Wait for the backoff time before the next attempt
+      time.sleep(backoff(tries))
 
   if end_event.is_set():
     cloudlog.debug("end_event is set, exiting ws_queue thread")
@@ -171,16 +180,26 @@ def getParamsAllKeys() -> list[str]:
 
 @dispatcher.add_method
 def getParams(params_keys: list[str], compression: bool = False) -> str | dict[str, str]:
+  params = Params()
+
   try:
-    params = Params()
-    params_dict: dict[str, bytes] = {key: params.get(key) or b'' for key in params_keys}
+    param_keys_validated = [key for key in params_keys if key in getParamsAllKeys()]
+    params_dict: dict[str, list[dict[str, str | bool | int]]] = {"params": []}
+    for key in param_keys_validated:
+      value = get_param_as_byte(key)
+      if value is None:
+        continue
 
-    # Compress the values before encoding to base64 as output from params.get is bytes and same for compression
-    if compression:
-      params_dict = {key: gzip.compress(value) for key, value in params_dict.items()}
+      params_dict["params"].append({
+        "key": key,
+        "value": base64.b64encode(gzip.compress(value) if compression else value).decode('utf-8'),
+        "type": int(params.get_type(key).value),
+        "is_compressed": compression
+      })
 
-    # Last step is to encode the values to base64 and decode to utf-8 for JSON serialization
-    return {key: base64.b64encode(value).decode('utf-8') for key, value in params_dict.items()}
+    response = {str(param.get('key')): str(param.get('value')) for param in params_dict.get("params", [])}
+    response |= {"params": json.dumps(params_dict.get("params", []))} # Upcoming for settings v1
+    return response
 
   except Exception as e:
     cloudlog.exception("sunnylinkd.getParams.exception", e)
@@ -189,15 +208,9 @@ def getParams(params_keys: list[str], compression: bool = False) -> str | dict[s
 
 @dispatcher.add_method
 def saveParams(params_to_update: dict[str, str], compression: bool = False) -> None:
-  params = Params()
-  params_dict = {key: base64.b64decode(value) for key, value in params_to_update.items()}
-
-  if compression:
-    params_dict = {key: gzip.decompress(value) for key, value in params_dict.items()}
-
-  for key, value in params_dict.items():
+  for key, value in params_to_update.items():
     try:
-      params.put(key, value)
+      save_param_from_base64_encoded_string(key, value, compression)
     except Exception as e:
       cloudlog.error(f"sunnylinkd.saveParams.exception {e}")
 
@@ -252,14 +265,19 @@ def main(exit_event: threading.Event = None):
       handle_long_poll(ws, exit_event)
     except (KeyboardInterrupt, SystemExit):
       break
-    except (ConnectionError, TimeoutError, WebSocketException):
+    except Exception as e:
       conn_retries += 1
       params.remove("LastSunnylinkPingTime")
-    except Exception:
-      cloudlog.exception("sunnylinkd.main.exception")
 
-      conn_retries += 1
-      params.remove("LastSunnylinkPingTime")
+      if isinstance(e, (ConnectionError, TimeoutError, WebSocketException)):
+        cloudlog.warning(f"sunnylinkd.main.{type(e).__name__}")
+      elif isinstance(e, OSError):
+        name = errno.errorcode.get(e.errno or -1, "UNKNOWN")
+        msg = f"sunnylinkd.main.OSError.{name} ({e.errno})"
+        is_expected_error = e.errno in (errno.ENETDOWN, errno.ENETRESET, errno.ENETUNREACH)
+        cloudlog.warning(msg) if is_expected_error else cloudlog.exception(msg)
+      else:
+        cloudlog.exception("sunnylinkd.main.exception")
 
     time.sleep(backoff(conn_retries))
 

sunnypilot/sunnylink/backups/manager.py

@@ -12,7 +12,7 @@ from enum import Enum
 from typing import Any
 
 from openpilot.common.git import get_branch
-from openpilot.common.params import Params, ParamKeyType, ParamKeyFlag
+from openpilot.common.params import Params, ParamKeyFlag
 from openpilot.common.realtime import Ratekeeper
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.version import get_version
@@ -20,6 +20,7 @@ from openpilot.system.version import get_version
 from cereal import messaging, custom
 from sunnypilot.sunnylink.api import SunnylinkApi
 from sunnypilot.sunnylink.backups.utils import decrypt_compressed_data, encrypt_compress_data, SnakeCaseEncoder
+from sunnypilot.sunnylink.utils import get_param_as_byte, save_param_from_base64_encoded_string
 
 
 class OperationType(Enum):
@@ -74,7 +75,7 @@ class BackupManagerSP:
     config_data = {}
     params_to_backup = [k.decode('utf-8') for k in self.params.all_keys(ParamKeyFlag.BACKUP)]
     for param in params_to_backup:
-      value = str(self.params.get(param)).encode('utf-8')
+      value = get_param_as_byte(param)
       if value is not None:
         config_data[param] = base64.b64encode(value).decode('utf-8')
     return config_data
@@ -113,6 +114,7 @@ class BackupManagerSP:
       payload = json.loads(json.dumps(backup_info.to_dict(), cls=SnakeCaseEncoder))
       self._update_progress(75.0, OperationType.BACKUP)
 
+      cloudlog.debug(f"Uploading backup with payload: {json.dumps(payload)}")
       # Upload to sunnylink
       result = self.api.api_get(
         f"backup/{self.device_id}",
@@ -124,9 +126,11 @@ class BackupManagerSP:
       if result:
         self.backup_status = custom.BackupManagerSP.Status.completed
         self._update_progress(100.0, OperationType.BACKUP)
+        cloudlog.info("Backup successfully created and uploaded")
       else:
         self.backup_status = custom.BackupManagerSP.Status.failed
         self.last_error = "Failed to upload backup"
+        cloudlog.error(result)
         self._report_status()
 
       return bool(self.backup_status == custom.BackupManagerSP.Status.completed)
@@ -169,8 +173,7 @@ class BackupManagerSP:
       self._update_progress(75.0, OperationType.RESTORE)
 
       # Apply configuration
-      all_values_encoded = self._get_metadata_value(backup_metadata, "all_values_encoded", "false")
-      self._apply_config(config_data, str(all_values_encoded).lower() == "true")
+      self._apply_config(config_data)
 
       self.restore_status = custom.BackupManagerSP.Status.completed
       self._update_progress(100.0, OperationType.RESTORE)
@@ -183,7 +186,7 @@ class BackupManagerSP:
       self._report_status()
       return False
 
-  def _apply_config(self, config_data: dict[str, str], all_values_encoded: bool = False) -> None:
+  def _apply_config(self, config_data: dict[str, str]) -> None:
     """Applies configuration data from a backup, but only for parameters marked as backupable."""
     backupable_params = [k.decode('utf-8') for k in self.params.all_keys(ParamKeyFlag.BACKUP)]
     backupable_set_lower = {p.lower() for p in backupable_params}
@@ -195,26 +198,8 @@ class BackupManagerSP:
       if param.lower() in backupable_set_lower:
         # Find real param name (with correct casing)
         real_param = next(p for p in backupable_params if p.lower() == param.lower())
-        param_type = self.params.get_type(real_param)
         try:
-          value = base64.b64decode(encoded_value) if all_values_encoded else encoded_value
-
-          if param_type != ParamKeyType.BYTES:
-            value = value.decode('utf-8')  # type: ignore
-
-          if param_type == ParamKeyType.STRING:
-            value = value
-          elif param_type == ParamKeyType.BOOL:
-            value = value.lower() in ('true', '1', 'yes')  # type: ignore
-          elif param_type == ParamKeyType.INT:
-            value = int(value)  # type: ignore
-          elif param_type == ParamKeyType.FLOAT:
-            value = float(value)  # type: ignore
-          elif param_type == ParamKeyType.TIME:
-            value = str(value)
-          elif param_type == ParamKeyType.JSON:
-            value = json.loads(value)
-          self.params.put(real_param, value)
+          save_param_from_base64_encoded_string(real_param, encoded_value)
           restored_count += 1
         except Exception as e:
           cloudlog.error(f"Failed to restore param {param}: {str(e)}")
@@ -264,8 +249,8 @@ class BackupManagerSP:
         # Check for backup command
         if self.params.get_bool("BackupManager_CreateBackup"):
           try:
-            await self.create_backup()
-            reset_progress = True
+            if await self.create_backup():
+              reset_progress = True
           finally:
             self.params.remove("BackupManager_CreateBackup")
 

sunnypilot/sunnylink/utils.py

@@ -1,5 +1,8 @@
+import base64
+import gzip
+import json
 from sunnypilot.sunnylink.api import SunnylinkApi, UNREGISTERED_SUNNYLINK_DONGLE_ID
-from openpilot.common.params import Params
+from openpilot.common.params import Params, ParamKeyType
 from openpilot.system.version import is_prebuilt
 
 
@@ -55,3 +58,59 @@ def get_api_token():
   sunnylink_api = SunnylinkApi(sunnylink_dongle_id)
   token = sunnylink_api.get_token()
   print(f"API Token: {token}")
+
+
+def get_param_as_byte(param_name: str, params=None) -> bytes | None:
+  """Get a parameter as bytes. Returns None if the parameter does not exist."""
+  params = params or Params() # Use existing Params instance if provided
+  param = params.get(param_name)
+  if param is None:
+    return None
+
+  param_type = params.get_type(param_name)
+  if param_type == ParamKeyType.BYTES:
+    return bytes(param)
+  elif param_type == ParamKeyType.JSON:
+    return json.dumps(param).encode('utf-8')
+  return str(param).encode('utf-8')
+
+
+def save_param_from_base64_encoded_string(param_name: str, base64_encoded_data: str, is_compressed=False) -> None:
+  """Save a parameter from bytes. Overwrites the parameter if it already exists."""
+  params = Params()
+  # Find real param name (with correct casing)
+  param_type = params.get_type(param_name)
+  value = base64.b64decode(base64_encoded_data)
+
+  if is_compressed:
+    value = gzip.decompress(value)
+
+  # We convert to string anything that isn't bytes first. We later transform further.
+  param_value = _convert_param_to_type(value, param_type)
+  params.put(param_name, param_value)
+
+
+def _convert_param_to_type(value: bytes, param_type: ParamKeyType) -> bytes | str | int | float | bool | dict | None:
+  """
+  Convert a byte value to the specified param type. Used internally when getting a Param to convert it to the right type.
+  If this method looks familiar, it's because on SP we have a similar one in openpilot/sunnypilot/car/__init__.py.
+  """
+
+  # We convert to string anything that isn't bytes first. We later transform further.
+  if param_type != ParamKeyType.BYTES:
+    value = value.decode('utf-8')  # type: ignore
+
+  if param_type == ParamKeyType.STRING:
+    value = value
+  elif param_type == ParamKeyType.BOOL:
+    value = value.lower() in ('true', '1', 'yes')  # type: ignore
+  elif param_type == ParamKeyType.INT:
+    value = int(value)  # type: ignore
+  elif param_type == ParamKeyType.FLOAT:
+    value = float(value)  # type: ignore
+  elif param_type == ParamKeyType.TIME:
+    value = str(value)  # type: ignore
+  elif param_type == ParamKeyType.JSON:
+    value = json.loads(value)
+
+  return value

sunnypilot/system/hardware/c3/README.md

@@ -0,0 +1,3 @@
+# C3 specific hardware code
+
+`c3` is known as `tici` and comma three by comma. Not to confuse it with `c3x` which is known as `tizi`.

sunnypilot/system/hardware/c3/agnos.json

@@ -0,0 +1,84 @@
+[
+  {
+    "name": "xbl",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl-effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b.img.xz",
+    "hash": "effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b",
+    "hash_raw": "effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b",
+    "size": 3282256,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "ed61a650bea0c56652dd0fc68465d8fc722a4e6489dc8f257630c42c6adcdc89"
+  },
+  {
+    "name": "xbl_config",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c.img.xz",
+    "hash": "63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c",
+    "hash_raw": "63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c",
+    "size": 98124,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "b12801ffaa81e58e3cef914488d3b447e35483ba549b28c6cd9deb4814c3265f"
+  },
+  {
+    "name": "abl",
+    "url": "https://commadist.azureedge.net/agnosupdate/abl-32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6.img.xz",
+    "hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
+    "hash_raw": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
+    "size": 274432,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6"
+  },
+  {
+    "name": "aop",
+    "url": "https://commadist.azureedge.net/agnosupdate/aop-21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9.img.xz",
+    "hash": "21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9",
+    "hash_raw": "21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9",
+    "size": 184364,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "c1be2f4aac5b3af49b904b027faec418d05efd7bd5144eb4fdfcba602bcf2180"
+  },
+  {
+    "name": "devcfg",
+    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620.img.xz",
+    "hash": "d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620",
+    "hash_raw": "d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620",
+    "size": 40336,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "17b229668b20305ff8fa3cd5f94716a3aaa1e5bf9d1c24117eff7f2f81ae719f"
+  },
+  {
+    "name": "boot",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4.img.xz",
+    "hash": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
+    "hash_raw": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
+    "size": 18515968,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "492ae27f569e8db457c79d0e358a7a6297d1a1c685c2b1ae6deba7315d3a6cb0"
+  },
+  {
+    "name": "system",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img.xz",
+    "hash": "1468d50b7ad0fda0f04074755d21e786e3b1b6ca5dd5b17eb2608202025e6126",
+    "hash_raw": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
+    "size": 5368709120,
+    "sparse": true,
+    "full_check": false,
+    "has_ab": true,
+    "ondevice_hash": "242aa5adad1c04e1398e00e2440d1babf962022eb12b89adf2e60ee3068946e7",
+    "alt": {
+      "hash": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img",
+      "size": 5368709120
+    }
+  }
+]

sunnypilot/system/hardware/c3/launch_chffrplus.sh

@@ -0,0 +1,92 @@
+#!/usr/bin/env bash
+
+SP_C3_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+DIR="$( cd "$SP_C3_DIR/../../../.." >/dev/null 2>&1 && pwd )"
+
+source "$SP_C3_DIR/launch_env.sh"
+
+function agnos_init {
+  # TODO: move this to agnos
+  sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
+
+  # set success flag for current boot slot
+  sudo abctl --set_success
+
+  # TODO: do this without udev in AGNOS
+  # udev does this, but sometimes we startup faster
+  sudo chgrp gpu /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0
+  sudo chmod 660 /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0
+
+
+  if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
+    AGNOS_PY="$DIR/system/hardware/tici/agnos.py"
+    MANIFEST="$SP_C3_DIR/agnos.json"
+    if $AGNOS_PY --verify $MANIFEST; then
+      sudo reboot
+    fi
+    $DIR/system/hardware/tici/updater $AGNOS_PY $MANIFEST
+  fi
+}
+
+function launch {
+  # Remove orphaned git lock if it exists on boot
+  [ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock
+
+  # Check to see if there's a valid overlay-based update available. Conditions
+  # are as follows:
+  #
+  # 1. The DIR init file has to exist, with a newer modtime than anything in
+  #    the DIR Git repo. This checks for local development work or the user
+  #    switching branches/forks, which should not be overwritten.
+  # 2. The FINALIZED consistent file has to exist, indicating there's an update
+  #    that completed successfully and synced to disk.
+
+  if [ -f "${DIR}/.overlay_init" ]; then
+    find ${DIR}/.git -newer ${DIR}/.overlay_init | grep -q '.' 2> /dev/null
+    if [ $? -eq 0 ]; then
+      echo "${DIR} has been modified, skipping overlay update installation"
+    else
+      if [ -f "${STAGING_ROOT}/finalized/.overlay_consistent" ]; then
+        if [ ! -d /data/safe_staging/old_openpilot ]; then
+          echo "Valid overlay update found, installing"
+          LAUNCHER_LOCATION="${BASH_SOURCE[0]}"
+
+          mv $DIR /data/safe_staging/old_openpilot
+          mv "${STAGING_ROOT}/finalized" $DIR
+          cd $DIR
+
+          echo "Restarting launch script ${LAUNCHER_LOCATION}"
+          unset AGNOS_VERSION
+          exec "${LAUNCHER_LOCATION}"
+        else
+          echo "openpilot backup found, not updating"
+          # TODO: restore backup? This means the updater didn't start after swapping
+        fi
+      fi
+    fi
+  fi
+
+  # handle pythonpath
+  ln -sfn $(pwd) /data/pythonpath
+  export PYTHONPATH="$PWD"
+
+  # hardware specific init
+  if [ -f /AGNOS ]; then
+    agnos_init
+  fi
+
+  # write tmux scrollback to a file
+  tmux capture-pane -pq -S-1000 > /tmp/launch_log
+
+  # start manager
+  cd $DIR/system/manager
+  if [ ! -f $DIR/prebuilt ]; then
+    ./build.py
+  fi
+  ./manager.py
+
+  # if broken, keep on screen error
+  while true; do sleep 1; done
+}
+
+launch