Merge branch 'master' into navigationd-init

This reverts commit 3bbb33f6bd.

.github/workflows/ci_weekly_report.yaml

@@ -38,7 +38,7 @@ jobs:
   report:
     needs: [ci_matrix_run]
     runs-on: ubuntu-latest
-    if: always() && github.repository == 'commaai/openpilot'
+    if: always()
     steps:
       - name: Get job results
         uses: actions/github-script@v7

.github/workflows/mici_raylib_ui_preview.yaml

@@ -1,151 +0,0 @@
-name: "mici raylib ui preview"
-on:
-  push:
-    branches:
-      - master
-  pull_request_target:
-    types: [assigned, opened, synchronize, reopened, edited]
-    branches:
-      - 'master'
-    paths:
-      - 'selfdrive/assets/**'
-      - 'selfdrive/ui/**'
-      - 'system/ui/**'
-  workflow_dispatch:
-
-env:
-  UI_JOB_NAME: "Create mici raylib UI Report"
-  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
-  BRANCH_NAME: "openpilot/pr-${{ github.event.number }}-mici-raylib-ui"
-  MASTER_BRANCH_NAME: "openpilot_master_ui_mici_raylib"
-  # All report files are pushed here
-  REPORT_FILES_BRANCH_NAME: "mici-raylib-ui-reports"
-
-jobs:
-  preview:
-    if: github.repository == 'sunnypilot/sunnypilot'
-    name: preview
-    runs-on: ubuntu-latest
-    timeout-minutes: 20
-    permissions:
-      contents: read
-      pull-requests: write
-      actions: read
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-
-      - name: Waiting for ui generation to end
-        uses: lewagon/wait-on-check-action@v1.3.4
-        with:
-          ref: ${{ env.SHA }}
-          check-name: ${{ env.UI_JOB_NAME }}
-          repo-token: ${{ secrets.GITHUB_TOKEN }}
-          allowed-conclusions: success
-          wait-interval: 20
-
-      - name: Getting workflow run ID
-        id: get_run_id
-        run: |
-          echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
-
-      - name: Getting proposed ui  # filename: pr_ui/mici_ui_replay.mp4
-        id: download-artifact
-        uses: dawidd6/action-download-artifact@v6
-        with:
-          github_token: ${{ secrets.GITHUB_TOKEN }}
-          run_id: ${{ steps.get_run_id.outputs.run_id }}
-          search_artifacts: true
-          name: mici-raylib-report-1-${{ env.REPORT_NAME }}
-          path: ${{ github.workspace }}/pr_ui
-
-      - name: Getting master ui  # filename: master_ui_raylib/mici_ui_replay.mp4
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/ci-artifacts
-          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
-          path: ${{ github.workspace }}/master_ui_raylib
-          ref: ${{ env.MASTER_BRANCH_NAME }}
-
-      - name: Saving new master ui
-        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
-        working-directory: ${{ github.workspace }}/master_ui_raylib
-        run: |
-          git checkout --orphan=new_master_ui_mici_raylib
-          git rm -rf *
-          git branch -D ${{ env.MASTER_BRANCH_NAME }}
-          git branch -m ${{ env.MASTER_BRANCH_NAME }}
-          git config user.name "GitHub Actions Bot"
-          git config user.email "<>"
-          mv ${{ github.workspace }}/pr_ui/* .
-          git add .
-          git commit -m "mici raylib video for commit ${{ env.SHA }}"
-          git push origin ${{ env.MASTER_BRANCH_NAME }} --force
-
-      - name: Setup FFmpeg
-        uses: AnimMouse/setup-ffmpeg@ae28d57dabbb148eff63170b6bf7f2b60062cbae
-
-      - name: Finding diff
-        if: github.event_name == 'pull_request_target'
-        id: find_diff
-        run: |
-          # Find the video file from PR
-          pr_video="${{ github.workspace }}/pr_ui/mici_ui_replay_proposed.mp4"
-          mv "${{ github.workspace }}/pr_ui/mici_ui_replay.mp4" "$pr_video"
-
-          master_video="${{ github.workspace }}/pr_ui/mici_ui_replay_master.mp4"
-          mv "${{ github.workspace }}/master_ui_raylib/mici_ui_replay.mp4" "$master_video"
-
-          # Run report
-          export PYTHONPATH=${{ github.workspace }}
-          baseurl="https://github.com/sunnypilot/ci-artifacts/raw/refs/heads/${{ env.BRANCH_NAME }}"
-          diff_exit_code=0
-          python3 ${{ github.workspace }}/selfdrive/ui/tests/diff/diff.py "${{ github.workspace }}/pr_ui/mici_ui_replay_master.mp4" "${{ github.workspace }}/pr_ui/mici_ui_replay_proposed.mp4" "diff.html" --basedir "$baseurl" --no-open || diff_exit_code=$?
-
-          # Copy diff report files
-          cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.html ${{ github.workspace }}/pr_ui/
-          cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.mp4 ${{ github.workspace }}/pr_ui/
-
-          REPORT_URL="https://sunnypilot.github.io/ci-artifacts/diff_pr_${{ github.event.number }}.html"
-          if [ $diff_exit_code -eq 0 ]; then
-            DIFF="✅ Videos are identical! [View Diff Report]($REPORT_URL)"
-          else
-            DIFF="❌ <strong>Videos differ!</strong> [View Diff Report]($REPORT_URL)"
-          fi
-          echo "DIFF=$DIFF" >> "$GITHUB_OUTPUT"
-
-      - name: Saving proposed ui
-        if: github.event_name == 'pull_request_target'
-        working-directory: ${{ github.workspace }}/master_ui_raylib
-        run: |
-          # Overwrite PR branch w/ proposed ui, and master ui at this point in time for future reference
-          git config user.name "GitHub Actions Bot"
-          git config user.email "<>"
-          git checkout --orphan=${{ env.BRANCH_NAME }}
-          git rm -rf *
-          mv ${{ github.workspace }}/pr_ui/* .
-          git add .
-          git commit -m "mici raylib video for PR #${{ github.event.number }}"
-          git push origin ${{ env.BRANCH_NAME }} --force
-
-          # Append diff report to report files branch
-          git fetch origin ${{ env.REPORT_FILES_BRANCH_NAME }}
-          git checkout ${{ env.REPORT_FILES_BRANCH_NAME }}
-          cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.html diff_pr_${{ github.event.number }}.html
-          git add diff_pr_${{ github.event.number }}.html
-          git commit -m "mici raylib ui diff report for PR #${{ github.event.number }}" || echo "No changes to commit"
-          git push origin ${{ env.REPORT_FILES_BRANCH_NAME }}
-
-      - name: Comment Video on PR
-        if: github.event_name == 'pull_request_target'
-        uses: thollander/actions-comment-pull-request@v2
-        with:
-          message: |
-            <!-- _(run_id_video_mici_raylib **${{ github.run_id }}**)_ -->
-            ## mici raylib UI Preview
-            ${{ steps.find_diff.outputs.DIFF }}
-          comment_tag: run_id_video_mici_raylib
-          pr_number: ${{ github.event.number }}
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

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

@@ -6,10 +6,10 @@ env:
   CI_DIR: ${{ github.workspace }}/release/ci
   SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
   PUBLIC_REPO_URL: "https://github.com/sunnypilot/sunnypilot"
-
+  
   # Branch configurations
   STAGING_SOURCE_BRANCH: 'master'
-
+  
   # Runtime configuration
   SOURCE_BRANCH: "${{ github.head_ref || github.ref_name }}"
 
@@ -75,7 +75,7 @@ jobs:
             cancel="$(echo "$CONFIG" | jq -r '.cancel_publish_in_progress')";
             echo "cancel_publish_in_progress=$( [ "$cancel" = "null" ] && echo "true" || echo $cancel)" >> $GITHUB_OUTPUT
             echo "publish_concurrency_group=publish-${BRANCH}$( [ "$cancel" = "null" ] || [ "$cancel" = "true" ] || echo "${{ github.sha }}" )" >> $GITHUB_OUTPUT
-
+          
             is_stable_branch="$(echo "$CONFIG" | jq -r '.stable_branch // false')";
             echo "is_stable_branch=$is_stable_branch" >> $GITHUB_OUTPUT
 
@@ -85,7 +85,7 @@ jobs:
           fi
           echo "build=$BUILD" >> $GITHUB_OUTPUT
           cat $GITHUB_OUTPUT
-
+  
   validate_tests:
     runs-on: ubuntu-24.04
     needs: [ prepare_strategy ]
@@ -119,7 +119,7 @@ jobs:
       needs.prepare_strategy.result == 'success' &&
       (needs.validate_tests.result == 'success' || needs.validate_tests.result == 'skipped') &&
       (!contains(github.event_name, 'pull_request') ||
-      (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
+      (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) 
       }}
     steps:
       - uses: actions/checkout@v4
@@ -134,7 +134,7 @@ jobs:
         with:
           path: ${{env.SCONS_CACHE_DIR}}
           key: scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}-${{ github.sha }}
-          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.)
+          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.) 
           #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
           restore-keys: |
             scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}
@@ -148,7 +148,7 @@ jobs:
           echo "version=${{ needs.prepare_strategy.outputs.version }}" >> $GITHUB_OUTPUT
           echo "extra_version_identifier=${{ needs.prepare_strategy.outputs.extra_version_identifier }}" >> $GITHUB_OUTPUT
           echo "commit_sha=${{ github.sha }}" >> $GITHUB_OUTPUT
-
+          
           # Set up common environment
           source /etc/profile;
           export UV_PROJECT_ENVIRONMENT=${HOME}/venv
@@ -180,15 +180,6 @@ jobs:
           ./release/release_files.py | sort | uniq | rsync -rRl${RUNNER_DEBUG:+v} --files-from=- . $BUILD_DIR/
           cd $BUILD_DIR
           sed -i '/from .board.jungle import PandaJungle, PandaJungleDFU/s/^/#/' panda/__init__.py
-          echo "Building sunnypilot's modeld..."
-          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/modeld
-          echo "Building sunnypilot's modeld_v2..."
-          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/modeld_v2
-          echo "Building sunnypilot's locationd..."
-          scons -j2 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/selfdrive/locationd
-          echo "Building openpilot's locationd..."
-          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal selfdrive/locationd
-          echo "Building rest of sunnypilot"
           scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal
           touch ${BUILD_DIR}/prebuilt
           if [[ "${{ runner.debug }}" == "1" ]]; then
@@ -200,28 +191,37 @@ jobs:
           sudo rm -rf ${OUTPUT_DIR}
           mkdir -p ${OUTPUT_DIR}
           rsync -am${RUNNER_DEBUG:+v} \
+            --include='**/panda/board/' \
+            --include='**/panda/board/obj' \
+            --include='**/panda/board/obj/panda.bin.signed' \
+            --include='**/panda/board/obj/panda_h7.bin.signed' \
+            --include='**/panda/board/obj/bootstub.panda.bin' \
+            --include='**/panda/board/obj/bootstub.panda_h7.bin' \
             --exclude='.sconsign.dblite' \
             --exclude='*.a' \
             --exclude='*.o' \
             --exclude='*.os' \
             --exclude='*.pyc' \
             --exclude='moc_*' \
-            --exclude='__pycache__' \
+            --exclude='*.cc' \
             --exclude='Jenkinsfile' \
+            --exclude='supercombo.onnx' \
+            --exclude='**/panda/board/*' \
+            --exclude='**/panda/board/obj/**' \
+            --exclude='**/panda/certs/' \
+            --exclude='**/panda/crypto/' \
             --exclude='**/release/' \
             --exclude='**/.github/' \
             --exclude='**/selfdrive/ui/replay/' \
             --exclude='**/__pycache__/' \
+            --exclude='**/selfdrive/ui/*.h' \
+            --exclude='**/selfdrive/ui/**/*.h' \
+            --exclude='**/selfdrive/ui/qt/offroad/sunnypilot/' \
             --exclude='${{env.SCONS_CACHE_DIR}}' \
             --exclude='**/.git/' \
             --exclude='**/SConstruct' \
             --exclude='**/SConscript' \
             --exclude='**/.venv/' \
-            --exclude='selfdrive/modeld/models/driving_vision.onnx' \
-            --exclude='selfdrive/modeld/models/driving_policy.onnx' \
-            --exclude='sunnypilot/modeld*/models/supercombo.onnx' \
-            --exclude='third_party/*x86*' \
-            --exclude='third_party/*Darwin*' \
             --delete-excluded \
             --chown=comma:comma \
             ${BUILD_DIR}/ ${OUTPUT_DIR}/
@@ -241,8 +241,8 @@ jobs:
         if: always()
         run: |
           PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
-
-
+  
+  
   publish:
     concurrency:
       # We do a bit of a hack here to avoid canceling the publishing job if a new commit comes in while we're publishing by adding the sha to the group name.
@@ -293,7 +293,7 @@ jobs:
           echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/AUTO_DEPLOY_PREBUILT_BRANCHES"
           echo "2. Current value: ${{ vars.AUTO_DEPLOY_PREBUILT_BRANCHES }}"
           echo "3. Update as needed (JSON array with no spaces)"
-
+      
       - name: Tag ${{ needs.prepare_strategy.outputs.environment }}
         if: ${{ needs.prepare_strategy.outputs.is_stable_branch == 'true' && (github.event_name != 'push' || !startsWith(github.ref, 'refs/tags/')) }}
         run: |
@@ -302,7 +302,7 @@ jobs:
             git push -f origin ${TAG}
 
   notify:
-    needs:
+    needs: 
     - prepare_strategy
     - build
     - publish
@@ -331,7 +331,7 @@ jobs:
           ${{ vars.DISCOURSE_GENERAL_UPDATE_NOTICE }}
           EOF
           )
-
+          
           {
             echo 'content<<EOFMARKER'
             echo "$MESSAGE"

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

@@ -49,7 +49,6 @@ jobs:
         with:
           fetch-depth: 0  # Fetch all history for all branches
           token: ${{ secrets.GITHUB_TOKEN }}
-          persist-credentials: false
 
       - name: Wait for Tests
         uses: ./.github/workflows/wait-for-action # Path to where you place the action
@@ -174,20 +173,11 @@ jobs:
           echo '    pushurl = ${{ env.LFS_PUSH_URL }}' >> .lfsconfig
           echo '    locksverify = false' >> .lfsconfig
 
-      - uses: actions/create-github-app-token@v2
-        id: ci-token
-        with:
-          app-id: ${{ secrets.CI_GITHUB_ACTIONS_TOKEN_APP_ID }}
-          private-key: ${{ secrets.CI_GITHUB_ACTIONS_TOKEN_APP_PRIVATE_KEY }}
-
       - name: Push changes if there are diffs
-        id: push-changes
+        id: push-changes  # Add an id so we can reference this step
         run: |
           TARGET_BRANCH="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
 
-          # Use the App Token to set the remote URL with authentication
-          git remote set-url origin "https://x-access-token:${{ steps.ci-token.outputs.token }}@github.com/${{ github.repository }}.git"
-
           # Fetch the latest from remote
           git fetch origin $TARGET_BRANCH
 
@@ -198,7 +188,7 @@ jobs:
             exit 0
           fi
 
-          # Push with the authenticated origin
+          # If we get here, there are diffs, so push
           if ! git push origin $TARGET_BRANCH --force; then
             echo "Failed to push changes to $TARGET_BRANCH"
             exit 1

.github/workflows/tests.yaml

@@ -21,11 +21,12 @@ env:
   PYTHONWARNINGS: error
   BASE_IMAGE: sunnypilot-base
   AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
+  MAPBOX_TOKEN_CI: ${{ secrets.MAPBOX_TOKEN_CI }}
 
   DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
   BUILD: release/ci/docker_build_sp.sh base
 
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -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
+  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -e MAPBOX_TOKEN_CI=$MAPBOX_TOKEN_CI -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
 
   PYTEST: pytest --continue-on-collection-errors --durations=0 -n logical
 
@@ -108,7 +109,6 @@ jobs:
   build_mac:
     name: build macOS
     runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
-    if: false  # There'll be one day that this works. That day is not today.
     steps:
     - uses: actions/checkout@v4
       with:
@@ -116,13 +116,14 @@ jobs:
     - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
     - name: Homebrew cache
       uses: ./.github/workflows/auto-cache
+      if: false # disabling the cache for now because it is breaking macos builds...
       with:
         save: false # No need save here if we manually save it later conditionally
         path: ~/Library/Caches/Homebrew
-        key: brew-macos-${{ hashFiles('tools/Brewfile') }}-${{ github.sha }}
+        key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
         restore-keys: |
-          brew-macos-${{ hashFiles('tools/Brewfile') }}
-          brew-macos-
+          brew-macos-${{ env.CACHE_COMMIT_DATE }}
+          brew-macos
     - name: Install dependencies
       run: ./tools/mac_setup.sh
       env:
@@ -133,7 +134,7 @@ jobs:
       if: github.ref == 'refs/heads/master'
       with:
         path: ~/Library/Caches/Homebrew
-        key: brew-macos-${{ hashFiles('tools/Brewfile') }}-${{ github.sha }}
+        key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
     - run: git lfs pull
     - name: Getting scons cache
       uses: ./.github/workflows/auto-cache
@@ -297,29 +298,3 @@ jobs:
         with:
           name: raylib-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
           path: selfdrive/ui/tests/test_ui/raylib_report/screenshots
-
-  create_mici_raylib_ui_report:
-    name: Create mici raylib UI Report
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-      - uses: ./.github/workflows/setup-with-retry
-      - name: Build openpilot
-        run: ${{ env.RUN }} "scons -j$(nproc)"
-      - name: Create mici raylib UI Report
-        run: >
-          ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
-                          source selfdrive/test/setup_xvfb.sh &&
-                          WINDOWED=1 python3 selfdrive/ui/tests/diff/replay.py"
-      - name: Upload Raylib UI Report
-        uses: actions/upload-artifact@v4
-        with:
-          name: mici-raylib-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-          path: selfdrive/ui/tests/diff/report

RELEASES.md

@@ -1,12 +1,3 @@
-Version 0.10.3 (2025-12-17)
-========================
-* New driving model #36249
-  * New temporal policy architecture
-  * New on-policy training physics noise model
-* New driver monitoring model #36409
-  * Trained on a new dataset, including comma four data
-* Improved inter-process communication memory efficiency
-
 Version 0.10.2 (2025-11-19)
 ========================
 * comma four support

SConstruct

@@ -75,6 +75,7 @@ env = Environment(
     "#third_party/acados/include/hpipm/include",
     "#third_party/catch2/include",
     "#third_party/libyuv/include",
+    "#third_party/snpe/include",
   ],
   LIBPATH=[
     "#common",
@@ -100,6 +101,7 @@ if arch == "larch64":
     "/usr/local/lib",
     "/system/vendor/lib64",
     "/usr/lib/aarch64-linux-gnu",
+    "#third_party/snpe/larch64",
   ])
   arch_flags = ["-D__TICI__", "-mcpu=cortex-a57", "-DQCOM2"]
   env.Append(CCFLAGS=arch_flags)
@@ -123,6 +125,14 @@ else:
     "/usr/local/lib",
   ])
 
+  if arch == "x86_64":
+    env.Append(LIBPATH=[
+      f"#third_party/snpe/{arch}"
+    ])
+    env.Append(RPATH=[
+      Dir(f"#third_party/snpe/{arch}").abspath,
+    ])
+
 # Sanitizers and extra CCFLAGS from CLI
 if GetOption('asan'):
   env.Append(CCFLAGS=["-fsanitize=address", "-fno-omit-frame-pointer"])

cereal/log.capnp

@@ -2524,10 +2524,13 @@ struct Event {
     controlsState @7 :ControlsState;
     selfdriveState @130 :SelfdriveState;
     gyroscope @99 :SensorEventData;
+    gyroscope2 @100 :SensorEventData;
     accelerometer @98 :SensorEventData;
+    accelerometer2 @101 :SensorEventData;
     magnetometer @95 :SensorEventData;
     lightSensor @96 :SensorEventData;
     temperatureSensor @97 :SensorEventData;
+    temperatureSensor2 @123 :SensorEventData;
     pandaStates @81 :List(PandaState);
     peripheralState @80 :PeripheralState;
     radarState @13 :RadarState;
@@ -2690,8 +2693,5 @@ struct Event {
     liveLocationKalman @72 :LiveLocationKalman;
     liveTracksDEPRECATED @16 :List(LiveTracksDEPRECATED);
     onroadEventsDEPRECATED @68: List(Car.OnroadEventDEPRECATED);
-    gyroscope2DEPRECATED @100 :SensorEventData;
-    accelerometer2DEPRECATED @101 :SensorEventData;
-    temperatureSensor2DEPRECATED @123 :SensorEventData;
   }
 }

cereal/messaging/__init__.py

@@ -2,7 +2,7 @@
 from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
                                 set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
 from msgq.ipc_pyx import MultiplePublishersError, IpcError
-from msgq import fake_event_handle, drain_sock_raw
+from msgq import fake_event_handle, pub_sock, sub_sock, drain_sock_raw
 import msgq
 
 import os
@@ -18,20 +18,6 @@ from openpilot.common.util import MovingAverage
 NO_TRAVERSAL_LIMIT = 2**64-1
 
 
-def pub_sock(endpoint: str) -> PubSocket:
-  service = SERVICE_LIST.get(endpoint)
-  segment_size = service.queue_size if service else 0
-  return msgq.pub_sock(endpoint, segment_size)
-
-
-def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
-             conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
-  service = SERVICE_LIST.get(endpoint)
-  segment_size = service.queue_size if service else 0
-  return msgq.sub_sock(endpoint, poller=poller, addr=addr, conflate=conflate,
-                       timeout=timeout, segment_size=segment_size)
-
-
 def reset_context():
   msgq.context = Context()
 

cereal/messaging/socketmaster.cc

@@ -50,7 +50,7 @@ SubMaster::SubMaster(const std::vector<const char *> &service_list, const std::v
     assert(services.count(std::string(name)) > 0);
 
     service serv = services.at(std::string(name));
-    SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true, true, serv.queue_size);
+    SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true);
     assert(socket != 0);
     bool is_polled = inList(poll, name) || poll.empty();
     if (is_polled) poller_->registerSocket(socket);
@@ -187,8 +187,7 @@ SubMaster::~SubMaster() {
 PubMaster::PubMaster(const std::vector<const char *> &service_list) {
   for (auto name : service_list) {
     assert(services.count(name) > 0);
-    service serv = services.at(std::string(name));
-    PubSocket *socket = PubSocket::create(message_context.context(), name, true, serv.queue_size);
+    PubSocket *socket = PubSocket::create(message_context.context(), name);
     assert(socket);
     sockets_[name] = socket;
   }

cereal/services.py

@@ -1,44 +1,37 @@
 #!/usr/bin/env python3
-from enum import IntEnum
 from typing import Optional
 
 
-# TODO: this should be automatically determined using the capnp schema
-class QueueSize(IntEnum):
-  BIG = 10 * 1024 * 1024      # 10MB - video frames, large AI outputs
-  MEDIUM = 2 * 1024 * 1024    # 2MB - high freq (CAN), livestream
-  SMALL = 250 * 1024          # 250KB - most services
-
-
 class Service:
-  def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None,
-               queue_size: QueueSize = QueueSize.SMALL):
+  def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None):
     self.should_log = should_log
     self.frequency = frequency
     self.decimation = decimation
-    self.queue_size = queue_size
 
 
 _services: dict[str, tuple] = {
   # service: (should_log, frequency, qlog decimation (optional))
   # note: the "EncodeIdx" packets will still be in the log
   "gyroscope": (True, 104., 104),
+  "gyroscope2": (True, 100., 100),
   "accelerometer": (True, 104., 104),
+  "accelerometer2": (True, 100., 100),
   "magnetometer": (True, 25.),
   "lightSensor": (True, 100., 100),
   "temperatureSensor": (True, 2., 200),
+  "temperatureSensor2": (True, 2., 200),
   "gpsNMEA": (True, 9.),
   "deviceState": (True, 2., 1),
   "touch": (True, 20., 1),
-  "can": (True, 100., 2053, QueueSize.BIG),  # decimation gives ~3 msgs in a full segment
-  "controlsState": (True, 100., 10, QueueSize.MEDIUM),
+  "can": (True, 100., 2053),  # decimation gives ~3 msgs in a full segment
+  "controlsState": (True, 100., 10),
   "selfdriveState": (True, 100., 10),
   "pandaStates": (True, 10., 1),
   "peripheralState": (True, 2., 1),
   "radarState": (True, 20., 5),
   "roadEncodeIdx": (False, 20., 1),
   "liveTracks": (True, 20.),
-  "sendcan": (True, 100., 139, QueueSize.MEDIUM),
+  "sendcan": (True, 100., 139),
   "logMessage": (True, 0.),
   "errorLogMessage": (True, 0., 1),
   "liveCalibration": (True, 4., 4),
@@ -50,7 +43,7 @@ _services: dict[str, tuple] = {
   "carOutput": (True, 100., 10),
   "longitudinalPlan": (True, 20., 10),
   "driverAssistance": (True, 20., 20),
-  "procLog": (True, 0.5, 15, QueueSize.BIG),
+  "procLog": (True, 0.5, 15),
   "gpsLocationExternal": (True, 10., 10),
   "gpsLocation": (True, 1., 1),
   "ubloxGnss": (True, 10.),
@@ -72,7 +65,7 @@ _services: dict[str, tuple] = {
   "wideRoadEncodeIdx": (False, 20., 1),
   "wideRoadCameraState": (True, 20., 20),
   "drivingModelData": (True, 20., 10),
-  "modelV2": (True, 20., None, QueueSize.BIG),
+  "modelV2": (True, 20.),
   "managerState": (True, 2., 1),
   "uploaderState": (True, 0., 1),
   "navInstruction": (True, 1., 10),
@@ -84,14 +77,10 @@ _services: dict[str, tuple] = {
   "rawAudioData": (False, 20.),
   "bookmarkButton": (True, 0., 1),
   "audioFeedback": (True, 0., 1),
-  "roadEncodeData": (False, 20., None, QueueSize.BIG),
-  "driverEncodeData": (False, 20., None, QueueSize.BIG),
-  "wideRoadEncodeData": (False, 20., None, QueueSize.BIG),
-  "qRoadEncodeData": (False, 20., None, QueueSize.BIG),
 
   # sunnypilot
-  "modelManagerSP": (False, 1., 1, QueueSize.BIG),
-  "backupManagerSP": (False, 1., 1, QueueSize.BIG),
+  "modelManagerSP": (False, 1., 1),
+  "backupManagerSP": (False, 1., 1),
   "selfdriveStateSP": (True, 100., 10),
   "longitudinalPlanSP": (True, 20., 10),
   "onroadEventsSP": (True, 1., 1),
@@ -99,19 +88,23 @@ _services: dict[str, tuple] = {
   "carControlSP": (True, 100., 10),
   "carStateSP": (True, 100., 10),
   "liveMapDataSP": (True, 1., 1),
-  "modelDataV2SP": (True, 20., None, QueueSize.BIG),
+  "modelDataV2SP": (True, 20.),
   "liveLocationKalman": (True, 20.),
 
   # debug
   "uiDebug": (True, 0., 1),
   "testJoystick": (True, 0.),
   "alertDebug": (True, 20., 5),
+  "roadEncodeData": (False, 20.),
+  "driverEncodeData": (False, 20.),
+  "wideRoadEncodeData": (False, 20.),
+  "qRoadEncodeData": (False, 20.),
   "livestreamWideRoadEncodeIdx": (False, 20.),
   "livestreamRoadEncodeIdx": (False, 20.),
   "livestreamDriverEncodeIdx": (False, 20.),
-  "livestreamWideRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
-  "livestreamRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
-  "livestreamDriverEncodeData": (False, 20., None, QueueSize.MEDIUM),
+  "livestreamWideRoadEncodeData": (False, 20.),
+  "livestreamRoadEncodeData": (False, 20.),
+  "livestreamDriverEncodeData": (False, 20.),
   "customReservedRawData0": (True, 0.),
   "customReservedRawData1": (True, 0.),
   "customReservedRawData2": (True, 0.),
@@ -129,13 +122,13 @@ def build_header():
   h += "#include <map>\n"
   h += "#include <string>\n"
 
-  h += "struct service { std::string name; bool should_log; float frequency; int decimation; size_t queue_size; };\n"
+  h += "struct service { std::string name; bool should_log; float frequency; int decimation; };\n"
   h += "static std::map<std::string, service> services = {\n"
   for k, v in SERVICE_LIST.items():
     should_log = "true" if v.should_log else "false"
     decimation = -1 if v.decimation is None else v.decimation
-    h += '  { "%s", {"%s", %s, %f, %d, %d}},\n' % \
-         (k, k, should_log, v.frequency, decimation, v.queue_size)
+    h += '  { "%s", {"%s", %s, %f, %d}},\n' % \
+         (k, k, should_log, v.frequency, decimation)
   h += "};\n"
 
   h += "#endif\n"

common/api/__init__.py

@@ -22,5 +22,5 @@ def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
   return CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, **params)
 
 
-def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:
+def get_key_pair():
   return CommaConnectApi(None).get_key_pair()

common/api/base.py

@@ -6,9 +6,9 @@ from datetime import datetime, timedelta, UTC
 from openpilot.system.hardware.hw import Paths
 from openpilot.system.version import get_version
 
-# name: jwt signature algorithm
-KEYS = {"id_rsa": "RS256",
-        "id_ecdsa": "ES256"}
+       # name : jwt signature algorithm
+KEYS = {"id_rsa" : "RS256",
+        "id_ecdsa" : "ES256"}
 
 
 class BaseApi:
@@ -62,7 +62,7 @@ class BaseApi:
     return requests.request(method, f"{self.api_host}/{endpoint}", timeout=timeout, headers=headers, json=json, params=params)
 
   @staticmethod
-  def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:
+  def get_key_pair():
     for key in KEYS:
       if os.path.isfile(Paths.persist_root() + f'/comma/{key}') and os.path.isfile(Paths.persist_root() + f'/comma/{key}.pub'):
         with open(Paths.persist_root() + f'/comma/{key}') as private, open(Paths.persist_root() + f'/comma/{key}.pub') as public:

common/model.h

@@ -1 +1 @@
-#define DEFAULT_MODEL "Dark Souls 2 (Default)"
+#define DEFAULT_MODEL "The Cool People (Default)"

common/params_keys.h

@@ -71,7 +71,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"LastGPSPosition", {PERSISTENT, STRING}},
     {"LastManagerExitReason", {CLEAR_ON_MANAGER_START, STRING}},
     {"LastOffroadStatusPacket", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, JSON}},
-    {"LastAgnosPowerMonitorShutdown", {CLEAR_ON_MANAGER_START, STRING}},
     {"LastPowerDropDetected", {CLEAR_ON_MANAGER_START, STRING}},
     {"LastUpdateException", {CLEAR_ON_MANAGER_START, STRING}},
     {"LastUpdateRouteCount", {PERSISTENT, INT, "0"}},
@@ -139,7 +138,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"BlinkerMinLateralControlSpeed", {PERSISTENT | BACKUP, INT, "20"}},  // MPH or km/h
     {"BlinkerPauseLateralControl", {PERSISTENT | BACKUP, INT, "0"}},
     {"Brightness", {PERSISTENT | BACKUP, INT, "0"}},
-    {"CarList", {PERSISTENT, JSON}},
     {"CarParamsSP", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BYTES}},
     {"CarParamsSPCache", {CLEAR_ON_MANAGER_START, BYTES}},
     {"CarParamsSPPersistent", {PERSISTENT, BYTES}},
@@ -191,6 +189,11 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ModelManager_LastSyncTime", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
     {"ModelManager_ModelsCache", {PERSISTENT | BACKUP, JSON}},
 
+    // Navigation params
+    {"MapboxToken", {PERSISTENT | BACKUP, STRING}},
+    {"MapboxSettings", {CLEAR_ON_MANAGER_START, JSON}},
+    {"MapboxRoute", {CLEAR_ON_MANAGER_START, STRING}},
+
     // Neural Network Lateral Control
     {"NeuralNetworkLateralControl", {PERSISTENT | BACKUP, BOOL, "0"}},
 
@@ -213,7 +216,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"SubaruStopAndGo", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"TeslaCoopSteering", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"ToyotaEnforceStockLongitudinal", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     {"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},

common/prefix.py

@@ -11,7 +11,7 @@ from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 class OpenpilotPrefix:
   def __init__(self, prefix: str = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
     self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15])
-    self.msgq_path = os.path.join(Paths.shm_path(), "msgq_" + self.prefix)
+    self.msgq_path = os.path.join(Paths.shm_path(), self.prefix)
     self.create_dirs_on_enter = create_dirs_on_enter
     self.clean_dirs_on_exit = clean_dirs_on_exit
     self.shared_download_cache = shared_download_cache

common/tests/test_file_helpers.py

@@ -1,7 +1,7 @@
 import os
 from uuid import uuid4
 
-from openpilot.common.utils import atomic_write
+from openpilot.common.utils import atomic_write_in_dir
 
 
 class TestFileHelpers:
@@ -15,5 +15,5 @@ class TestFileHelpers:
       assert f.read() == "test"
     os.remove(path)
 
-  def test_atomic_write(self):
-    self.run_atomic_write_func(atomic_write)
+  def test_atomic_write_in_dir(self):
+    self.run_atomic_write_func(atomic_write_in_dir)

common/utils.py

@@ -32,8 +32,8 @@ class CallbackReader:
 
 
 @contextlib.contextmanager
-def atomic_write(path: str, mode: str = 'w', buffering: int = -1, encoding: str | None = None, newline: str | None = None,
-                 overwrite: bool = False):
+def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: str | None = None, newline: str | None = None,
+                        overwrite: bool = False):
   """Write to a file atomically using a temporary file in the same directory as the destination file."""
   dir_name = os.path.dirname(path)
 

common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.10.3"
+#define COMMA_VERSION "0.10.2"

docs/CARS.md

@@ -14,13 +14,13 @@ A supported vehicle is one that just works when you install a comma device. All
 |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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
 |Acura|TLX 2021|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 A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021">Buy Here</a></sub></details>|||
-|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
-|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
-|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
-|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
-|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
-|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
+|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
+|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
+|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
+|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
+|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
+|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
 |Chevrolet|Bolt EV Non-ACC 2017|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2017">Buy Here</a></sub></details>|||
 |Chevrolet|Bolt EV Non-ACC 2018-21|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2018-21">Buy Here</a></sub></details>|||
@@ -34,7 +34,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2017-18">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">Buy Here</a></sub></details>|||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
+|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
 |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
@@ -48,8 +48,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer Hybrid 2020-24">Buy Here</a></sub></details>|||
 |Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|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 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|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 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Ford|Focus 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018">Buy Here</a></sub></details>|||
-|Ford|Focus Hybrid 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018">Buy Here</a></sub></details>|||
+|Ford|Focus 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018">Buy Here</a></sub></details>|||
+|Ford|Focus Hybrid 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018">Buy Here</a></sub></details>|||
 |Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga 2020-23">Buy Here</a></sub></details>|||
 |Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2020-23">Buy Here</a></sub></details>|||
 |Ford|Kuga Hybrid 2024|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 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -82,7 +82,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Accord Hybrid 2023-25|All|Stock|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<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>4</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<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 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<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 2017-18|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
@@ -202,170 +202,171 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Stinger 2018-20|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 C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Kia|Stinger 2022-23|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2022-23">Buy Here</a></sub></details>|||
 |Kia|Telluride 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Telluride 2020-22">Buy Here</a></sub></details>|||
-|Lexus|CT Hybrid 2017-18|Lexus Safety System+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus CT Hybrid 2017-18">Buy Here</a></sub></details>|||
-|Lexus|ES 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2017-18">Buy Here</a></sub></details>|||
+|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus CT Hybrid 2017-18">Buy Here</a></sub></details>|||
+|Lexus|ES 2017-18|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2017-18">Buy Here</a></sub></details>|||
 |Lexus|ES 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2019-25">Buy Here</a></sub></details>|||
-|Lexus|ES Hybrid 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES Hybrid 2017-18">Buy Here</a></sub></details>|||
+|Lexus|ES Hybrid 2017-18|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES Hybrid 2017-18">Buy Here</a></sub></details>|||
 |Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES Hybrid 2019-25">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus GS F 2016">Buy Here</a></sub></details>|||
 |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus IS 2017-19">Buy Here</a></sub></details>|||
 |Lexus|IS 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus IS 2022-24">Buy Here</a></sub></details>|||
 |Lexus|LC 2024-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus LC 2024-25">Buy Here</a></sub></details>|||
-|Lexus|NX 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX 2018-19">Buy Here</a></sub></details>|||
+|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX 2018-19">Buy Here</a></sub></details>|||
 |Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX 2020-21">Buy Here</a></sub></details>|||
-|Lexus|NX Hybrid 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX Hybrid 2018-19">Buy Here</a></sub></details>|||
+|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX Hybrid 2018-19">Buy Here</a></sub></details>|||
 |Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX Hybrid 2020-21">Buy Here</a></sub></details>|||
 |Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RC 2018-20">Buy Here</a></sub></details>|||
 |Lexus|RC 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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RC 2023">Buy Here</a></sub></details>|||
-|Lexus|RX 2016|Lexus Safety System+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX 2016">Buy Here</a></sub></details>|||
-|Lexus|RX 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX 2017-19">Buy Here</a></sub></details>|||
+|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX 2016">Buy Here</a></sub></details>|||
+|Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX 2017-19">Buy Here</a></sub></details>|||
 |Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX 2020-22">Buy Here</a></sub></details>|||
-|Lexus|RX Hybrid 2016|Lexus Safety System+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX Hybrid 2016">Buy Here</a></sub></details>|||
-|Lexus|RX Hybrid 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX Hybrid 2017-19">Buy Here</a></sub></details>|||
+|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX Hybrid 2016">Buy Here</a></sub></details>|||
+|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX Hybrid 2017-19">Buy Here</a></sub></details>|||
 |Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX Hybrid 2020-22">Buy Here</a></sub></details>|||
 |Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus UX Hybrid 2019-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator 2020-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|||
-|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Nissan[<sup>5</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
-|Nissan[<sup>5</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Nissan[<sup>5</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
-|Nissan[<sup>5</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
+|Nissan[<sup>6</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
+|Nissan[<sup>6</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Nissan[<sup>6</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
+|Nissan[<sup>6</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
 |Ram|2500 2020-24|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 2500 2020-24">Buy Here</a></sub></details>|||
 |Ram|3500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 3500 2019-22">Buy Here</a></sub></details>|||
 |Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
-|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
-|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Legacy 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Škoda|Fabia 2022-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Škoda|Kamiq 2021-23[<sup>11,13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Škoda|Karoq 2019-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
-|Škoda|Kodiaq 2017-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
-|Škoda|Octavia 2015-19[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
-|Škoda|Octavia RS 2016[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
-|Škoda|Octavia Scout 2017-19[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
-|Škoda|Scala 2020-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Škoda|Superb 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>8</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 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>8</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 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>8</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 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>8</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 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
+|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
+|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
+|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Legacy 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Škoda|Fabia 2022-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Škoda|Kamiq 2021-23[<sup>12,14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Škoda|Karoq 2019-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
+|Škoda|Kodiaq 2017-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
+|Škoda|Octavia 2015-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
+|Škoda|Octavia RS 2016[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
+|Škoda|Octavia Scout 2017-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
+|Škoda|Scala 2020-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Škoda|Superb 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>9</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 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>9</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 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>9</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 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>9</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 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
 |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard 2019-20">Buy Here</a></sub></details>|||
 |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard Hybrid 2021">Buy Here</a></sub></details>|||
-|Toyota|Avalon 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2016">Buy Here</a></sub></details>|||
-|Toyota|Avalon 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2017-18">Buy Here</a></sub></details>|||
-|Toyota|Avalon 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2019-21">Buy Here</a></sub></details>|||
+|Toyota|Avalon 2016|Toyota Safety Sense P|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2016">Buy Here</a></sub></details>|||
+|Toyota|Avalon 2017-18|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2017-18">Buy Here</a></sub></details>|||
+|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2019-21">Buy Here</a></sub></details>|||
 |Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2022">Buy Here</a></sub></details>|||
-|Toyota|Avalon Hybrid 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon Hybrid 2019-21">Buy Here</a></sub></details>|||
+|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon Hybrid 2019-21">Buy Here</a></sub></details>|||
 |Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon Hybrid 2022">Buy Here</a></sub></details>|||
 |Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR 2017-20">Buy Here</a></sub></details>|||
 |Toyota|C-HR 2021|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR 2021">Buy Here</a></sub></details>|||
 |Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2017-20">Buy Here</a></sub></details>|||
 |Toyota|C-HR Hybrid 2021-22|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2021-22">Buy Here</a></sub></details>|||
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>10</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>10</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
 |Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2021-24">Buy Here</a></sub></details>|||
-|Toyota|Corolla 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2017-19">Buy Here</a></sub></details>|||
+|Toyota|Corolla 2017-19|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2017-19">Buy Here</a></sub></details>|||
 |Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Cross (Non-US only) 2020-23">Buy Here</a></sub></details>|||
 |Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>|||
 |Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hybrid 2020-22">Buy Here</a></sub></details>|||
 |Toyota|Corolla Hybrid (South America only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hybrid (South America only) 2020-23">Buy Here</a></sub></details>|||
-|Toyota|Highlander 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Highlander 2017-19|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander 2020-23">Buy Here</a></sub></details>|||
-|Toyota|Highlander Hybrid 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander Hybrid 2017-19">Buy Here</a></sub></details>|||
+|Toyota|Highlander Hybrid 2017-19|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander Hybrid 2017-19">Buy Here</a></sub></details>|||
 |Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander Hybrid 2020-23">Buy Here</a></sub></details>|||
 |Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Mirai 2021">Buy Here</a></sub></details>|||
-|Toyota|Prius 2016|Toyota Safety Sense P|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Prius 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Prius Prime 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Prius v 2017|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius v 2017">Buy Here</a></sub></details>|||
-|Toyota|RAV4 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2016">Buy Here</a></sub></details>|||
-|Toyota|RAV4 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2017-18">Buy Here</a></sub></details>|||
+|Toyota|Prius v 2017|Toyota Safety Sense P|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius v 2017">Buy Here</a></sub></details>|||
+|Toyota|RAV4 2016|Toyota Safety Sense P|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2016">Buy Here</a></sub></details>|||
+|Toyota|RAV4 2017-18|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2017-18">Buy Here</a></sub></details>|||
 |Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|RAV4 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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2022">Buy Here</a></sub></details>|||
 |Toyota|RAV4 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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2023-25">Buy Here</a></sub></details>|||
-|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|RAV4 Hybrid 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|RAV4 Hybrid 2017-18|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2019-21">Buy Here</a></sub></details>|||
 |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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<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|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<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>||
-|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<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>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<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>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<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>||
-|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 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|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
-|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
-|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
-|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Passat 2015-22[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
-|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
-|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
-|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
+|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<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>||
+|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<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>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<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>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<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>||
+|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 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|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
+|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
+|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
+|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Passat 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
+|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
+|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
+|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
 
 ### Footnotes
 <sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `nightly-dev`. <br />
-<sup>2</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
-<sup>3</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
-<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
-<sup>5</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
-<sup>6</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
-<sup>7</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
-<sup>8</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
-<sup>9</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
-<sup>10</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>11</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>12</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>13</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
-<sup>14</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
-<sup>15</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
+<sup>2</sup>By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
+<sup>3</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
+<sup>4</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
+<sup>5</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
+<sup>6</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
+<sup>7</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
+<sup>8</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
+<sup>9</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
+<sup>10</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
+<sup>11</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>12</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>13</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>14</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
+<sup>15</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
+<sup>16</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
 
 ## Community Maintained Cars
 Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
@@ -383,7 +384,7 @@ If your car has the following packages or features, then it's a good candidate f
 
 | Make | Required Package/Features |
 | ---- | ------------------------- |
-| Acura | Any car with AcuraWatch will work. AcuraWatch comes standard on many newer models. |
+| Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. |
 | Ford | Any car with Lane Centering will likely work. |
 | Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. |
 | Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. |

docs/how-to/turn-the-speed-blue.md

@@ -31,7 +31,7 @@ We'll run the `replay` tool with the demo route to get data streaming for testin
 tools/replay/replay --demo
 
 # in terminal 2
-./selfdrive/ui/ui.py
+selfdrive/ui/ui
 ```
 
 The openpilot UI should launch and show a replay of the demo route.
@@ -43,36 +43,39 @@ If you have your own comma device, you can replace `--demo` with one of your own
 
 Now let’s update the speed display color in the UI.
 
-Search for the function responsible for rendering the current speed:
+Search for the function responsible for rendering UI text:
 ```bash
-git grep "_draw_current_speed" selfdrive/ui/onroad/hud_renderer.py
+git grep "drawText" selfdrive/ui/qt/onroad/hud.cc
 ```
 
-You'll find the relevant code inside `selfdrive/ui/onroad/hud_renderer.py`, in this function:
+You’ll find the relevant code inside `selfdrive/ui/qt/onroad/hud.cc`, in this function:
 
-```python
-def _draw_current_speed(self, rect: rl.Rectangle) -> None:
-  """Draw the current vehicle speed and unit."""
-  speed_text = str(round(self.speed))
-  speed_text_size = measure_text_cached(self._font_bold, speed_text, FONT_SIZES.current_speed)
-  speed_pos = rl.Vector2(rect.x + rect.width / 2 - speed_text_size.x / 2, 180 - speed_text_size.y / 2)
-  rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white)  # <- this sets the speed text color
+```cpp
+void HudRenderer::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
+  QRect real_rect = p.fontMetrics().boundingRect(text);
+  real_rect.moveCenter({x, y - real_rect.height() / 2});
+
+  p.setPen(QColor(0xff, 0xff, 0xff, alpha));  // <- this sets the speed text color
+  p.drawText(real_rect.x(), real_rect.bottom(), text);
+}
 ```
 
-Change `COLORS.white` to make it **blue** instead of white. A nice soft blue is `#8080FF`, which you can change inline:
+Change the `QColor(...)` line to make it **blue** instead of white. A nice soft blue is `#8080FF`, which translates to:
 
 ```diff
-- rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white)
-+ rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, rl.Color(0x80, 0x80, 0xFF, 255))
+- p.setPen(QColor(0xff, 0xff, 0xff, alpha));
++ p.setPen(QColor(0x80, 0x80, 0xFF, alpha));
 ```
 
+This change will tint all speed-related UI text to blue with the same transparency (`alpha`).
+
 ---
 
-## 4. Re-run the UI
+## 4. Rebuild the UI
 
-After making changes, re-run the UI to see your new UI:
+After making changes, rebuild Openpilot so your new UI is compiled:
 ```bash
-./selfdrive/ui/ui.py
+scons -j$(nproc) && selfdrive/ui/ui
 ```
 ![](https://blog.comma.ai/img/blue_speed_ui.png)
 

pyproject.toml

@@ -85,7 +85,6 @@ docs = [
 ]
 
 testing = [
-  "coverage",
   "hypothesis ==6.47.*",
   "mypy",
   "pytest",
@@ -116,7 +115,7 @@ dev = [
   "pyautogui",
   "pygame",
   "pyopencl; platform_machine != 'aarch64'", # broken on arm64
-  "pytools>=2025.1.6; platform_machine != 'aarch64'",
+  "pytools < 2024.1.11; platform_machine != 'aarch64'", # pyopencl use a broken version
   "pywinctl",
   "pyprof2calltree",
   "tabulate",
@@ -126,7 +125,7 @@ dev = [
 
 tools = [
   "metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl ; (platform_machine != 'aarch64')",
-  "dearpygui>=2.1.0; (sys_platform != 'linux' or platform_machine != 'aarch64')", # not vended for linux aarch64
+  "dearpygui>=2.1.0",
 ]
 
 [project.urls]
@@ -227,7 +226,7 @@ lint.select = [
   "TRY203", "TRY400", "TRY401", # try/excepts
   "RUF008", "RUF100",
   "TID251",
-  "PLE", "PLR1704",
+  "PLR1704",
 ]
 lint.ignore = [
   "E741",

scripts/usbgpu/benchmark.sh

@@ -1,26 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-cd $DIR/../../tinygrad_repo
-
-GREEN='\033[0;32m'
-NC='\033[0m'
-
-
-#export DEBUG=2
-export PYTHONPATH=.
-export AM_RESET=1
-export AMD=1
-export AMD_IFACE=USB
-export AMD_LLVM=1
-
-python3 -m unittest -q --buffer test.test_tiny.TestTiny.test_plus \
-  > /tmp/test_tiny.log 2>&1 || (cat /tmp/test_tiny.log; exit 1)
-printf "${GREEN}Booted in ${SECONDS}s${NC}\n"
-printf "${GREEN}=============${NC}\n"
-
-printf "\n\n"
-printf "${GREEN}Transfer speeds:${NC}\n"
-printf "${GREEN}================${NC}\n"
-python3 test/external/external_test_usb_asm24.py TestDevCopySpeeds

selfdrive/assets/sounds/make_beeps.py

@@ -1,19 +0,0 @@
-import numpy as np
-from scipy.io import wavfile
-
-
-sr = 48000
-max_int16 = 2**15 - 1
-
-def harmonic_beep(freq, duration_seconds):
-    n_total = int(sr * duration_seconds)
-
-    signal = np.sin(2 * np.pi * freq * np.arange(n_total) / sr)
-    x = np.arange(n_total)
-    exp_scale = np.exp(-x/5.5e3)
-    return max_int16 * signal * exp_scale
-
-engage_beep = harmonic_beep(1661.219, 0.5)
-wavfile.write("engage.wav", sr, engage_beep.astype(np.int16))
-disengage_beep = harmonic_beep(1318.51, 0.5)
-wavfile.write("disengage.wav", sr, disengage_beep.astype(np.int16))

selfdrive/car/CARS_template.md

@@ -42,7 +42,7 @@ If your car has the following packages or features, then it's a good candidate f
 
 | Make | Required Package/Features |
 | ---- | ------------------------- |
-| Acura | Any car with AcuraWatch will work. AcuraWatch comes standard on many newer models. |
+| Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. |
 | Ford | Any car with Lane Centering will likely work. |
 | Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. |
 | Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. |

selfdrive/car/car_specific.py

@@ -26,18 +26,6 @@ class MockCarState:
     return CS, CS_SP
 
 
-BRAND_EXTRA_GEARS = {
-  'ford': [GearShifter.low, GearShifter.manumatic],
-  'nissan': [GearShifter.brake],
-  'chrysler': [GearShifter.low],
-  'honda': [GearShifter.sport],
-  'toyota': [GearShifter.sport],
-  'gm': [GearShifter.sport, GearShifter.low, GearShifter.eco, GearShifter.manumatic],
-  'volkswagen': [GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
-  'hyundai': [GearShifter.sport, GearShifter.manumatic]
-}
-
-
 class CarSpecificEvents:
   def __init__(self, CP: structs.CarParams):
     self.CP = CP
@@ -48,13 +36,17 @@ class CarSpecificEvents:
     self.silent_steer_warning = True
 
   def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
-    extra_gears = BRAND_EXTRA_GEARS.get(self.CP.brand, None)
-
     if self.CP.brand in ('body', 'mock'):
       events = Events()
 
+    elif self.CP.brand == 'ford':
+      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.low, GearShifter.manumatic])
+
+    elif self.CP.brand == 'nissan':
+      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.brake])
+
     elif self.CP.brand == 'chrysler':
-      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears)
+      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.low])
 
       # Low speed steer alert hysteresis logic
       if self.CP.minSteerSpeed > 0. and CS.vEgo < (self.CP.minSteerSpeed + 0.5):
@@ -65,7 +57,7 @@ class CarSpecificEvents:
         events.add(EventName.belowSteerSpeed)
 
     elif self.CP.brand == 'honda':
-      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=False)
+      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport], pcm_enable=False)
 
       if self.CP.pcmCruise and CS.vEgo < self.CP.minEnableSpeed:
         events.add(EventName.belowEngageSpeed)
@@ -87,11 +79,10 @@ class CarSpecificEvents:
 
     elif self.CP.brand == 'toyota':
       # TODO: when we check for unexpected disengagement, check gear not S1, S2, S3
-      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears)
+      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport])
 
       if self.CP.openpilotLongitudinalControl:
-        # Only can leave standstill when planner wants to move
-        if CS.cruiseState.standstill and not CS.brakePressed and CC.cruiseControl.resume:
+        if CS.cruiseState.standstill and not CS.brakePressed:
           events.add(EventName.resumeRequired)
         if CS.vEgo < self.CP.minEnableSpeed:
           events.add(EventName.belowEngageSpeed)
@@ -103,7 +94,9 @@ class CarSpecificEvents:
             events.add(EventName.manualRestart)
 
     elif self.CP.brand == 'gm':
-      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise)
+      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport, GearShifter.low,
+                                                                   GearShifter.eco, GearShifter.manumatic],
+                                         pcm_enable=self.CP.pcmCruise)
 
       # Enabling at a standstill with brake is allowed
       # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
@@ -114,7 +107,8 @@ class CarSpecificEvents:
         events.add(EventName.resumeRequired)
 
     elif self.CP.brand == 'volkswagen':
-      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise)
+      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
+                                         pcm_enable=self.CP.pcmCruise)
 
       if self.CP.openpilotLongitudinalControl:
         if CS.vEgo < self.CP.minEnableSpeed + 0.5:
@@ -127,14 +121,15 @@ class CarSpecificEvents:
       #   events.add(EventName.steerTimeLimit)
 
     elif self.CP.brand == 'hyundai':
-      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise, allow_button_cancel=False)
+      events = self.create_common_events(CS, CS_prev, extra_gears=(GearShifter.sport, GearShifter.manumatic),
+                                         pcm_enable=self.CP.pcmCruise, allow_button_cancel=False)
 
     else:
-      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears)
+      events = self.create_common_events(CS, CS_prev)
 
     return events
 
-  def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears: list | None = None, pcm_enable=True,
+  def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears=None, pcm_enable=True,
                            allow_button_cancel=True):
     events = Events()
 

selfdrive/controls/controlsd.py

@@ -1,5 +1,7 @@
 #!/usr/bin/env python3
 import math
+import threading
+import time
 from numbers import Number
 
 from cereal import car, log
@@ -20,6 +22,8 @@ from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.modeld.modeld import LAT_SMOOTH_SECONDS
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
 
+from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
+from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
 from openpilot.sunnypilot.selfdrive.controls.controlsd_ext import ControlsExt
 
 State = log.SelfdriveState.OpenpilotState
@@ -29,7 +33,7 @@ LaneChangeDirection = log.LaneChangeDirection
 ACTUATOR_FIELDS = tuple(car.CarControl.Actuators.schema.fields.keys())
 
 
-class Controls(ControlsExt):
+class Controls(ControlsExt, ModelStateBase):
   def __init__(self) -> None:
     self.params = Params()
     cloudlog.info("controlsd is waiting for CarParams")
@@ -38,6 +42,7 @@ class Controls(ControlsExt):
 
     # Initialize sunnypilot controlsd extension and base model state
     ControlsExt.__init__(self, self.CP, self.params)
+    ModelStateBase.__init__(self)
 
     self.CI = interfaces[self.CP.carFingerprint](self.CP, self.CP_SP)
 
@@ -226,15 +231,30 @@ class Controls(ControlsExt):
     cc_send.carControl = CC
     self.pm.send('carControl', cc_send)
 
+  def params_thread(self, evt):
+    while not evt.is_set():
+      self.get_params_sp()
+
+      if self.CP.lateralTuning.which() == 'torque':
+        self.lat_delay = get_lat_delay(self.params, self.sm["liveDelay"].lateralDelay)
+
+      time.sleep(0.1)
+
   def run(self):
     rk = Ratekeeper(100, print_delay_threshold=None)
-    while True:
-      self.update()
-      CC, lac_log = self.state_control()
-      self.publish(CC, lac_log)
-      self.get_params_sp(self.sm)
-      self.run_ext(self.sm, self.pm)
-      rk.monitor_time()
+    e = threading.Event()
+    t = threading.Thread(target=self.params_thread, args=(e,))
+    try:
+      t.start()
+      while True:
+        self.update()
+        CC, lac_log = self.state_control()
+        self.publish(CC, lac_log)
+        self.run_ext(self.sm, self.pm)
+        rk.monitor_time()
+    finally:
+      e.set()
+      t.join()
 
 
 def main():

selfdrive/debug/analyze-msg-size.py

@@ -1,82 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-from tqdm import tqdm
-
-from cereal.services import SERVICE_LIST, QueueSize
-from openpilot.tools.lib.logreader import LogReader
-
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser(description="Analyze message sizes from a log route")
-  parser.add_argument("route", nargs="?", default="98395b7c5b27882e/000000a8--f87e7cd255",
-                      help="Log route to analyze (default: 98395b7c5b27882e/000000a8--f87e7cd255)")
-  args = parser.parse_args()
-
-  lr = LogReader(args.route)
-
-  szs = {}
-  for msg in tqdm(lr):
-    sz = len(msg.as_builder().to_bytes())
-    msg_type = msg.which()
-    if msg_type not in szs:
-      szs[msg_type] = {'min': sz, 'max': sz, 'sum': sz, 'count': 1}
-    else:
-      szs[msg_type]['min'] = min(szs[msg_type]['min'], sz)
-      szs[msg_type]['max'] = max(szs[msg_type]['max'], sz)
-      szs[msg_type]['sum'] += sz
-      szs[msg_type]['count'] += 1
-
-  print()
-  print(f"{'Service':<36} {'Min (KB)':>12} {'Max (KB)':>12} {'Avg (KB)':>12} {'KB/min':>12} {'KB/sec':>12} {'Minutes in 10MB':>18} {'Seconds in Queue':>18}")
-  print("-" * 132)
-  def sort_key(x):
-    k, v = x
-    avg = v['sum'] / v['count']
-    freq = SERVICE_LIST.get(k, None)
-    freq_val = freq.frequency if freq else 0.0
-    kb_per_min = (avg * freq_val * 60) / 1024 if freq_val > 0 else 0.0
-    return kb_per_min
-  total_kb_per_min = 0.0
-  RINGBUFFER_SIZE_KB = 10 * 1024  # 10MB old default
-  for k, v in sorted(szs.items(), key=sort_key, reverse=True):
-    avg = v['sum'] / v['count']
-    service = SERVICE_LIST.get(k, None)
-    freq_val = service.frequency if service else 0.0
-    queue_size_kb = (service.queue_size / 1024) if service else 250  # default to SMALL
-    kb_per_min = (avg * freq_val * 60) / 1024 if freq_val > 0 else 0.0
-    kb_per_sec = kb_per_min / 60
-    minutes_in_buffer = RINGBUFFER_SIZE_KB / kb_per_min if kb_per_min > 0 else float('inf')
-    seconds_in_queue = (queue_size_kb / kb_per_sec) if kb_per_sec > 0 else float('inf')
-    total_kb_per_min += kb_per_min
-    min_str = f"{minutes_in_buffer:.2f}" if minutes_in_buffer != float('inf') else "inf"
-    sec_queue_str = f"{seconds_in_queue:.2f}" if seconds_in_queue != float('inf') else "inf"
-    print(f"{k:<36} {v['min']/1024:>12.2f} {v['max']/1024:>12.2f} {avg/1024:>12.2f} {kb_per_min:>12.2f} {kb_per_sec:>12.2f} {min_str:>18} {sec_queue_str:>18}")
-
-  # Summary section
-  print()
-  print(f"Total usage: {total_kb_per_min / 1024:.2f} MB/min")
-
-  # Calculate memory usage: old (10MB for all) vs new (from services.py)
-  OLD_SIZE = 10 * 1024 * 1024  # 10MB was the old default
-  old_total = len(SERVICE_LIST) * OLD_SIZE
-
-  new_total = sum(s.queue_size for s in SERVICE_LIST.values())
-
-  # Count by queue size
-  size_counts = {QueueSize.BIG: 0, QueueSize.MEDIUM: 0, QueueSize.SMALL: 0}
-  for s in SERVICE_LIST.values():
-    size_counts[s.queue_size] += 1
-
-  savings_pct = (1 - new_total / old_total) * 100
-
-  print()
-  print(f"{'Queue Size Comparison':<40}")
-  print("-" * 60)
-  print(f"{'Old (10MB default):':<30} {old_total / 1024 / 1024:>10.2f} MB")
-  print(f"{'New (from services.py):':<30} {new_total / 1024 / 1024:>10.2f} MB")
-  print(f"{'Savings:':<30} {savings_pct:>10.1f}%")
-  print()
-  print(f"{'Breakdown:':<30}")
-  print(f"  BIG (10MB):    {size_counts[QueueSize.BIG]:>3} services")
-  print(f"  MEDIUM (2MB):  {size_counts[QueueSize.MEDIUM]:>3} services")
-  print(f"  SMALL (250KB): {size_counts[QueueSize.SMALL]:>3} services")

selfdrive/locationd/helpers.py

@@ -172,7 +172,7 @@ class PoseCalibrator:
     ned_from_calib_euler = self._ned_from_calib(pose.orientation)
     angular_velocity_calib = self._transform_calib_from_device(pose.angular_velocity)
     acceleration_calib = self._transform_calib_from_device(pose.acceleration)
-    velocity_calib = self._transform_calib_from_device(pose.velocity)
+    velocity_calib = self._transform_calib_from_device(pose.angular_velocity)
 
     return Pose(ned_from_calib_euler, velocity_calib, acceleration_calib, angular_velocity_calib)
 

selfdrive/modeld/tests/test_modeld.py

@@ -0,0 +1,102 @@
+import numpy as np
+import random
+
+import cereal.messaging as messaging
+from msgq.visionipc import VisionIpcServer, VisionStreamType
+from opendbc.car.car_helpers import get_demo_car_params
+from openpilot.common.params import Params
+from openpilot.common.transformations.camera import DEVICE_CAMERAS
+from openpilot.common.realtime import DT_MDL
+from openpilot.system.manager.process_config import managed_processes
+from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state
+
+CAM = DEVICE_CAMERAS[("tici", "ar0231")].fcam
+IMG = np.zeros(int(CAM.width*CAM.height*(3/2)), dtype=np.uint8)
+IMG_BYTES = IMG.flatten().tobytes()
+
+
+class TestModeld:
+
+  def setup_method(self):
+    self.vipc_server = VisionIpcServer("camerad")
+    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, CAM.width, CAM.height)
+    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, CAM.width, CAM.height)
+    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, CAM.width, CAM.height)
+    self.vipc_server.start_listener()
+    Params().put("CarParams", get_demo_car_params().to_bytes())
+
+    self.sm = messaging.SubMaster(['modelV2', 'cameraOdometry'])
+    self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'liveCalibration'])
+
+    managed_processes['modeld'].start()
+    self.pm.wait_for_readers_to_update("roadCameraState", 10)
+
+  def teardown_method(self):
+    managed_processes['modeld'].stop()
+    del self.vipc_server
+
+  def _send_frames(self, frame_id, cams=None):
+    if cams is None:
+      cams = ('roadCameraState', 'wideRoadCameraState')
+
+    cs = None
+    for cam in cams:
+      msg = messaging.new_message(cam)
+      cs = getattr(msg, cam)
+      cs.frameId = frame_id
+      cs.timestampSof = int((frame_id * DT_MDL) * 1e9)
+      cs.timestampEof = int(cs.timestampSof + (DT_MDL * 1e9))
+      cam_meta = meta_from_camera_state(cam)
+
+      self.pm.send(msg.which(), msg)
+      self.vipc_server.send(cam_meta.stream, IMG_BYTES, cs.frameId,
+                            cs.timestampSof, cs.timestampEof)
+    return cs
+
+  def _wait(self):
+    self.sm.update(5000)
+    if self.sm['modelV2'].frameId != self.sm['cameraOdometry'].frameId:
+      self.sm.update(1000)
+
+  def test_modeld(self):
+    for n in range(1, 500):
+      cs = self._send_frames(n)
+      self._wait()
+
+      mdl = self.sm['modelV2']
+      assert mdl.frameId == n
+      assert mdl.frameIdExtra == n
+      assert mdl.timestampEof == cs.timestampEof
+      assert mdl.frameAge == 0
+      assert mdl.frameDropPerc == 0
+
+      odo = self.sm['cameraOdometry']
+      assert odo.frameId == n
+      assert odo.timestampEof == cs.timestampEof
+
+  def test_dropped_frames(self):
+    """
+      modeld should only run on consecutive road frames
+    """
+    frame_id = -1
+    road_frames = list()
+    for n in range(1, 50):
+      if (random.random() < 0.1) and n > 3:
+        cams = random.choice([(), ('wideRoadCameraState', )])
+        self._send_frames(n, cams)
+      else:
+        self._send_frames(n)
+        road_frames.append(n)
+      self._wait()
+
+      if len(road_frames) < 3 or road_frames[-1] - road_frames[-2] == 1:
+        frame_id = road_frames[-1]
+
+      mdl = self.sm['modelV2']
+      odo = self.sm['cameraOdometry']
+      assert mdl.frameId == frame_id
+      assert mdl.frameIdExtra == frame_id
+      assert odo.frameId == frame_id
+      if n != frame_id:
+        assert not self.sm.updated['modelV2']
+        assert not self.sm.updated['cameraOdometry']

selfdrive/monitoring/dmonitoringd.py

@@ -40,8 +40,8 @@ def dmonitoringd_thread():
 
     # save rhd virtual toggle every 5 mins
     if (sm['driverStateV2'].frameId % 6000 == 0 and not demo_mode and
-     DM.wheelpos.prob_offseter.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
-     DM.wheel_on_right == (DM.wheelpos.prob_offseter.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
+     DM.wheelpos_learner.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
+     DM.wheel_on_right == (DM.wheelpos_learner.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
       params.put_bool_nonblocking("IsRhdDetected", DM.wheel_on_right)
 
 def main():

selfdrive/monitoring/helpers.py

@@ -40,9 +40,6 @@ class DRIVER_MONITOR_SETTINGS:
     self._PHONE_THRESH2 = 15.0
     self._PHONE_MAX_OFFSET = 0.06
     self._PHONE_MIN_OFFSET = 0.025
-    self._PHONE_DATA_AVG = 0.05
-    self._PHONE_DATA_VAR = 3*0.005
-    self._PHONE_MAX_COUNT = int(360 / self._DT_DMON)
 
     self._POSE_PITCH_THRESHOLD = 0.3133
     self._POSE_PITCH_THRESHOLD_SLACK = 0.3237
@@ -50,11 +47,9 @@ class DRIVER_MONITOR_SETTINGS:
     self._POSE_YAW_THRESHOLD = 0.4020
     self._POSE_YAW_THRESHOLD_SLACK = 0.5042
     self._POSE_YAW_THRESHOLD_STRICT = self._POSE_YAW_THRESHOLD
-    self._PITCH_NATURAL_OFFSET = 0.011 # initial value before offset is learned
+    self._PITCH_NATURAL_OFFSET = 0.029 # initial value before offset is learned
     self._PITCH_NATURAL_THRESHOLD = 0.449
-    self._YAW_NATURAL_OFFSET = 0.075 # initial value before offset is learned
-    self._PITCH_NATURAL_VAR = 3*0.01
-    self._YAW_NATURAL_VAR = 3*0.05
+    self._YAW_NATURAL_OFFSET = 0.097 # initial value before offset is learned
     self._PITCH_MAX_OFFSET = 0.124
     self._PITCH_MIN_OFFSET = -0.0881
     self._YAW_MAX_OFFSET = 0.289
@@ -75,9 +70,6 @@ class DRIVER_MONITOR_SETTINGS:
     self._WHEELPOS_CALIB_MIN_SPEED = 11
     self._WHEELPOS_THRESHOLD = 0.5
     self._WHEELPOS_FILTER_MIN_COUNT = int(15 / self._DT_DMON) # allow 15 seconds to converge wheel side
-    self._WHEELPOS_DATA_AVG = 0.03
-    self._WHEELPOS_DATA_VAR = 3*5.5e-5
-    self._WHEELPOS_MAX_COUNT = -1
 
     self._RECOVERY_FACTOR_MAX = 5.  # relative to minus step change
     self._RECOVERY_FACTOR_MIN = 1.25  # relative to minus step change
@@ -86,33 +78,30 @@ class DRIVER_MONITOR_SETTINGS:
     self._MAX_TERMINAL_DURATION = int(30 / self._DT_DMON)  # not allowed to engage after 30s of terminal alerts
 
 class DistractedType:
-
   NOT_DISTRACTED = 0
   DISTRACTED_POSE = 1 << 0
   DISTRACTED_BLINK = 1 << 1
   DISTRACTED_PHONE = 1 << 2
 
 class DriverPose:
-  def __init__(self, settings):
-    pitch_filter_raw_priors = (settings._PITCH_NATURAL_OFFSET, settings._PITCH_NATURAL_VAR, 2)
-    yaw_filter_raw_priors = (settings._YAW_NATURAL_OFFSET, settings._YAW_NATURAL_VAR, 2)
+  def __init__(self, max_trackable):
     self.yaw = 0.
     self.pitch = 0.
     self.roll = 0.
     self.yaw_std = 0.
     self.pitch_std = 0.
     self.roll_std = 0.
-    self.pitch_offseter = RunningStatFilter(raw_priors=pitch_filter_raw_priors, max_trackable=settings._POSE_OFFSET_MAX_COUNT)
-    self.yaw_offseter = RunningStatFilter(raw_priors=yaw_filter_raw_priors, max_trackable=settings._POSE_OFFSET_MAX_COUNT)
+    self.pitch_offseter = RunningStatFilter(max_trackable=max_trackable)
+    self.yaw_offseter = RunningStatFilter(max_trackable=max_trackable)
     self.calibrated = False
     self.low_std = True
     self.cfactor_pitch = 1.
     self.cfactor_yaw = 1.
 
-class DriverProb:
-  def __init__(self, raw_priors, max_trackable):
+class DriverPhone:
+  def __init__(self, max_trackable):
     self.prob = 0.
-    self.prob_offseter = RunningStatFilter(raw_priors=raw_priors, max_trackable=max_trackable)
+    self.prob_offseter = RunningStatFilter(max_trackable=max_trackable)
     self.prob_calibrated = False
 
 class DriverBlink:
@@ -151,11 +140,9 @@ class DriverMonitoring:
     self.settings = settings if settings is not None else DRIVER_MONITOR_SETTINGS(device_type=HARDWARE.get_device_type())
 
     # init driver status
-    wheelpos_filter_raw_priors = (self.settings._WHEELPOS_DATA_AVG, self.settings._WHEELPOS_DATA_VAR, 2)
-    phone_filter_raw_priors = (self.settings._PHONE_DATA_AVG, self.settings._PHONE_DATA_VAR, 2)
-    self.wheelpos = DriverProb(raw_priors=wheelpos_filter_raw_priors, max_trackable=self.settings._WHEELPOS_MAX_COUNT)
-    self.phone = DriverProb(raw_priors=phone_filter_raw_priors, max_trackable=self.settings._PHONE_MAX_COUNT)
-    self.pose = DriverPose(settings=self.settings)
+    self.wheelpos_learner = RunningStatFilter()
+    self.pose = DriverPose(self.settings._POSE_OFFSET_MAX_COUNT)
+    self.phone = DriverPhone(self.settings._POSE_OFFSET_MAX_COUNT)
     self.blink = DriverBlink()
 
     self.always_on = always_on
@@ -247,11 +234,8 @@ class DriverMonitoring:
                                                     self.settings._YAW_MIN_OFFSET), self.settings._YAW_MAX_OFFSET)
     pitch_error = 0 if pitch_error > 0 else abs(pitch_error) # no positive pitch limit
     yaw_error = abs(yaw_error)
-
-    pitch_threshold = self.settings._POSE_PITCH_THRESHOLD * self.pose.cfactor_pitch if self.pose.calibrated else self.settings._PITCH_NATURAL_THRESHOLD
-    yaw_threshold = self.settings._POSE_YAW_THRESHOLD * self.pose.cfactor_yaw
-
-    if pitch_error > pitch_threshold or yaw_error > yaw_threshold:
+    if pitch_error > (self.settings._POSE_PITCH_THRESHOLD*self.pose.cfactor_pitch if self.pose.calibrated else self.settings._PITCH_NATURAL_THRESHOLD) or \
+       yaw_error > self.settings._POSE_YAW_THRESHOLD*self.pose.cfactor_yaw:
       distracted_types.append(DistractedType.DISTRACTED_POSE)
 
     if (self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD:
@@ -272,12 +256,9 @@ class DriverMonitoring:
     # calibrates only when there's movement and either face detected
     if car_speed > self.settings._WHEELPOS_CALIB_MIN_SPEED and (driver_state.leftDriverData.faceProb > self.settings._FACE_THRESHOLD or
                                           driver_state.rightDriverData.faceProb > self.settings._FACE_THRESHOLD):
-      self.wheelpos.prob_offseter.push_and_update(rhd_pred)
-
-    self.wheelpos.prob_calibrated = self.wheelpos.prob_offseter.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT
-
-    if self.wheelpos.prob_calibrated or demo_mode:
-      self.wheel_on_right = self.wheelpos.prob_offseter.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
+      self.wheelpos_learner.push_and_update(rhd_pred)
+    if self.wheelpos_learner.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT or demo_mode:
+      self.wheel_on_right = self.wheelpos_learner.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
     else:
       self.wheel_on_right = self.wheel_on_right_default # use default/saved if calibration is unfinished
     # make sure no switching when engaged
@@ -449,8 +430,7 @@ class DriverMonitoring:
       rpyCalib = [0., 0., 0.]
     else:
       highway_speed = sm['carState'].vEgo
-      # TODO-SP: unit test to assert both control checks are always present
-      enabled = sm['selfdriveState'].enabled or sm['carControl'].latActive
+      enabled = sm['selfdriveState'].enabled
       wrong_gear = sm['carState'].gearShifter not in (car.CarState.GearShifter.drive, car.CarState.GearShifter.low)
       standstill = sm['carState'].standstill
       driver_engaged = sm['carState'].steeringPressed or sm['carState'].gasPressed

selfdrive/pandad/pandad.cc

@@ -11,7 +11,6 @@
 
 #include "cereal/gen/cpp/car.capnp.h"
 #include "cereal/messaging/messaging.h"
-#include "cereal/services.h"
 #include "common/ratekeeper.h"
 #include "common/swaglog.h"
 #include "common/timing.h"
@@ -104,7 +103,7 @@ void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
 
   AlignedBuffer aligned_buf;
   std::unique_ptr<Context> context(Context::create());
-  std::unique_ptr<SubSocket> subscriber(SubSocket::create(context.get(), "sendcan", "127.0.0.1", false, true, services.at("sendcan").queue_size));
+  std::unique_ptr<SubSocket> subscriber(SubSocket::create(context.get(), "sendcan"));
   assert(subscriber != NULL);
   subscriber->setTimeout(100);
 

selfdrive/selfdrived/events.py

@@ -87,6 +87,15 @@ def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.S
     Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 0.4)
 
 
+def steer_saturated_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+  steer_text2 = "Steer Left" if sm['carControl'].actuators.torque > 0 else "Steer Right"
+  return Alert(
+    "Take Control",
+    steer_text2,
+    AlertStatus.userPrompt, AlertSize.mid,
+    Priority.LOW, VisualAlert.steerRequired, AudibleAlert.promptRepeat, 2.)
+
+
 def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   first_word = 'Recalibrating' if sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.recalibrating else 'Calibrating'
   return Alert(
@@ -892,11 +901,7 @@ if HARDWARE.get_device_type() == 'mici':
         Priority.LOW, VisualAlert.none, AudibleAlert.prompt, .1),
     },
     EventName.steerSaturated: {
-      ET.WARNING: Alert(
-        "take control",
-        "turn exceeds limit",
-        AlertStatus.userPrompt, AlertSize.mid,
-        Priority.LOW, VisualAlert.steerRequired, AudibleAlert.promptRepeat, 2.),
+      ET.WARNING: steer_saturated_alert,
     },
     EventName.calibrationIncomplete: {
       ET.PERMANENT: calibration_incomplete_alert,

selfdrive/test/process_replay/test_processes.py

@@ -46,8 +46,7 @@ segments = [
   ("HYUNDAI", "regenAA0FC4ED71E|2025-04-08--22-57-50--0"),
   ("HYUNDAI2", "regenAFB9780D823|2025-04-08--23-00-34--0"),
   ("TOYOTA", "regen218A4DCFAA1|2025-04-08--22-57-51--0"),
-  # TODO: get new RAV4 route without enableDsu
-  # ("TOYOTA2", "regen107352E20EB|2025-04-08--22-57-46--0"),
+  ("TOYOTA2", "regen107352E20EB|2025-04-08--22-57-46--0"),
   ("TOYOTA3", "regen1455E3B4BDF|2025-04-09--03-26-06--0"),
   ("HONDA", "regenB328FF8BA0A|2025-04-08--22-57-45--0"),
   ("HONDA2", "regen6170C8C9A35|2025-04-08--22-57-46--0"),

selfdrive/test/test_onroad.py

@@ -121,7 +121,6 @@ class TestOnroad:
     params.put_bool("RecordFront", True)
     set_params_enabled()
     os.environ['REPLAY'] = '1'
-    os.environ['MSGQ_PREALLOC'] = '1'
     os.environ['TESTING_CLOSET'] = '1'
     if os.path.exists(Paths.log_root()):
       shutil.rmtree(Paths.log_root())
@@ -207,9 +206,8 @@ class TestOnroad:
     result += "-------------- UI Draw Timing ------------------\n"
     result += "------------------------------------------------\n"
 
-    # other processes preempt ui while starting up
-    offset = int(20 * LOG_OFFSET)
-    ts = self.ts['uiDebug']['drawTimeMillis'][offset:]
+    # skip first few frames -- connecting to vipc
+    ts = self.ts['uiDebug']['drawTimeMillis'][15:]
     result += f"min  {min(ts):.2f}ms\n"
     result += f"max  {max(ts):.2f}ms\n"
     result += f"std  {np.std(ts):.2f}ms\n"
@@ -284,12 +282,11 @@ class TestOnroad:
     print("------------------------------------------------")
     offset = int(SERVICE_LIST['deviceState'].frequency * LOG_OFFSET)
     mems = [m.deviceState.memoryUsagePercent for m in self.msgs['deviceState'][offset:]]
-    print("Overall memory usage: ", mems)
-    print("MSGQ (/dev/shm/) usage: ", subprocess.check_output(["du", "-hs", "/dev/shm"]).split()[0].decode())
+    print("Memory usage: ", mems)
 
     # check for big leaks. note that memory usage is
     # expected to go up while the MSGQ buffers fill up
-    assert np.average(mems) <= 80, "Average memory usage too high"
+    assert np.average(mems) <= 85, "Average memory usage above 85%"
     assert np.max(np.diff(mems)) <= 4, "Max memory increase too high"
     assert np.average(np.diff(mems)) <= 1, "Average memory increase too high"
 

selfdrive/ui/layouts/home.py

@@ -227,6 +227,6 @@ class HomeLayout(Widget):
     self._prev_alerts_present = alerts_present
 
   def _get_version_text(self) -> str:
-    brand = "sunnypilot"
+    brand = "openpilot"
     description = self.params.get("UpdaterCurrentDescription")
     return f"{brand} {description}" if description else brand

selfdrive/ui/layouts/main.py

@@ -10,9 +10,6 @@ from openpilot.selfdrive.ui.ui_state import device, ui_state
 from openpilot.system.ui.widgets import Widget
 from openpilot.selfdrive.ui.layouts.onboarding import OnboardingWindow
 
-if gui_app.sunnypilot_ui():
-  from openpilot.selfdrive.ui.sunnypilot.layouts.settings.settings import SettingsLayoutSP as SettingsLayout
-
 
 class MainState(IntEnum):
   HOME = 0

selfdrive/ui/layouts/onboarding.py

@@ -109,8 +109,8 @@ class TermsPage(Widget):
     self._on_accept = on_accept
     self._on_decline = on_decline
 
-    self._title = Label(tr("Welcome to sunnypilot"), font_size=90, font_weight=FontWeight.BOLD, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
-    self._desc = Label(tr("You must accept the Terms and Conditions to use sunnypilot. Read the latest terms at https://comma.ai/terms before continuing."),
+    self._title = Label(tr("Welcome to openpilot"), font_size=90, font_weight=FontWeight.BOLD, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
+    self._desc = Label(tr("You must accept the Terms and Conditions to use openpilot. Read the latest terms at https://comma.ai/terms before continuing."),
                        font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
 
     self._decline_btn = Button(tr("Decline"), click_callback=on_decline)
@@ -143,10 +143,10 @@ class TermsPage(Widget):
 class DeclinePage(Widget):
   def __init__(self, back_callback=None):
     super().__init__()
-    self._text = Label(tr("You must accept the Terms and Conditions in order to use sunnypilot."),
+    self._text = Label(tr("You must accept the Terms and Conditions in order to use openpilot."),
                        font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
     self._back_btn = Button(tr("Back"), click_callback=back_callback)
-    self._uninstall_btn = Button(tr("Decline, uninstall sunnypilot"), button_style=ButtonStyle.DANGER,
+    self._uninstall_btn = Button(tr("Decline, uninstall openpilot"), button_style=ButtonStyle.DANGER,
                                  click_callback=self._on_uninstall_clicked)
 
   def _on_uninstall_clicked(self):

selfdrive/ui/layouts/settings/developer.py

@@ -23,11 +23,10 @@ DESCRIPTIONS = {
     "other than your own. A comma employee will NEVER ask you to add their GitHub username."
   ),
   'alpha_longitudinal': tr_noop(
-    "<b>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</b><br><br>" +
-    "On this car, sunnypilot defaults to the car's built-in ACC instead of sunnypilot's longitudinal control. " +
-    "Enable this to switch to sunnypilot longitudinal control. " +
-    "Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha. " +
-    "Changing this setting will restart sunnypilot if the car is powered on."
+    "<b>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</b><br><br>" +
+    "On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. " +
+    "Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. " +
+    "Changing this setting will restart openpilot if the car is powered on."
   ),
 }
 
@@ -72,7 +71,7 @@ class DeveloperLayout(Widget):
     )
 
     self._alpha_long_toggle = toggle_item(
-      lambda: tr("sunnypilot Longitudinal Control (Alpha)"),
+      lambda: tr("openpilot Longitudinal Control (Alpha)"),
       description=lambda: tr(DESCRIPTIONS["alpha_longitudinal"]),
       initial_state=self._params.get_bool("AlphaLongitudinalEnabled"),
       callback=self._on_alpha_long_enabled,
@@ -149,7 +148,6 @@ class DeveloperLayout(Widget):
     self._params.put_bool("ShowDebugInfo", state)
     gui_app.set_show_touches(state)
     gui_app.set_show_fps(state)
-    gui_app.set_show_mouse_coords(state)
 
   def _on_enable_adb(self, state: bool):
     self._params.put_bool("AdbEnabled", state)

selfdrive/ui/layouts/settings/device.py

@@ -19,15 +19,12 @@ from openpilot.system.ui.widgets.list_view import text_item, button_item, dual_b
 from openpilot.system.ui.widgets.option_dialog import MultiOptionDialog
 from openpilot.system.ui.widgets.scroller_tici import Scroller
 
-if gui_app.sunnypilot_ui():
-  from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp as button_item
-
 # Description constants
 DESCRIPTIONS = {
   'pair_device': tr_noop("Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."),
   'driver_camera': tr_noop("Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"),
-  'reset_calibration': tr_noop("sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."),
-  'review_guide': tr_noop("Review the rules, features, and limitations of sunnypilot"),
+  'reset_calibration': tr_noop("openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."),
+  'review_guide': tr_noop("Review the rules, features, and limitations of openpilot"),
 }
 
 
@@ -165,8 +162,8 @@ class DeviceLayout(Widget):
         cloudlog.exception("invalid LiveTorqueParameters")
 
     desc += "<br><br>"
-    desc += tr("sunnypilot is continuously calibrating, resetting is rarely required. " +
-               "Resetting calibration will restart sunnypilot if the car is powered on.")
+    desc += tr("openpilot is continuously calibrating, resetting is rarely required. " +
+               "Resetting calibration will restart openpilot if the car is powered on.")
 
     self._reset_calib_btn.set_description(desc)
 

selfdrive/ui/layouts/settings/firehose.py

@@ -1,15 +1,23 @@
 import pyray as rl
+import time
+import threading
 
+from openpilot.common.api import api_get
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
 from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
 from openpilot.system.ui.lib.multilang import tr, trn, tr_noop
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.lib.wrap_text import wrap_text
-from openpilot.selfdrive.ui.mici.layouts.settings.firehose import FirehoseLayoutBase
+from openpilot.system.ui.widgets import Widget
+from openpilot.selfdrive.ui.lib.api_helpers import get_token
 
 TITLE = tr_noop("Firehose Mode")
 DESCRIPTION = tr_noop(
-  "sunnypilot learns to drive by watching humans, like you, drive.\n\n"
+  "openpilot learns to drive by watching humans, like you, drive.\n\n"
   + "Firehose Mode allows you to maximize your training data uploads to improve "
   + "openpilot's driving models. More data means bigger models, which means better Experimental Mode."
 )
@@ -24,17 +32,50 @@ INSTRUCTIONS = tr_noop(
 )
 
 
-class FirehoseLayout(FirehoseLayoutBase):
+class FirehoseLayout(Widget):
+  PARAM_KEY = "ApiCache_FirehoseStats"
+  GREEN = rl.Color(46, 204, 113, 255)
+  RED = rl.Color(231, 76, 60, 255)
+  GRAY = rl.Color(68, 68, 68, 255)
+  LIGHT_GRAY = rl.Color(228, 228, 228, 255)
+  UPDATE_INTERVAL = 30  # seconds
+
   def __init__(self):
     super().__init__()
-    self._scroll_panel = GuiScrollPanel()
+    self.params = Params()
+    self.segment_count = self._get_segment_count()
+    self.scroll_panel = GuiScrollPanel()
+    self._content_height = 0
+
+    self.running = True
+    self.update_thread = threading.Thread(target=self._update_loop, daemon=True)
+    self.update_thread.start()
+    self.last_update_time = 0
+
+  def show_event(self):
+    self.scroll_panel.set_offset(0)
+
+  def _get_segment_count(self) -> int:
+    stats = self.params.get(self.PARAM_KEY)
+    if not stats:
+      return 0
+    try:
+      return int(stats.get("firehose", 0))
+    except Exception:
+      cloudlog.exception(f"Failed to decode firehose stats: {stats}")
+      return 0
+
+  def __del__(self):
+    self.running = False
+    if self.update_thread and self.update_thread.is_alive():
+      self.update_thread.join(timeout=1.0)
 
   def _render(self, rect: rl.Rectangle):
     # Calculate content dimensions
     content_rect = rl.Rectangle(rect.x, rect.y, rect.width, self._content_height)
 
     # Handle scrolling and render with clipping
-    scroll_offset = self._scroll_panel.update(rect, content_rect)
+    scroll_offset = self.scroll_panel.update(rect, content_rect)
     rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height))
     self._content_height = self._render_content(rect, scroll_offset)
     rl.end_scissor_mode()
@@ -66,9 +107,9 @@ class FirehoseLayout(FirehoseLayoutBase):
     y += 20 + 20
 
     # Contribution count (if available)
-    if self._segment_count > 0:
+    if self.segment_count > 0:
       contrib_text = trn("{} segment of your driving is in the training dataset so far.",
-                         "{} segments of your driving is in the training dataset so far.", self._segment_count).format(self._segment_count)
+                         "{} segments of your driving is in the training dataset so far.", self.segment_count).format(self.segment_count)
       y = self._draw_wrapped_text(x, y, w, contrib_text, gui_app.font(FontWeight.BOLD), 52, rl.WHITE)
       y += 20 + 20
 
@@ -80,7 +121,7 @@ class FirehoseLayout(FirehoseLayoutBase):
     y = self._draw_wrapped_text(x, y, w, tr(INSTRUCTIONS), gui_app.font(FontWeight.NORMAL), 40, self.LIGHT_GRAY)
 
     # bottom margin + remove effect of scroll offset
-    return int(round(y - self._scroll_panel.offset + 40))
+    return int(round(y - self.scroll_panel.offset + 40))
 
   def _draw_wrapped_text(self, x, y, width, text, font, font_size, color):
     wrapped = wrap_text(font, text, font_size, width)
@@ -88,3 +129,32 @@ class FirehoseLayout(FirehoseLayoutBase):
       rl.draw_text_ex(font, line, rl.Vector2(x, y), font_size, 0, color)
       y += font_size * FONT_SCALE
     return round(y)
+
+  def _get_status(self) -> tuple[str, rl.Color]:
+    network_type = ui_state.sm["deviceState"].networkType
+    network_metered = ui_state.sm["deviceState"].networkMetered
+
+    if not network_metered and network_type != 0:  # Not metered and connected
+      return tr("ACTIVE"), self.GREEN
+    else:
+      return tr("INACTIVE: connect to an unmetered network"), self.RED
+
+  def _fetch_firehose_stats(self):
+    try:
+      dongle_id = self.params.get("DongleId")
+      if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID:
+        return
+      identity_token = get_token(dongle_id)
+      response = api_get(f"v1/devices/{dongle_id}/firehose_stats", access_token=identity_token)
+      if response.status_code == 200:
+        data = response.json()
+        self.segment_count = data.get("firehose", 0)
+        self.params.put(self.PARAM_KEY, data)
+    except Exception as e:
+      cloudlog.error(f"Failed to fetch firehose stats: {e}")
+
+  def _update_loop(self):
+    while self.running:
+      if not ui_state.started:
+        self._fetch_firehose_stats()
+      time.sleep(self.UPDATE_INTERVAL)

selfdrive/ui/layouts/settings/software.py

@@ -11,19 +11,9 @@ from openpilot.system.ui.widgets.list_view import button_item, text_item, ListIt
 from openpilot.system.ui.widgets.option_dialog import MultiOptionDialog
 from openpilot.system.ui.widgets.scroller_tici import Scroller
 
-if gui_app.sunnypilot_ui():
-  from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp as button_item
-
 # TODO: remove this. updater fails to respond on startup if time is not correct
 UPDATED_TIMEOUT = 10  # seconds to wait for updated to respond
 
-# Mapping updater internal states to translated display strings
-STATE_TO_DISPLAY_TEXT = {
-  "checking...": tr("checking..."),
-  "downloading...": tr("downloading..."),
-  "finalizing update...": tr("finalizing update..."),
-}
-
 
 def time_ago(date: datetime.datetime | None) -> str:
   if not date:
@@ -110,9 +100,7 @@ class SoftwareLayout(Widget):
       # Updater responded
       self._waiting_for_updater = False
       self._download_btn.action_item.set_enabled(False)
-      # Use the mapping, with a fallback to the original state string
-      display_text = STATE_TO_DISPLAY_TEXT.get(updater_state, updater_state)
-      self._download_btn.action_item.set_value(display_text)
+      self._download_btn.action_item.set_value(updater_state)
     else:
       if failed_count > 0:
         self._download_btn.action_item.set_value(tr("failed to check for update"))

selfdrive/ui/layouts/settings/toggles.py

@@ -11,27 +11,26 @@ from openpilot.selfdrive.ui.ui_state import ui_state
 
 if gui_app.sunnypilot_ui():
   from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp as toggle_item
-  from openpilot.system.ui.sunnypilot.widgets.list_view import multiple_button_item_sp as multiple_button_item
 
 PERSONALITY_TO_INT = log.LongitudinalPersonality.schema.enumerants
 
 # Description constants
 DESCRIPTIONS = {
   "OpenpilotEnabledToggle": tr_noop(
-    "Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. " +
+    "Use the openpilot system for adaptive cruise control and lane keep driver assistance. " +
     "Your attention is required at all times to use this feature."
   ),
-  "DisengageOnAccelerator": tr_noop("When enabled, pressing the accelerator pedal will disengage sunnypilot."),
+  "DisengageOnAccelerator": tr_noop("When enabled, pressing the accelerator pedal will disengage openpilot."),
   "LongitudinalPersonality": tr_noop(
-    "Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. " +
-    "In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with " +
+    "Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. " +
+    "In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with " +
     "your steering wheel distance button."
   ),
   "IsLdwEnabled": tr_noop(
     "Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line " +
     "without a turn signal activated while driving over 31 mph (50 km/h)."
   ),
-  "AlwaysOnDM": tr_noop("Enable driver monitoring even when sunnypilot is not engaged."),
+  "AlwaysOnDM": tr_noop("Enable driver monitoring even when openpilot is not engaged."),
   'RecordFront': tr_noop("Upload data from the driver facing camera and help improve the driver monitoring algorithm."),
   "IsMetric": tr_noop("Display speed in km/h instead of mph."),
   "RecordAudio": tr_noop("Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."),
@@ -47,7 +46,7 @@ class TogglesLayout(Widget):
     # param, title, desc, icon, needs_restart
     self._toggle_defs = {
       "OpenpilotEnabledToggle": (
-        lambda: tr("Enable sunnypilot"),
+        lambda: tr("Enable openpilot"),
         DESCRIPTIONS["OpenpilotEnabledToggle"],
         "chffr_wheel.png",
         True,
@@ -100,7 +99,7 @@ class TogglesLayout(Widget):
       lambda: tr("Driving Personality"),
       lambda: tr(DESCRIPTIONS["LongitudinalPersonality"]),
       buttons=[lambda: tr("Aggressive"), lambda: tr("Standard"), lambda: tr("Relaxed")],
-      button_width=300,
+      button_width=255,
       callback=self._set_longitudinal_personality,
       selected_index=self._params.get("LongitudinalPersonality", return_default=True),
       icon="speed_limit.png"
@@ -126,7 +125,7 @@ class TogglesLayout(Widget):
       # Make description callable for live translation
       additional_desc = ""
       if needs_restart and not locked:
-        additional_desc = tr("Changing this setting will restart sunnypilot if the car is powered on.")
+        additional_desc = tr("Changing this setting will restart openpilot if the car is powered on.")
       toggle.set_description(lambda og_desc=toggle.description, add_desc=additional_desc: tr(og_desc) + (" " + tr(add_desc) if add_desc else ""))
 
       # track for engaged state updates
@@ -159,10 +158,10 @@ class TogglesLayout(Widget):
     ui_state.update_params()
 
     e2e_description = tr(
-      "sunnypilot defaults to driving in chill mode. Experimental mode enables alpha-level features that aren't ready for chill mode. " +
+      "openpilot defaults to driving in chill mode. Experimental mode enables alpha-level features that aren't ready for chill mode. " +
       "Experimental features are listed below:<br>" +
       "<h4>End-to-End Longitudinal Control</h4><br>" +
-      "Let the driving model control the gas and brakes. sunnypilot will drive as it thinks a human would, including stopping for red lights and stop signs. " +
+      "Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. " +
       "Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; " +
       "mistakes should be expected.<br>" +
       "<h4>New Driving Visualization</h4><br>" +
@@ -184,13 +183,13 @@ class TogglesLayout(Widget):
 
         unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control.")
 
-        long_desc = unavailable + " " + tr("sunnypilot longitudinal control may come in a future update.")
+        long_desc = unavailable + " " + tr("openpilot longitudinal control may come in a future update.")
         if ui_state.CP.alphaLongitudinalAvailable:
           if self._is_release:
-            long_desc = unavailable + " " + tr("An alpha version of sunnypilot longitudinal control can be tested, along with " +
+            long_desc = unavailable + " " + tr("An alpha version of openpilot longitudinal control can be tested, along with " +
                                                "Experimental mode, on non-release branches.")
           else:
-            long_desc = tr("Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.")
+            long_desc = tr("Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.")
 
         self._toggles["ExperimentalMode"].set_description("<b>" + long_desc + "</b><br><br>" + e2e_description)
     else:

selfdrive/ui/lib/prime_state.py

@@ -67,10 +67,8 @@ class PrimeState:
         cloudlog.info(f"Prime type updated to {prime_type}")
 
   def _worker_thread(self) -> None:
-    from openpilot.selfdrive.ui.ui_state import ui_state, device
     while self._running:
-      if not ui_state.started and device._awake:
-        self._fetch_prime_status()
+      self._fetch_prime_status()
 
       for _ in range(int(self.FETCH_INTERVAL / self.SLEEP_INTERVAL)):
         if not self._running:

selfdrive/ui/mici/layouts/home.py

@@ -3,16 +3,18 @@ import time
 from cereal import log
 import pyray as rl
 from collections.abc import Callable
-from openpilot.system.ui.widgets.label import gui_label, MiciLabel, UnifiedLabel
+from openpilot.system.ui.widgets.label import gui_label, MiciLabel
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.lib.application import gui_app, FontWeight, DEFAULT_TEXT_COLOR, MousePos
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.ui.text import wrap_text
-from openpilot.system.version import training_version, RELEASE_BRANCHES
+from openpilot.system.version import training_version
 
 HEAD_BUTTON_FONT_SIZE = 40
 HOME_PADDING = 8
 
+RELEASE_BRANCH = "release3"
+
 NetworkType = log.DeviceState.NetworkType
 
 NETWORK_TYPES = {
@@ -43,7 +45,7 @@ class DeviceStatus(Widget):
     self._version_text = self._get_version_text()
 
   def _get_version_text(self) -> str:
-    brand = "sunnypilot"
+    brand = "openpilot"
     description = ui_state.params.get("UpdaterCurrentDescription")
     return f"{brand} {description}" if description else brand
 
@@ -109,11 +111,11 @@ class MiciHomeLayout(Widget):
     self._cell_high_txt = gui_app.texture("icons_mici/settings/network/cell_strength_high.png", 55, 35)
     self._cell_full_txt = gui_app.texture("icons_mici/settings/network/cell_strength_full.png", 55, 35)
 
-    self._openpilot_label = MiciLabel("sunnypilot", font_size=96, color=rl.Color(255, 255, 255, int(255 * 0.9)), font_weight=FontWeight.DISPLAY)
+    self._openpilot_label = MiciLabel("openpilot", font_size=96, color=rl.Color(255, 255, 255, int(255 * 0.9)), font_weight=FontWeight.DISPLAY)
     self._version_label = MiciLabel("", font_size=36, font_weight=FontWeight.ROMAN)
     self._large_version_label = MiciLabel("", font_size=64, color=rl.GRAY, font_weight=FontWeight.ROMAN)
     self._date_label = MiciLabel("", font_size=36, color=rl.GRAY, font_weight=FontWeight.ROMAN)
-    self._branch_label = UnifiedLabel("", font_size=36, text_color=rl.GRAY, font_weight=FontWeight.ROMAN, scroll=True)
+    self._branch_label = MiciLabel("", font_size=36, color=rl.GRAY, font_weight=FontWeight.ROMAN, elide_right=False, scroll=True)
     self._version_commit_label = MiciLabel("", font_size=36, color=rl.GRAY, font_weight=FontWeight.ROMAN)
 
   def show_event(self):
@@ -185,22 +187,27 @@ class MiciHomeLayout(Widget):
 
     if self._version_text is not None:
       # release branch
-      release_branch = self._version_text[1] in RELEASE_BRANCHES
-      version_pos = rl.Rectangle(text_pos.x, text_pos.y + self._openpilot_label.font_size + 16, 100, 44)
-      self._version_label.set_text(self._version_text[0])
-      self._version_label.set_position(version_pos.x, version_pos.y)
-      self._version_label.render()
+      if self._version_text[0] == RELEASE_BRANCH:
+        version_pos = rl.Vector2(text_pos.x, text_pos.y + self._openpilot_label.font_size + 16)
+        self._large_version_label.set_text(self._version_text[0])
+        self._large_version_label.set_position(version_pos.x, version_pos.y)
+        self._large_version_label.render()
 
-      self._date_label.set_text(" " + self._version_text[3])
-      self._date_label.set_position(version_pos.x + self._version_label.rect.width + 10, version_pos.y)
-      self._date_label.render()
+      else:
+        version_pos = rl.Rectangle(text_pos.x, text_pos.y + self._openpilot_label.font_size + 16, 100, 44)
+        self._version_label.set_text(self._version_text[0])
+        self._version_label.set_position(version_pos.x, version_pos.y)
+        self._version_label.render()
 
-      self._branch_label.set_max_width(gui_app.width - self._version_label.rect.width - self._date_label.rect.width - 32)
-      self._branch_label.set_text(" " + ("release" if release_branch else self._version_text[1]))
-      self._branch_label.set_position(version_pos.x + self._version_label.rect.width + self._date_label.rect.width + 20, version_pos.y)
-      self._branch_label.render()
+        self._date_label.set_text(" " + self._version_text[3])
+        self._date_label.set_position(version_pos.x + self._version_label.rect.width + 10, version_pos.y)
+        self._date_label.render()
+
+        self._branch_label.set_width(gui_app.width - self._version_label.rect.width - self._date_label.rect.width - 32)
+        self._branch_label.set_text(" " + self._version_text[1])
+        self._branch_label.set_position(version_pos.x + self._version_label.rect.width + self._date_label.rect.width + 20, version_pos.y)
+        self._branch_label.render()
 
-      if not release_branch:
         # 2nd line
         self._version_commit_label.set_text(self._version_text[2])
         self._version_commit_label.set_position(version_pos.x, version_pos.y + self._date_label.font_size + 7)

selfdrive/ui/mici/layouts/main.py

@@ -11,9 +11,6 @@ from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.scroller import Scroller
 from openpilot.system.ui.lib.application import gui_app
 
-if gui_app.sunnypilot_ui():
-  from openpilot.selfdrive.ui.sunnypilot.mici.layouts.settings import SettingsLayoutSP as SettingsLayout
-
 
 ONROAD_DELAY = 2.5  # seconds
 

selfdrive/ui/mici/layouts/offroad_alerts.py

@@ -5,7 +5,6 @@ from dataclasses import dataclass
 from enum import IntEnum
 from openpilot.common.params import Params
 from openpilot.selfdrive.selfdrived.alertmanager import OFFROAD_ALERTS
-from openpilot.system.hardware import HARDWARE
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets.scroller import Scroller
@@ -221,7 +220,6 @@ class MiciOffroadAlerts(Widget):
     update_alert_data = AlertData(key="UpdateAvailable", text="", severity=-1)
     self.sorted_alerts.append(update_alert_data)
     update_alert_item = AlertItem(update_alert_data)
-    update_alert_item.set_click_callback(lambda: HARDWARE.reboot())
     self.alert_items.append(update_alert_item)
     self._scroller.add_widget(update_alert_item)
 
@@ -246,18 +244,18 @@ class MiciOffroadAlerts(Widget):
 
     if update_alert_data:
       if update_available:
-        version_string = ""
+        # Default text
+        update_alert_data.text = "update available. go to comma.ai/blog to read the release notes."
 
         # Get new version description and parse version and date
         new_desc = self.params.get("UpdaterNewDescription") or ""
         if new_desc:
-          # format: "version / branch / commit / date"
+          # Parse description (format: "version / branch / commit / date")
           parts = new_desc.split(" / ")
           if len(parts) > 3:
             version, date = parts[0], parts[3]
-            version_string = f"\nsunnypilot {version}, {date}\n"
+            update_alert_data.text = f"update available\n openpilot {version}, {date}. go to comma.ai/blog to read the release notes."
 
-        update_alert_data.text = f"Update available {version_string}. Click to update. Read the release notes at blog.comma.ai."
         update_alert_data.visible = True
         active_count += 1
       else:

selfdrive/ui/mici/layouts/onboarding.py

@@ -1,14 +1,10 @@
 from enum import IntEnum
+from collections.abc import Callable
 
-import weakref
-import math
-import numpy as np
 import pyray as rl
-from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.system.hardware import HARDWARE
 from openpilot.system.ui.lib.application import FontWeight, gui_app
 from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.widgets.button import SmallButton, SmallCircleIconButton
+from openpilot.system.ui.widgets.button import SmallButton
 from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets.slider import SmallSlider
 from openpilot.system.ui.mici_setup import TermsHeader, TermsPage as SetupTermsPage
@@ -27,12 +23,11 @@ class OnboardingState(IntEnum):
 
 
 class DriverCameraSetupDialog(DriverCameraDialog):
-  def __init__(self):
+  def __init__(self, confirm_callback: Callable):
     super().__init__(no_escape=True)
-    self.driver_state_renderer = DriverStateRenderer(inset=True)
-    self.driver_state_renderer.set_rect(rl.Rectangle(0, 0, 120, 120))
+    self.driver_state_renderer = DriverStateRenderer(confirm_mode=True, confirm_callback=confirm_callback)
+    self.driver_state_renderer.set_rect(rl.Rectangle(0, 0, 200, 200))
     self.driver_state_renderer.load_icons()
-    self.driver_state_renderer.set_force_active(True)
 
   def _render(self, rect):
     rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height))
@@ -45,15 +40,15 @@ class DriverCameraSetupDialog(DriverCameraDialog):
       return -1
 
     # Position dmoji on opposite side from driver
-    is_rhd = self.driver_state_renderer.is_rhd
-    self.driver_state_renderer.set_position(
-      rect.x + 8 if is_rhd else rect.x + rect.width - self.driver_state_renderer.rect.width - 8,
-      rect.y + 8,
+    # TODO: we don't have design for RHD yet
+    is_rhd = False
+    driver_state_rect = (
+      rect.x if is_rhd else rect.x + rect.width - self.driver_state_renderer.rect.width,
+      rect.y + (rect.height - self.driver_state_renderer.rect.height) / 2,
     )
+    self.driver_state_renderer.set_position(*driver_state_rect)
     self.driver_state_renderer.render()
 
-    self._draw_face_detection(rect)
-
     rl.end_scissor_mode()
     return -1
 
@@ -92,54 +87,19 @@ class TrainingGuidePreDMTutorial(SetupTermsPage):
     ))
 
 
-class DMBadFaceDetected(SetupTermsPage):
-  def __init__(self, continue_callback, back_callback):
-    super().__init__(continue_callback, back_callback, continue_text="power off")
-    self._title_header = TermsHeader("make sure comma four can see your face", gui_app.texture("icons_mici/setup/orange_dm.png", 60, 60))
-    self._dm_label = UnifiedLabel("Re-mount if your face is occluded or driver monitoring has difficulty tracking your face.", 42, FontWeight.ROMAN)
-
-  @property
-  def _content_height(self):
-    return self._dm_label.rect.y + self._dm_label.rect.height - self._scroll_panel.get_offset()
-
-  def _render_content(self, scroll_offset):
-    self._title_header.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._rect.y + 16 + scroll_offset,
-      self._title_header.rect.width,
-      self._title_header.rect.height,
-    ))
-
-    self._dm_label.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._title_header.rect.y + self._title_header.rect.height + 16,
-      self._rect.width - 32,
-      self._dm_label.get_content_height(int(self._rect.width - 32)),
-    ))
-
-
 class TrainingGuideDMTutorial(Widget):
-  PROGRESS_DURATION = 4
-  LOOKING_THRESHOLD_DEG = 30.0
-
   def __init__(self, continue_callback):
     super().__init__()
-    self._back_button = SmallCircleIconButton(gui_app.texture("icons_mici/setup/driver_monitoring/dm_question.png", 48, 48))
-    self._back_button.set_click_callback(self._show_bad_face_page)
-    self._good_button = SmallCircleIconButton(gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 48, 35))
+    self._title_header = TermsHeader("fill the circle to continue", gui_app.texture("icons_mici/setup/green_dm.png", 60, 60))
+
+    self._original_continue_callback = continue_callback
 
     # Wrap the continue callback to restore settings
     def wrapped_continue_callback():
-      device.set_offroad_brightness(None)
+      self._restore_settings()
       continue_callback()
 
-    self._good_button.set_click_callback(wrapped_continue_callback)
-    self._good_button.set_enabled(False)
-
-    self._progress = FirstOrderFilter(0.0, 0.5, 1 / gui_app.target_fps)
-    self._dialog = DriverCameraSetupDialog()
-    self._bad_face_page = DMBadFaceDetected(HARDWARE.shutdown, self._hide_bad_face_page)
-    self._should_show_bad_face_page = False
+    self._dialog = DriverCameraSetupDialog(wrapped_continue_callback)
 
     # Disable driver monitoring model when device times out for inactivity
     def inactivity_callback():
@@ -147,113 +107,35 @@ class TrainingGuideDMTutorial(Widget):
 
     device.add_interactive_timeout_callback(inactivity_callback)
 
-  def _show_bad_face_page(self):
-    self._bad_face_page.show_event()
-    self.hide_event()
-    self._should_show_bad_face_page = True
-
-  def _hide_bad_face_page(self):
-    self._bad_face_page.hide_event()
-    self.show_event()
-    self._should_show_bad_face_page = False
-
   def show_event(self):
     super().show_event()
     self._dialog.show_event()
-    self._progress.x = 0.0
 
     device.set_offroad_brightness(100)
+    device.reset_interactive_timeout(300)  # 5 minutes
+
+  def _restore_settings(self):
+    device.set_offroad_brightness(None)
+    device.reset_interactive_timeout()
 
   def _update_state(self):
     super()._update_state()
     if device.awake:
       ui_state.params.put_bool("IsDriverViewEnabled", True)
 
-    sm = ui_state.sm
-    if sm.recv_frame.get("driverMonitoringState", 0) == 0:
-      return
-
-    dm_state = sm["driverMonitoringState"]
-    driver_data = self._dialog.driver_state_renderer.get_driver_data()
-
-    if len(driver_data.faceOrientation) == 3:
-      pitch, yaw, _ = driver_data.faceOrientation
-      looking_center = abs(math.degrees(pitch)) < self.LOOKING_THRESHOLD_DEG and abs(math.degrees(yaw)) < self.LOOKING_THRESHOLD_DEG
-    else:
-      looking_center = False
-
-    # stay at 100% once reached
-    if (dm_state.faceDetected and looking_center) or self._progress.x > 0.99:
-      slow = self._progress.x < 0.25
-      duration = self.PROGRESS_DURATION * 2 if slow else self.PROGRESS_DURATION
-      self._progress.x += 1.0 / (duration * gui_app.target_fps)
-      self._progress.x = min(1.0, self._progress.x)
-    else:
-      self._progress.update(0.0)
-
-    self._good_button.set_enabled(self._progress.x >= 0.999)
-
   def _render(self, _):
-    if self._should_show_bad_face_page:
-      return self._bad_face_page.render(self._rect)
-
     self._dialog.render(self._rect)
 
-    rl.draw_rectangle_gradient_v(int(self._rect.x), int(self._rect.y + self._rect.height - 80),
-                                 int(self._rect.width), 80, rl.BLANK, rl.BLACK)
-
-    # draw white ring around dm icon to indicate progress
-    ring_thickness = 8
-
-    # DM icon is 120x120, positioned on opposite side from driver
-    dm_size = 120
-    is_rhd = self._dialog.driver_state_renderer._is_rhd
-    dm_center_x = (self._rect.x + dm_size / 2 + 8) if is_rhd else (self._rect.x + self._rect.width - dm_size / 2 - 8)
-    dm_center_y = self._rect.y + dm_size / 2 + 8
-    icon_edge_radius = dm_size / 2
-    outer_radius = icon_edge_radius + 1  # 2px outward from icon edge
-    inner_radius = outer_radius - ring_thickness  # Inset by ring_thickness
-    start_angle = 90.0  # Start from bottom
-    end_angle = start_angle + self._progress.x * 360.0  # Clockwise
-
-    # Fade in alpha
-    current_angle = end_angle - start_angle
-    alpha = int(np.interp(current_angle, [0.0, 45.0], [0, 255]))
-
-    # White to green
-    color_t = np.clip(np.interp(current_angle, [45.0, 360.0], [0.0, 1.0]), 0.0, 1.0)
-    r = int(np.interp(color_t, [0.0, 1.0], [255, 0]))
-    g = int(np.interp(color_t, [0.0, 1.0], [255, 255]))
-    b = int(np.interp(color_t, [0.0, 1.0], [255, 64]))
-    ring_color = rl.Color(r, g, b, alpha)
-
-    rl.draw_ring(
-      rl.Vector2(dm_center_x, dm_center_y),
-      inner_radius,
-      outer_radius,
-      start_angle,
-      end_angle,
-      36,
-      ring_color,
-    )
-
-    self._back_button.render(rl.Rectangle(
-      self._rect.x + 8,
-      self._rect.y + self._rect.height - self._back_button.rect.height,
-      self._back_button.rect.width,
-      self._back_button.rect.height,
+    rl.draw_rectangle_gradient_v(int(self._rect.x), int(self._rect.y + self._rect.height - self._title_header.rect.height * 1.5 - 32),
+                                 int(self._rect.width), int(self._title_header.rect.height * 1.5 + 32),
+                                 rl.BLANK, rl.Color(0, 0, 0, 150))
+    self._title_header.render(rl.Rectangle(
+      self._rect.x + 16,
+      self._rect.y + self._rect.height - self._title_header.rect.height - 16,
+      self._title_header.rect.width,
+      self._title_header.rect.height,
     ))
 
-    self._good_button.render(rl.Rectangle(
-      self._rect.x + self._rect.width - self._good_button.rect.width - 8,
-      self._rect.y + self._rect.height - self._good_button.rect.height,
-      self._good_button.rect.width,
-      self._good_button.rect.height,
-    ))
-
-    # rounded border
-    rl.draw_rectangle_rounded_lines_ex(self._rect, 0.2 * 1.02, 10, 50, rl.BLACK)
-
 
 class TrainingGuideRecordFront(SetupTermsPage):
   def __init__(self, continue_callback):
@@ -268,7 +150,7 @@ class TrainingGuideRecordFront(SetupTermsPage):
     super().__init__(on_continue, back_callback=on_back, back_text="no", continue_text="yes")
     self._title_header = TermsHeader("improve driver monitoring", gui_app.texture("icons_mici/setup/green_dm.png", 60, 60))
 
-    self._dm_label = UnifiedLabel("Do you want to upload driver camera data?", 42,
+    self._dm_label = UnifiedLabel("Do you want to upload driver camera data to improve driver monitoring?", 42,
                                   FontWeight.ROMAN)
 
   def show_event(self):
@@ -300,7 +182,7 @@ class TrainingGuideAttentionNotice(SetupTermsPage):
   def __init__(self, continue_callback):
     super().__init__(continue_callback, continue_text="continue")
     self._title_header = TermsHeader("driver assistance", gui_app.texture("icons_mici/setup/warning.png", 60, 60))
-    self._warning_label = UnifiedLabel("1. sunnypilot is a driver assistance system.\n\n" +
+    self._warning_label = UnifiedLabel("1. openpilot is a driver assistance system.\n\n" +
                                        "2. You must pay attention at all times.\n\n" +
                                        "3. You must be ready to take over at any time.\n\n" +
                                        "4. You are fully responsible for driving the car.", 42,
@@ -332,27 +214,13 @@ class TrainingGuide(Widget):
     self._completed_callback = completed_callback
     self._step = 0
 
-    self_ref = weakref.ref(self)
-
-    def on_continue():
-      if obj := self_ref():
-        obj._advance_step()
-
     self._steps = [
-      TrainingGuideAttentionNotice(continue_callback=on_continue),
-      TrainingGuidePreDMTutorial(continue_callback=on_continue),
-      TrainingGuideDMTutorial(continue_callback=on_continue),
-      TrainingGuideRecordFront(continue_callback=on_continue),
+      TrainingGuideAttentionNotice(continue_callback=self._advance_step),
+      TrainingGuidePreDMTutorial(continue_callback=self._advance_step),
+      TrainingGuideDMTutorial(continue_callback=self._advance_step),
+      TrainingGuideRecordFront(continue_callback=self._advance_step),
     ]
 
-  def show_event(self):
-    super().show_event()
-    device.set_override_interactive_timeout(300)
-
-  def hide_event(self):
-    super().hide_event()
-    device.set_override_interactive_timeout(None)
-
   def _advance_step(self):
     if self._step < len(self._steps) - 1:
       self._step += 1
@@ -371,12 +239,12 @@ class TrainingGuide(Widget):
 class DeclinePage(Widget):
   def __init__(self, back_callback=None):
     super().__init__()
-    self._uninstall_slider = SmallSlider("uninstall sunnypilot", self._on_uninstall)
+    self._uninstall_slider = SmallSlider("uninstall openpilot", self._on_uninstall)
 
     self._back_button = SmallButton("back")
     self._back_button.set_click_callback(back_callback)
 
-    self._warning_header = TermsHeader("you must accept the\nterms to use sunnypilot",
+    self._warning_header = TermsHeader("you must accept the\nterms to use openpilot",
                                        gui_app.texture("icons_mici/setup/red_warning.png", 66, 60))
 
   def _on_uninstall(self):
@@ -414,7 +282,7 @@ class TermsPage(SetupTermsPage):
     info_txt = gui_app.texture("icons_mici/setup/green_info.png", 60, 60)
     self._title_header = TermsHeader("terms & conditions", info_txt)
 
-    self._terms_label = UnifiedLabel("You must accept the Terms and Conditions to use sunnypilot. " +
+    self._terms_label = UnifiedLabel("You must accept the Terms and Conditions to use openpilot. " +
                                      "Read the latest terms at https://comma.ai/terms before continuing.", 36,
                                      FontWeight.ROMAN)
 
@@ -449,14 +317,6 @@ class OnboardingWindow(Widget):
     self._training_guide = TrainingGuide(completed_callback=self._on_completed_training)
     self._decline_page = DeclinePage(back_callback=self._on_decline_back)
 
-  def show_event(self):
-    super().show_event()
-    device.set_override_interactive_timeout(300)
-
-  def hide_event(self):
-    super().hide_event()
-    device.set_override_interactive_timeout(None)
-
   @property
   def completed(self) -> bool:
     return self._accepted_terms and self._training_done

selfdrive/ui/mici/layouts/settings/device.py

@@ -39,7 +39,7 @@ class MiciFccModal(NavWidget):
     content_height += self._fcc_logo.height + 20
 
     scroll_content_rect = rl.Rectangle(rect.x, rect.y, rect.width, content_height)
-    scroll_offset = round(self._scroll_panel.update(rect, scroll_content_rect.height))
+    scroll_offset = self._scroll_panel.update(rect, scroll_content_rect.height)
 
     fcc_pos = rl.Vector2(rect.x + 20, rect.y + 20 + scroll_offset)
 
@@ -156,7 +156,7 @@ class UpdateOpenpilotBigButton(BigButton):
     self._txt_update_icon = gui_app.texture("icons_mici/settings/device/update.png", 64, 64)
     self._txt_reboot_icon = gui_app.texture("icons_mici/settings/device/reboot.png", 64, 64)
     self._txt_up_to_date_icon = gui_app.texture("icons_mici/settings/device/up_to_date.png", 64, 64)
-    super().__init__("update sunnypilot", "", self._txt_update_icon)
+    super().__init__("update openpilot", "", self._txt_update_icon)
 
     self._waiting_for_updater_t: float | None = None
     self._hide_value_t: float | None = None
@@ -193,7 +193,7 @@ class UpdateOpenpilotBigButton(BigButton):
     if value:
       self.set_text("")
     else:
-      self.set_text("update sunnypilot")
+      self.set_text("update openpilot")
 
   def _update_state(self):
     if ui_state.started:
@@ -294,7 +294,7 @@ class DeviceLayoutMici(NavWidget):
     reset_calibration_btn = BigButton("reset calibration", "", "icons_mici/settings/device/lkas.png")
     reset_calibration_btn.set_click_callback(lambda: _engaged_confirmation_callback(reset_calibration_callback, "reset"))
 
-    uninstall_openpilot_btn = BigButton("uninstall sunnypilot", "", "icons_mici/settings/device/uninstall.png")
+    uninstall_openpilot_btn = BigButton("uninstall openpilot", "", "icons_mici/settings/device/uninstall.png")
     uninstall_openpilot_btn.set_click_callback(lambda: _engaged_confirmation_callback(uninstall_openpilot_callback, "uninstall"))
 
     reboot_btn = BigCircleButton("icons_mici/settings/device/reboot.png", red=False)

selfdrive/ui/mici/layouts/settings/firehose.py

@@ -6,17 +6,18 @@ from openpilot.common.api import api_get
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.ui.lib.api_helpers import get_token
-from openpilot.selfdrive.ui.ui_state import ui_state, device
+from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
 from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
 from openpilot.system.ui.lib.wrap_text import wrap_text
 from openpilot.system.ui.lib.scroll_panel2 import GuiScrollPanel2
 from openpilot.system.ui.lib.multilang import tr, trn, tr_noop
-from openpilot.system.ui.widgets import Widget, NavWidget
+from openpilot.system.ui.widgets import NavWidget
+
 
 TITLE = tr_noop("Firehose Mode")
 DESCRIPTION = tr_noop(
-  "sunnypilot learns to drive by watching humans, like you, drive.\n\n"
+  "openpilot learns to drive by watching humans, like you, drive.\n\n"
   + "Firehose Mode allows you to maximize your training data uploads to improve "
   + "openpilot's driving models. More data means bigger models, which means better Experimental Mode."
 )
@@ -33,7 +34,9 @@ FAQ_ITEMS = [
 ]
 
 
-class FirehoseLayoutBase(Widget):
+class FirehoseLayoutMici(NavWidget):
+  BACK_TOUCH_AREA_PERCENTAGE = 0.1
+
   PARAM_KEY = "ApiCache_FirehoseStats"
   GREEN = rl.Color(46, 204, 113, 255)
   RED = rl.Color(231, 76, 60, 255)
@@ -41,10 +44,12 @@ class FirehoseLayoutBase(Widget):
   LIGHT_GRAY = rl.Color(228, 228, 228, 255)
   UPDATE_INTERVAL = 30  # seconds
 
-  def __init__(self):
+  def __init__(self, back_callback):
     super().__init__()
-    self._params = Params()
-    self._segment_count = self._get_segment_count()
+    self.set_back_callback(back_callback)
+
+    self.params = Params()
+    self.segment_count = self._get_segment_count()
 
     self._scroll_panel = GuiScrollPanel2(horizontal=False)
     self._content_height = 0
@@ -66,7 +71,7 @@ class FirehoseLayoutBase(Widget):
     self._scroll_panel.set_offset(0)
 
   def _get_segment_count(self) -> int:
-    stats = self._params.get(self.PARAM_KEY)
+    stats = self.params.get(self.PARAM_KEY)
     if not stats:
       return 0
     try:
@@ -78,7 +83,7 @@ class FirehoseLayoutBase(Widget):
   def _render(self, rect: rl.Rectangle):
     # compute total content height for scrolling
     content_height = self._measure_content_height(rect)
-    scroll_offset = round(self._scroll_panel.update(rect, content_height))
+    scroll_offset = self._scroll_panel.update(rect, content_height)
 
     # start drawing with offset
     x = int(rect.x + 40)
@@ -106,9 +111,9 @@ class FirehoseLayoutBase(Widget):
     y += 20
 
     # Contribution count (if available)
-    if self._segment_count > 0:
+    if self.segment_count > 0:
       contrib_text = trn("{} segment of your driving is in the training dataset so far.",
-                         "{} segments of your driving is in the training dataset so far.", self._segment_count).format(self._segment_count)
+                         "{} segments of your driving is in the training dataset so far.", self.segment_count).format(self.segment_count)
       y = self._draw_wrapped_text(x, y, w, contrib_text, gui_app.font(FontWeight.BOLD), 42, rl.WHITE)
       y += 20
 
@@ -160,9 +165,9 @@ class FirehoseLayoutBase(Widget):
     y += int(len(status_lines) * 48 * FONT_SCALE) + 20
 
     # Contribution count
-    if self._segment_count > 0:
+    if self.segment_count > 0:
       contrib_text = trn("{} segment of your driving is in the training dataset so far.",
-                         "{} segments of your driving is in the training dataset so far.", self._segment_count).format(self._segment_count)
+                         "{} segments of your driving is in the training dataset so far.", self.segment_count).format(self.segment_count)
       contrib_lines = wrap_text(gui_app.font(FontWeight.BOLD), contrib_text, 42, w)
       y += int(len(contrib_lines) * 42 * FONT_SCALE) + 20
 
@@ -199,28 +204,20 @@ class FirehoseLayoutBase(Widget):
 
   def _fetch_firehose_stats(self):
     try:
-      dongle_id = self._params.get("DongleId")
+      dongle_id = self.params.get("DongleId")
       if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID:
         return
       identity_token = get_token(dongle_id)
       response = api_get(f"v1/devices/{dongle_id}/firehose_stats", access_token=identity_token)
       if response.status_code == 200:
         data = response.json()
-        self._segment_count = data.get("firehose", 0)
-        self._params.put(self.PARAM_KEY, data)
+        self.segment_count = data.get("firehose", 0)
+        self.params.put(self.PARAM_KEY, data)
     except Exception as e:
       cloudlog.error(f"Failed to fetch firehose stats: {e}")
 
   def _update_loop(self):
     while self._running:
-      if not ui_state.started and device._awake:
+      if not ui_state.started:
         self._fetch_firehose_stats()
       time.sleep(self.UPDATE_INTERVAL)
-
-
-class FirehoseLayout(FirehoseLayoutBase, NavWidget):
-  BACK_TOUCH_AREA_PERCENTAGE = 0.1
-
-  def __init__(self, back_callback):
-    super().__init__()
-    self.set_back_callback(back_callback)

selfdrive/ui/mici/layouts/settings/network.py

@@ -1,20 +1,28 @@
 import math
 import numpy as np
 import pyray as rl
+from enum import IntEnum
 from collections.abc import Callable
 
 from openpilot.common.swaglog import cloudlog
+from openpilot.system.ui.widgets.scroller import Scroller
 from openpilot.system.ui.widgets.label import UnifiedLabel
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigMultiToggle, BigToggle
 from openpilot.selfdrive.ui.mici.widgets.dialog import BigMultiOptionDialog, BigInputDialog, BigDialogOptionButton, BigConfirmationDialogV2
 from openpilot.system.ui.lib.application import gui_app, MousePos, FontWeight
 from openpilot.system.ui.widgets import Widget, NavWidget
-from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, SecurityType
+from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, SecurityType, MeteredType
 
 
 def normalize_ssid(ssid: str) -> str:
   return ssid.replace("’", "'")  # for iPhone hotspots
 
 
+class NetworkPanelType(IntEnum):
+  NONE = 0
+  WIFI = 1
+
+
 class LoadingAnimation(Widget):
   def _render(self, _):
     cx = int(self._rect.x + 70)
@@ -87,7 +95,7 @@ class WifiItem(BigDialogOptionButton):
   def __init__(self, network: Network):
     super().__init__(network.ssid)
 
-    self.set_rect(rl.Rectangle(0, 0, gui_app.width, self.HEIGHT))
+    self.set_rect(rl.Rectangle(0, 0, gui_app.width, 64))
 
     self._selected_txt = gui_app.texture("icons_mici/settings/network/new/wifi_selected.png", 48, 96)
 
@@ -109,16 +117,16 @@ class WifiItem(BigDialogOptionButton):
     self._wifi_icon.render(rl.Rectangle(
       self._rect.x + self.LEFT_MARGIN,
       self._rect.y,
-      self.SELECTED_HEIGHT,
+      self._rect.height,
       self._rect.height
     ))
 
     if self._selected:
-      self._label.set_font_size(self.SELECTED_HEIGHT)
+      self._label.set_font_size(74)
       self._label.set_color(rl.Color(255, 255, 255, int(255 * 0.9)))
       self._label.set_font_weight(FontWeight.DISPLAY)
     else:
-      self._label.set_font_size(self.HEIGHT)
+      self._label.set_font_size(70)
       self._label.set_color(rl.Color(255, 255, 255, int(255 * 0.58)))
       self._label.set_font_weight(FontWeight.DISPLAY_REGULAR)
 
@@ -207,7 +215,7 @@ class NetworkInfoPage(NavWidget):
     self._connect_btn.set_click_callback(lambda: connect_callback(self._network.ssid) if self._network is not None else None)
 
     self._title = UnifiedLabel("", 64, FontWeight.DISPLAY, rl.Color(255, 255, 255, int(255 * 0.9)),
-                               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE, scroll=True)
+                               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
     self._subtitle = UnifiedLabel("", 36, FontWeight.ROMAN, rl.Color(255, 255, 255, int(255 * 0.9 * 0.65)),
                                   alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
 
@@ -217,10 +225,6 @@ class NetworkInfoPage(NavWidget):
     self._network: Network | None = None
     self._connecting: Callable[[], str | None] | None = None
 
-  def show_event(self):
-    super().show_event()
-    self._title.reset_scroll()
-
   def update_networks(self, networks: dict[str, Network]):
     # update current network from latest scan results
     for ssid, network in networks.items():
@@ -316,9 +320,6 @@ class NetworkInfoPage(NavWidget):
 
 
 class WifiUIMici(BigMultiOptionDialog):
-  # Wait this long after user interacts with widget to update network list
-  INACTIVITY_TIMEOUT = 1
-
   def __init__(self, wifi_manager: WifiManager, back_callback: Callable):
     super().__init__([], None, None, right_btn_callback=None)
 
@@ -327,6 +328,7 @@ class WifiUIMici(BigMultiOptionDialog):
 
     self._network_info_page = NetworkInfoPage(wifi_manager, self._connect_to_network, self._forget_network, self._open_network_manage_page)
     self._network_info_page.set_connecting(lambda: self._connecting)
+    self._should_open_network_info_page = False  # wait for scroll_to animation
 
     self._loading_animation = LoadingAnimation()
 
@@ -334,10 +336,6 @@ class WifiUIMici(BigMultiOptionDialog):
     self._connecting: str | None = None
     self._networks: dict[str, Network] = {}
 
-    # widget state
-    self._last_interaction_time = -float('inf')
-    self._restore_selection = False
-
     self._wifi_manager.add_callbacks(
       need_auth=self._on_need_auth,
       activated=self._on_activated,
@@ -350,12 +348,18 @@ class WifiUIMici(BigMultiOptionDialog):
     # Call super to prepare scroller; selection scroll is handled dynamically
     super().show_event()
     self._wifi_manager.set_active(True)
-    self._last_interaction_time = -float('inf')
+    self._scroller.show_event()
 
   def hide_event(self):
     super().hide_event()
     self._wifi_manager.set_active(False)
 
+  def _update_state(self):
+    super()._update_state()
+    if self._should_open_network_info_page:
+      self._should_open_network_info_page = False
+      self._open_network_manage_page()
+
   def _open_network_manage_page(self, result=None):
     self._network_info_page.update_networks(self._networks)
     gui_app.set_modal_overlay(self._network_info_page)
@@ -374,10 +378,6 @@ class WifiUIMici(BigMultiOptionDialog):
     self._network_info_page.update_networks(self._networks)
 
   def _update_buttons(self):
-    # Don't update buttons while user is actively interacting
-    if rl.get_time() - self._last_interaction_time < self.INACTIVITY_TIMEOUT:
-      return
-
     for network in self._networks.values():
       # pop and re-insert to eliminate stuttering on update (prevents position lost for a frame)
       network_button_idx = next((i for i, btn in enumerate(self._scroller._items) if btn.option == network.ssid), None)
@@ -388,28 +388,23 @@ class WifiUIMici(BigMultiOptionDialog):
       else:
         network_button = WifiItem(network)
 
+        def show_network_info_page(_network):
+          self._network_info_page.set_current_network(_network)
+          self._should_open_network_info_page = True
+
+        network_button.set_click_callback(lambda _net=network,_button=network_button: _button._selected and show_network_info_page(_net))
+
       self.add_button(network_button)
 
     # remove networks no longer present
     self._scroller._items[:] = [btn for btn in self._scroller._items if btn.option in self._networks]
 
-    # try to restore previous selection to prevent jumping from adding/removing/reordering buttons
-    self._restore_selection = True
-
   def _connect_with_password(self, ssid: str, password: str):
     if password:
       self._connecting = ssid
       self._wifi_manager.connect_to_network(ssid, password)
       self._update_buttons()
 
-  def _on_option_selected(self, option: str, smooth_scroll: bool = True):
-    super()._on_option_selected(option, smooth_scroll)
-
-    # only open if button is already selected
-    if option in self._networks and option == self._selected_option:
-      self._network_info_page.set_current_network(self._networks[option])
-      self._open_network_manage_page()
-
   def _connect_to_network(self, ssid: str):
     network = self._networks.get(ssid)
     if network is None:
@@ -443,20 +438,121 @@ class WifiUIMici(BigMultiOptionDialog):
   def _on_disconnected(self):
     self._connecting = None
 
-  def _update_state(self):
-    super()._update_state()
-    if self.is_pressed:
-      self._last_interaction_time = rl.get_time()
-
   def _render(self, _):
-    # Update Scroller layout and restore current selection whenever buttons are updated, before first render
-    current_selection = self.get_selected_option()
-    if self._restore_selection and current_selection in self._networks:
-      self._scroller._layout()
-      BigMultiOptionDialog._on_option_selected(self, current_selection, smooth_scroll=False)
-      self._restore_selection = None
-
     super()._render(_)
 
     if not self._networks:
       self._loading_animation.render(self._rect)
+
+
+class NetworkLayoutMici(NavWidget):
+  def __init__(self, back_callback: Callable):
+    super().__init__()
+
+    self._current_panel = NetworkPanelType.WIFI
+    self.set_back_enabled(lambda: self._current_panel == NetworkPanelType.NONE)
+
+    self._wifi_manager = WifiManager()
+    self._wifi_manager.set_active(False)
+    self._wifi_ui = WifiUIMici(self._wifi_manager, back_callback=lambda: self._switch_to_panel(NetworkPanelType.NONE))
+
+    self._wifi_manager.add_callbacks(
+      networks_updated=self._on_network_updated,
+    )
+
+    _tethering_icon = "icons_mici/settings/network/tethering.png"
+
+    # ******** Tethering ********
+    def tethering_toggle_callback(checked: bool):
+      self._tethering_toggle_btn.set_enabled(False)
+      self._network_metered_btn.set_enabled(False)
+      self._wifi_manager.set_tethering_active(checked)
+
+    self._tethering_toggle_btn = BigToggle("enable tethering", "", toggle_callback=tethering_toggle_callback)
+
+    def tethering_password_callback(password: str):
+      if password:
+        self._wifi_manager.set_tethering_password(password)
+
+    def tethering_password_clicked():
+      tethering_password = self._wifi_manager.tethering_password
+      dlg = BigInputDialog("enter password...", tethering_password, minimum_length=8,
+                           confirm_callback=tethering_password_callback)
+      gui_app.set_modal_overlay(dlg)
+
+    txt_tethering = gui_app.texture(_tethering_icon, 64, 53)
+    self._tethering_password_btn = BigButton("tethering password", "", txt_tethering)
+    self._tethering_password_btn.set_click_callback(tethering_password_clicked)
+
+    # ******** IP Address ********
+    self._ip_address_btn = BigButton("IP Address", "Not connected")
+
+    # ******** Network Metered ********
+    def network_metered_callback(value: str):
+      self._network_metered_btn.set_enabled(False)
+      metered = {
+        'default': MeteredType.UNKNOWN,
+        'metered': MeteredType.YES,
+        'unmetered': MeteredType.NO
+      }.get(value, MeteredType.UNKNOWN)
+      self._wifi_manager.set_current_network_metered(metered)
+
+    # TODO: signal for current network metered type when changing networks, this is wrong until you press it once
+    # TODO: disable when not connected
+    self._network_metered_btn = BigMultiToggle("network usage", ["default", "metered", "unmetered"], select_callback=network_metered_callback)
+    self._network_metered_btn.set_enabled(False)
+
+    wifi_button = BigButton("wi-fi")
+    wifi_button.set_click_callback(lambda: self._switch_to_panel(NetworkPanelType.WIFI))
+
+    # Main scroller ----------------------------------
+    self._scroller = Scroller([
+      wifi_button,
+      self._network_metered_btn,
+      self._tethering_toggle_btn,
+      self._tethering_password_btn,
+      self._ip_address_btn,
+    ], snap_items=False)
+
+    # Set up back navigation
+    self.set_back_callback(back_callback)
+
+  def show_event(self):
+    super().show_event()
+    self._current_panel = NetworkPanelType.NONE
+    self._wifi_ui.show_event()
+    self._scroller.show_event()
+
+  def hide_event(self):
+    super().hide_event()
+    self._wifi_ui.hide_event()
+
+  def _on_network_updated(self, networks: list[Network]):
+    # Update tethering state
+    tethering_active = self._wifi_manager.is_tethering_active()
+    # TODO: use real signals (like activated/settings changed, etc.) to speed up re-enabling buttons
+    self._tethering_toggle_btn.set_enabled(True)
+    self._network_metered_btn.set_enabled(lambda: not tethering_active and bool(self._wifi_manager.ipv4_address))
+    self._tethering_toggle_btn.set_checked(tethering_active)
+
+    # Update IP address
+    self._ip_address_btn.set_value(self._wifi_manager.ipv4_address or "Not connected")
+
+    # Update network metered
+    self._network_metered_btn.set_value(
+      {
+        MeteredType.UNKNOWN: 'default',
+        MeteredType.YES: 'metered',
+        MeteredType.NO: 'unmetered'
+      }.get(self._wifi_manager.current_network_metered, 'default'))
+
+  def _switch_to_panel(self, panel_type: NetworkPanelType):
+    self._current_panel = panel_type
+
+  def _render(self, rect: rl.Rectangle):
+    self._wifi_manager.process_callbacks()
+
+    if self._current_panel == NetworkPanelType.WIFI:
+      self._wifi_ui.render(rect)
+    else:
+      self._scroller.render(rect)

selfdrive/ui/mici/layouts/settings/network/__init__.py

@@ -1,184 +0,0 @@
-import pyray as rl
-from enum import IntEnum
-from collections.abc import Callable
-
-from openpilot.system.ui.widgets.scroller import Scroller
-from openpilot.selfdrive.ui.mici.layouts.settings.network.wifi_ui import WifiUIMici
-from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigMultiToggle, BigToggle, BigParamControl
-from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog
-from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.selfdrive.ui.lib.prime_state import PrimeType
-from openpilot.system.ui.lib.application import gui_app
-from openpilot.system.ui.widgets import NavWidget
-from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, MeteredType
-
-
-class NetworkPanelType(IntEnum):
-  NONE = 0
-  WIFI = 1
-
-
-class NetworkLayoutMici(NavWidget):
-  def __init__(self, back_callback: Callable):
-    super().__init__()
-
-    self._current_panel = NetworkPanelType.WIFI
-    self.set_back_enabled(lambda: self._current_panel == NetworkPanelType.NONE)
-
-    self._wifi_manager = WifiManager()
-    self._wifi_manager.set_active(False)
-    self._wifi_ui = WifiUIMici(self._wifi_manager, back_callback=lambda: self._switch_to_panel(NetworkPanelType.NONE))
-
-    self._wifi_manager.add_callbacks(
-      networks_updated=self._on_network_updated,
-    )
-
-    _tethering_icon = "icons_mici/settings/network/tethering.png"
-
-    # ******** Tethering ********
-    def tethering_toggle_callback(checked: bool):
-      self._tethering_toggle_btn.set_enabled(False)
-      self._network_metered_btn.set_enabled(False)
-      self._wifi_manager.set_tethering_active(checked)
-
-    self._tethering_toggle_btn = BigToggle("enable tethering", "", toggle_callback=tethering_toggle_callback)
-
-    def tethering_password_callback(password: str):
-      if password:
-        self._wifi_manager.set_tethering_password(password)
-
-    def tethering_password_clicked():
-      tethering_password = self._wifi_manager.tethering_password
-      dlg = BigInputDialog("enter password...", tethering_password, minimum_length=8,
-                           confirm_callback=tethering_password_callback)
-      gui_app.set_modal_overlay(dlg)
-
-    txt_tethering = gui_app.texture(_tethering_icon, 64, 53)
-    self._tethering_password_btn = BigButton("tethering password", "", txt_tethering)
-    self._tethering_password_btn.set_click_callback(tethering_password_clicked)
-
-    # ******** IP Address ********
-    self._ip_address_btn = BigButton("IP Address", "Not connected")
-
-    # ******** Network Metered ********
-    def network_metered_callback(value: str):
-      self._network_metered_btn.set_enabled(False)
-      metered = {
-        'default': MeteredType.UNKNOWN,
-        'metered': MeteredType.YES,
-        'unmetered': MeteredType.NO
-      }.get(value, MeteredType.UNKNOWN)
-      self._wifi_manager.set_current_network_metered(metered)
-
-    # TODO: signal for current network metered type when changing networks, this is wrong until you press it once
-    # TODO: disable when not connected
-    self._network_metered_btn = BigMultiToggle("network usage", ["default", "metered", "unmetered"], select_callback=network_metered_callback)
-    self._network_metered_btn.set_enabled(False)
-
-    wifi_button = BigButton("wi-fi")
-    wifi_button.set_click_callback(lambda: self._switch_to_panel(NetworkPanelType.WIFI))
-
-    # ******** Advanced settings ********
-    # ******** Roaming toggle ********
-    self._roaming_btn = BigParamControl("enable roaming", "GsmRoaming", toggle_callback=self._toggle_roaming)
-
-    # ******** APN settings ********
-    self._apn_btn = BigButton("apn settings", "edit")
-    self._apn_btn.set_click_callback(self._edit_apn)
-
-    # ******** Cellular metered toggle ********
-    self._cellular_metered_btn = BigParamControl("cellular metered", "GsmMetered", toggle_callback=self._toggle_cellular_metered)
-
-    # Main scroller ----------------------------------
-    self._scroller = Scroller([
-      wifi_button,
-      self._network_metered_btn,
-      self._tethering_toggle_btn,
-      self._tethering_password_btn,
-      # /* Advanced settings
-      self._roaming_btn,
-      self._apn_btn,
-      self._cellular_metered_btn,
-      # */
-      self._ip_address_btn,
-    ], snap_items=False)
-
-    # Set initial config
-    roaming_enabled = ui_state.params.get_bool("GsmRoaming")
-    metered = ui_state.params.get_bool("GsmMetered")
-    self._wifi_manager.update_gsm_settings(roaming_enabled, ui_state.params.get("GsmApn") or "", metered)
-
-    # Set up back navigation
-    self.set_back_callback(back_callback)
-
-  def _update_state(self):
-    super()._update_state()
-
-    # If not using prime SIM, show GSM settings and enable IPv4 forwarding
-    show_cell_settings = ui_state.prime_state.get_type() in (PrimeType.NONE, PrimeType.LITE)
-    self._wifi_manager.set_ipv4_forward(show_cell_settings)
-    self._roaming_btn.set_visible(show_cell_settings)
-    self._apn_btn.set_visible(show_cell_settings)
-    self._cellular_metered_btn.set_visible(show_cell_settings)
-
-  def show_event(self):
-    super().show_event()
-    self._current_panel = NetworkPanelType.NONE
-    self._wifi_ui.show_event()
-    self._scroller.show_event()
-
-  def hide_event(self):
-    super().hide_event()
-    self._wifi_ui.hide_event()
-
-  def _toggle_roaming(self, checked: bool):
-    self._wifi_manager.update_gsm_settings(checked, ui_state.params.get("GsmApn") or "", ui_state.params.get_bool("GsmMetered"))
-
-  def _edit_apn(self):
-    def update_apn(apn: str):
-      apn = apn.strip()
-      if apn == "":
-        ui_state.params.remove("GsmApn")
-      else:
-        ui_state.params.put("GsmApn", apn)
-
-      self._wifi_manager.update_gsm_settings(ui_state.params.get_bool("GsmRoaming"), apn, ui_state.params.get_bool("GsmMetered"))
-
-    current_apn = ui_state.params.get("GsmApn") or ""
-    dlg = BigInputDialog("enter APN", current_apn, minimum_length=0, confirm_callback=update_apn)
-    gui_app.set_modal_overlay(dlg)
-
-  def _toggle_cellular_metered(self, checked: bool):
-    self._wifi_manager.update_gsm_settings(ui_state.params.get_bool("GsmRoaming"), ui_state.params.get("GsmApn") or "", checked)
-
-  def _on_network_updated(self, networks: list[Network]):
-    # Update tethering state
-    tethering_active = self._wifi_manager.is_tethering_active()
-    # TODO: use real signals (like activated/settings changed, etc.) to speed up re-enabling buttons
-    self._tethering_toggle_btn.set_enabled(True)
-    self._network_metered_btn.set_enabled(lambda: not tethering_active and bool(self._wifi_manager.ipv4_address))
-    self._tethering_toggle_btn.set_checked(tethering_active)
-
-    # Update IP address
-    self._ip_address_btn.set_value(self._wifi_manager.ipv4_address or "Not connected")
-
-    # Update network metered
-    self._network_metered_btn.set_value(
-      {
-        MeteredType.UNKNOWN: 'default',
-        MeteredType.YES: 'metered',
-        MeteredType.NO: 'unmetered'
-      }.get(self._wifi_manager.current_network_metered, 'default'))
-
-  def _switch_to_panel(self, panel_type: NetworkPanelType):
-    if panel_type == NetworkPanelType.WIFI:
-      self._wifi_ui.show_event()
-    self._current_panel = panel_type
-
-  def _render(self, rect: rl.Rectangle):
-    self._wifi_manager.process_callbacks()
-
-    if self._current_panel == NetworkPanelType.WIFI:
-      self._wifi_ui.render(rect)
-    else:
-      self._scroller.render(rect)

selfdrive/ui/mici/layouts/settings/settings.py

@@ -10,7 +10,7 @@ from openpilot.selfdrive.ui.mici.layouts.settings.toggles import TogglesLayoutMi
 from openpilot.selfdrive.ui.mici.layouts.settings.network import NetworkLayoutMici
 from openpilot.selfdrive.ui.mici.layouts.settings.device import DeviceLayoutMici, PairBigButton
 from openpilot.selfdrive.ui.mici.layouts.settings.developer import DeveloperLayoutMici
-from openpilot.selfdrive.ui.mici.layouts.settings.firehose import FirehoseLayout
+from openpilot.selfdrive.ui.mici.layouts.settings.firehose import FirehoseLayoutMici
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.widgets import Widget, NavWidget
 
@@ -67,7 +67,7 @@ class SettingsLayout(NavWidget):
       PanelType.NETWORK: PanelInfo("Network", NetworkLayoutMici(back_callback=lambda: self._set_current_panel(None))),
       PanelType.DEVICE: PanelInfo("Device", DeviceLayoutMici(back_callback=lambda: self._set_current_panel(None))),
       PanelType.DEVELOPER: PanelInfo("Developer", DeveloperLayoutMici(back_callback=lambda: self._set_current_panel(None))),
-      PanelType.FIREHOSE: PanelInfo("Firehose", FirehoseLayout(back_callback=lambda: self._set_current_panel(None))),
+      PanelType.FIREHOSE: PanelInfo("Firehose", FirehoseLayoutMici(back_callback=lambda: self._set_current_panel(None))),
     }
 
     self._font_medium = gui_app.font(FontWeight.MEDIUM)

selfdrive/ui/mici/layouts/settings/toggles.py

@@ -24,7 +24,7 @@ class TogglesLayoutMici(NavWidget):
     always_on_dm_toggle = BigParamControl("always-on driver monitor", "AlwaysOnDM")
     record_front = BigParamControl("record & upload driver camera", "RecordFront", toggle_callback=restart_needed_callback)
     record_mic = BigParamControl("record & upload mic audio", "RecordAudio", toggle_callback=restart_needed_callback)
-    enable_openpilot = BigParamControl("enable sunnypilot", "OpenpilotEnabledToggle", toggle_callback=restart_needed_callback)
+    enable_openpilot = BigParamControl("enable openpilot", "OpenpilotEnabledToggle", toggle_callback=restart_needed_callback)
 
     self._scroller = Scroller([
       self._personality_toggle,
@@ -78,13 +78,13 @@ class TogglesLayoutMici(NavWidget):
     # CP gating for experimental mode
     if ui_state.CP is not None:
       if ui_state.has_longitudinal_control:
-        self._experimental_btn.set_visible(True)
-        self._personality_toggle.set_visible(True)
+        self._experimental_btn.set_enabled(True)
+        self._personality_toggle.set_enabled(True)
       else:
         # no long for now
-        self._experimental_btn.set_visible(False)
+        self._experimental_btn.set_enabled(False)
         self._experimental_btn.set_checked(False)
-        self._personality_toggle.set_visible(False)
+        self._personality_toggle.set_enabled(False)
         ui_state.params.remove("ExperimentalMode")
 
     # Refresh toggles from params to mirror external changes

selfdrive/ui/mici/onroad/alert_renderer.py

@@ -65,7 +65,7 @@ class Alert:
 
 # Pre-defined alert instances
 ALERT_STARTUP_PENDING = Alert(
-  text1="sunnypilot Unavailable",
+  text1="openpilot Unavailable",
   text2="Waiting to start",
   size=AlertSize.mid,
   status=AlertStatus.normal,
@@ -89,6 +89,10 @@ ALERT_CRITICAL_REBOOT = Alert(
 class AlertRenderer(Widget):
   def __init__(self):
     super().__init__()
+    self.font_regular: rl.Font = gui_app.font(FontWeight.MEDIUM)
+    self.font_roman: rl.Font = gui_app.font(FontWeight.ROMAN)
+    self.font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
+    self.font_display: rl.Font = gui_app.font(FontWeight.DISPLAY)
 
     self._alert_text1_label = UnifiedLabel(text="", font_size=ALERT_FONT_BIG, font_weight=FontWeight.DISPLAY, line_height=0.86,
                                            letter_spacing=-0.02)
@@ -200,11 +204,11 @@ class AlertRenderer(Widget):
     text_x = self._rect.x + ALERT_MARGIN
     text_width = self._rect.width - ALERT_MARGIN
     if icon_side == 'left':
-      text_x = self._rect.x + self._txt_turn_signal_right.width
-      text_width = self._rect.width - ALERT_MARGIN - self._txt_turn_signal_right.width
+      text_x = self._rect.x + self._txt_turn_signal_right.width + 20 * 2
+      text_width = self._rect.width - ALERT_MARGIN - self._txt_turn_signal_right.width - 20 * 2
     elif icon_side == 'right':
       text_x = self._rect.x + ALERT_MARGIN
-      text_width = self._rect.width - ALERT_MARGIN - self._txt_turn_signal_right.width
+      text_width = self._rect.width - ALERT_MARGIN - self._txt_turn_signal_right.width - 20 * 2
 
     text_rect = rl.Rectangle(
       text_x,

selfdrive/ui/mici/onroad/augmented_road_view.py

@@ -1,7 +1,6 @@
-import time
 import numpy as np
 import pyray as rl
-from cereal import messaging, car, log
+from cereal import car, log
 from msgq.visionipc import VisionStreamType
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
 from openpilot.selfdrive.ui.mici.onroad import SIDE_PANEL_WIDTH
@@ -154,16 +153,13 @@ class AugmentedRoadView(CameraView):
     self._alert_renderer = AlertRenderer()
     self._driver_state_renderer = DriverStateRenderer()
     self._confidence_ball = ConfidenceBall()
-    self._offroad_label = UnifiedLabel("start the car to\nuse sunnypilot", 54, FontWeight.DISPLAY,
+    self._offroad_label = UnifiedLabel("start the car to\nuse openpilot", 54, FontWeight.DISPLAY,
                                        text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
                                        alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
                                        alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
 
     self._fade_texture = gui_app.texture("icons_mici/onroad/onroad_fade.png")
 
-    # debug
-    self._pm = messaging.PubMaster(['uiDebug'])
-
   def is_swiping_left(self) -> bool:
     """Check if currently swiping left (for scroller to disable)."""
     return self._bookmark_icon.is_swiping_left()
@@ -175,7 +171,7 @@ class AugmentedRoadView(CameraView):
     if ui_state.panda_type == log.PandaState.PandaType.unknown:
       self._offroad_label.set_text("system booting")
     else:
-      self._offroad_label.set_text("start the car to\nuse sunnypilot")
+      self._offroad_label.set_text("start the car to\nuse openpilot")
 
   def _handle_mouse_release(self, mouse_pos: MousePos):
     # Don't trigger click callback if bookmark was triggered
@@ -183,7 +179,6 @@ class AugmentedRoadView(CameraView):
       super()._handle_mouse_release(mouse_pos)
 
   def _render(self, _):
-    start_draw = time.monotonic()
     self._switch_stream_if_needed(ui_state.sm)
 
     # Update calibration before rendering
@@ -249,11 +244,6 @@ class AugmentedRoadView(CameraView):
       rl.draw_rectangle(int(self.rect.x), int(self.rect.y), int(self.rect.width), int(self.rect.height), rl.Color(0, 0, 0, 175))
       self._offroad_label.render(self._content_rect)
 
-    # publish uiDebug
-    msg = messaging.new_message('uiDebug')
-    msg.uiDebug.drawTimeMillis = (time.monotonic() - start_draw) * 1000
-    self._pm.send('uiDebug', msg)
-
   def _switch_stream_if_needed(self, sm):
     if sm['selfdriveState'].experimentalMode and WIDE_CAM in self.available_streams:
       v_ego = sm['carState'].vEgo

selfdrive/ui/mici/onroad/cameraview.py

@@ -107,6 +107,7 @@ else:
 class CameraView(Widget):
   def __init__(self, name: str, stream_type: VisionStreamType):
     super().__init__()
+    # TODO: implement a receiver and connect thread
     self._name = name
     # Primary stream
     self.client = VisionIpcClient(name, stream_type, conflate=True)
@@ -196,10 +197,7 @@ class CameraView(Widget):
     # Clean up shader
     if self.shader and self.shader.id:
       rl.unload_shader(self.shader)
-      self.shader.id = 0
 
-    self.frame = None
-    self.available_streams.clear()
     self.client = None
 
   def __del__(self):
@@ -236,9 +234,6 @@ class CameraView(Widget):
     if buffer:
       self._texture_needs_update = True
       self.frame = buffer
-    elif not self.client.is_connected():
-      # ensure we clear the displayed frame when the connection is lost
-      self.frame = None
 
     if not self.frame:
       self._draw_placeholder(rect)

selfdrive/ui/mici/onroad/confidence_ball.py

@@ -6,8 +6,6 @@ from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.common.filter_simple import FirstOrderFilter
 
-from openpilot.selfdrive.ui.sunnypilot.mici.onroad.confidence_ball import ConfidenceBallSP
-
 
 def draw_circle_gradient(center_x: float, center_y: float, radius: int,
                          top: rl.Color, bottom: rl.Color) -> None:
@@ -23,10 +21,9 @@ def draw_circle_gradient(center_x: float, center_y: float, radius: int,
                20, rl.BLACK)
 
 
-class ConfidenceBall(Widget, ConfidenceBallSP):
+class ConfidenceBall(Widget):
   def __init__(self, demo: bool = False):
-    Widget.__init__(self)
-    ConfidenceBallSP.__init__(self)
+    super().__init__()
     self._demo = demo
     self._confidence_filter = FirstOrderFilter(-0.5, 0.5, 1 / gui_app.target_fps)
 
@@ -40,8 +37,6 @@ class ConfidenceBall(Widget, ConfidenceBallSP):
     # animate status dot in from bottom
     if ui_state.status == UIStatus.DISENGAGED:
       self._confidence_filter.update(-0.5)
-    elif ui_state.status in (UIStatus.LAT_ONLY, UIStatus.LONG_ONLY):
-      self._confidence_filter.update(1 - max(self.get_animate_status_probs() or [1]))
     else:
       self._confidence_filter.update((1 - max(ui_state.sm['modelV2'].meta.disengagePredictions.brakeDisengageProbs or [1])) *
                                                         (1 - max(ui_state.sm['modelV2'].meta.disengagePredictions.steerOverrideProbs or [1])))
@@ -70,9 +65,6 @@ class ConfidenceBall(Widget, ConfidenceBallSP):
         top_dot_color = rl.Color(255, 0, 21, 255)
         bottom_dot_color = rl.Color(255, 0, 89, 255)
 
-    elif ui_state.status in (UIStatus.LAT_ONLY, UIStatus.LONG_ONLY):
-      top_dot_color = bottom_dot_color = self.get_lat_long_dot_color()
-
     elif ui_state.status == UIStatus.OVERRIDE:
       top_dot_color = rl.Color(255, 255, 255, 255)
       bottom_dot_color = rl.Color(82, 82, 82, 255)

selfdrive/ui/mici/onroad/driver_camera_dialog.py

@@ -15,27 +15,20 @@ EventName = log.OnroadEvent.EventName
 EVENT_TO_INT = EventName.schema.enumerants
 
 
-class DriverCameraView(CameraView):
-  def _calc_frame_matrix(self, rect: rl.Rectangle):
-    base = super()._calc_frame_matrix(rect)
-    driver_view_ratio = 1.5
-    base[0, 0] *= driver_view_ratio
-    base[1, 1] *= driver_view_ratio
-    return base
-
-
 class DriverCameraDialog(NavWidget):
   def __init__(self, no_escape=False):
     super().__init__()
-    self._camera_view = DriverCameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER)
+    self._camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER)
+    self._original_calc_frame_matrix = self._camera_view._calc_frame_matrix
+    self._camera_view._calc_frame_matrix = self._calc_driver_frame_matrix
     self.driver_state_renderer = DriverStateRenderer(lines=True)
     self.driver_state_renderer.set_rect(rl.Rectangle(0, 0, 200, 200))
     self.driver_state_renderer.load_icons()
-    self._pm: messaging.PubMaster | None = None
+    self._pm = messaging.PubMaster(['selfdriveState'])
     if not no_escape:
       # TODO: this can grow unbounded, should be given some thought
-      device.add_interactive_timeout_callback(lambda: gui_app.set_modal_overlay(None))
-    self.set_back_callback(lambda: gui_app.set_modal_overlay(None))
+      device.add_interactive_timeout_callback(self.stop_dmonitoringmodeld)
+    self.set_back_callback(self._dismiss)
     self.set_back_enabled(not no_escape)
 
     # Load eye icons
@@ -47,24 +40,26 @@ class DriverCameraDialog(NavWidget):
 
     self._load_eye_textures()
 
+  def stop_dmonitoringmodeld(self):
+    ui_state.params.put_bool("IsDriverViewEnabled", False)
+    gui_app.set_modal_overlay(None)
+
   def show_event(self):
     super().show_event()
     ui_state.params.put_bool("IsDriverViewEnabled", True)
     self._publish_alert_sound(None)
-    device.set_override_interactive_timeout(300)
+    device.reset_interactive_timeout(300)
     ui_state.params.remove("DriverTooDistracted")
-    self._pm = messaging.PubMaster(['selfdriveState'])
 
   def hide_event(self):
     super().hide_event()
-    ui_state.params.put_bool("IsDriverViewEnabled", False)
-    device.set_override_interactive_timeout(None)
+    device.reset_interactive_timeout()
 
   def _handle_mouse_release(self, _):
     ui_state.params.remove("DriverTooDistracted")
 
-  def __del__(self):
-    self.close()
+  def _dismiss(self):
+    self.stop_dmonitoringmodeld()
 
   def close(self):
     if self._camera_view:
@@ -89,13 +84,12 @@ class DriverCameraDialog(NavWidget):
       self._publish_alert_sound(None)
       return -1
 
-    driver_data = self._draw_face_detection(rect)
-    if driver_data is not None:
-      self._draw_eyes(rect, driver_data)
+    self._draw_face_detection(rect)
 
     # Position dmoji on opposite side from driver
+    dm_state = ui_state.sm["driverMonitoringState"]
     driver_state_rect = (
-      rect.x if self.driver_state_renderer.is_rhd else rect.x + rect.width - self.driver_state_renderer.rect.width,
+      rect.x if dm_state.isRHD else rect.x + rect.width - self.driver_state_renderer.rect.width,
       rect.y + (rect.height - self.driver_state_renderer.rect.height) / 2,
     )
     self.driver_state_renderer.set_position(*driver_state_rect)
@@ -109,9 +103,6 @@ class DriverCameraDialog(NavWidget):
 
   def _publish_alert_sound(self, dm_state):
     """Publish selfdriveState with only alertSound field set"""
-    if self._pm is None:
-      return
-
     msg = messaging.new_message('selfdriveState')
     if dm_state is not None and len(dm_state.events):
       event_name = EVENT_TO_INT[dm_state.events[0].name]
@@ -139,7 +130,7 @@ class DriverCameraDialog(NavWidget):
 
     # Show first event (only one should be active at a time)
     event_name_str = str(dm_state.events[0].name).split('.')[-1]
-    alignment = rl.GuiTextAlignment.TEXT_ALIGN_RIGHT if self.driver_state_renderer.is_rhd else rl.GuiTextAlignment.TEXT_ALIGN_LEFT
+    alignment = rl.GuiTextAlignment.TEXT_ALIGN_RIGHT if dm_state.isRHD else rl.GuiTextAlignment.TEXT_ALIGN_LEFT
 
     shadow_rect = rl.Rectangle(rect.x + 2, rect.y + 2, rect.width, rect.height)
     gui_label(shadow_rect, event_name_str, font_size=40, font_weight=FontWeight.BOLD,
@@ -160,10 +151,12 @@ class DriverCameraDialog(NavWidget):
     if self._glasses_texture is None:
       self._glasses_texture = gui_app.texture("icons_mici/onroad/glasses.png", self._glasses_size, self._glasses_size)
 
-  def _draw_face_detection(self, rect: rl.Rectangle):
-    dm_state = ui_state.sm["driverMonitoringState"]
-    driver_data = self.driver_state_renderer.get_driver_data()
-    if not dm_state.faceDetected:
+  def _draw_face_detection(self, rect: rl.Rectangle) -> None:
+    driver_state = ui_state.sm["driverStateV2"]
+    is_rhd = driver_state.wheelOnRightProb > 0.5
+    driver_data = driver_state.rightDriverData if is_rhd else driver_state.leftDriverData
+    face_detect = driver_data.faceProb > 0.7
+    if not face_detect:
       return
 
     # Get face position and orientation
@@ -187,7 +180,7 @@ class DriverCameraDialog(NavWidget):
     scale_y = rect.height / 1080.0
     fbox_x = rect.x + rect.width / 2 + offset_x * scale_x
     fbox_y = rect.y + rect.height / 2 + offset_y * scale_y
-    box_size = 75
+    box_size = 50
     line_thickness = 3
 
     line_color = rl.Color(255, 255, 255, int(alpha * 255))
@@ -198,9 +191,7 @@ class DriverCameraDialog(NavWidget):
       line_thickness,
       line_color,
     )
-    return driver_data
 
-  def _draw_eyes(self, rect: rl.Rectangle, driver_data):
     # Draw eye indicators based on eye probabilities
     eye_offset_x = 10
     eye_offset_y = 10
@@ -230,6 +221,13 @@ class DriverCameraDialog(NavWidget):
     glasses_prob = driver_data.sunglassesProb
     rl.draw_texture_v(self._glasses_texture, glasses_pos, rl.Color(70, 80, 161, int(255 * glasses_prob)))
 
+  def _calc_driver_frame_matrix(self, rect: rl.Rectangle):
+    base = self._original_calc_frame_matrix(rect)
+    driver_view_ratio = 1.5
+    base[0, 0] *= driver_view_ratio
+    base[1, 1] *= driver_view_ratio
+    return base
+
 
 if __name__ == "__main__":
   gui_app.init_window("Driver Camera View (mici)")

selfdrive/ui/mici/onroad/driver_state.py

@@ -1,4 +1,5 @@
 import pyray as rl
+from collections.abc import Callable
 import numpy as np
 import math
 from cereal import log
@@ -20,11 +21,15 @@ class DriverStateRenderer(Widget):
   LINES_ANGLE_INCREMENT = 5
   LINES_STALE_ANGLES = 3.0  # seconds
 
-  def __init__(self, lines: bool = False, inset: bool = False):
+  def __init__(self, lines: bool = False, confirm_mode: bool = False, confirm_callback: Callable | None = None):
     super().__init__()
     self.set_rect(rl.Rectangle(0, 0, self.BASE_SIZE, self.BASE_SIZE))
-    self._lines = lines
-    self._inset = inset
+    self._lines = lines or confirm_mode
+
+    # In confirm mode, user must fill out the circle to confirm some action in the UI
+    self._confirm_mode = confirm_mode
+    self._confirm_callback = confirm_callback
+    self._confirm_angles: dict[int, float] = {}  # angle: timestamp
 
     # In line mode, track smoothed angles
     assert 360 % self.LINES_ANGLE_INCREMENT == 0
@@ -48,20 +53,12 @@ class DriverStateRenderer(Widget):
 
   def load_icons(self):
     """Load or reload the driver face icon texture"""
-    cone_and_person_size = round(52 / self.BASE_SIZE * self._rect.width)
-
-    # If inset is enabled, push cone and person smaller by 2x the current inset space
-    if self._inset:
-      # Current inset space = (rect.width - cone_and_person_size) / 2
-      current_inset = (self._rect.width - cone_and_person_size) / 2
-      # Reduce size by 2x the current inset (1x on each side)
-      cone_and_person_size = round(cone_and_person_size - current_inset * 2)
-
-    self._dm_person = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_person.png", cone_and_person_size, cone_and_person_size)
-    self._dm_cone = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_cone.png", cone_and_person_size, cone_and_person_size)
+    self._dm_person = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_person.png", self._rect.width, self._rect.height)
+    self._dm_cone = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_cone.png", self._rect.width, self._rect.height)
     center_size = round(36 / self.BASE_SIZE * self._rect.width)
     self._dm_center = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_center.png", center_size, center_size)
-    self._dm_background = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_background.png", self._rect.width, self._rect.height)
+    background_size = round(52 / self.BASE_SIZE * self._rect.width)
+    self._dm_background = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_background.png", background_size, background_size)
 
   def set_should_draw(self, should_draw: bool):
     self._should_draw = should_draw
@@ -80,22 +77,16 @@ class DriverStateRenderer(Widget):
     """Returns True if dmoji should appear active (either actually active or forced)"""
     return bool(self._force_active or self._is_active)
 
-  @property
-  def is_rhd(self) -> bool:
-    return self._is_rhd
-
   def _render(self, _):
     if DEBUG:
       rl.draw_rectangle_lines_ex(self._rect, 1, rl.RED)
 
     rl.draw_texture(self._dm_background,
-                    int(self._rect.x),
-                    int(self._rect.y),
+                    int(self._rect.x + (self._rect.width - self._dm_background.width) / 2),
+                    int(self._rect.y + (self._rect.height - self._dm_background.height) / 2),
                     rl.Color(255, 255, 255, int(255 * self._fade_filter.x)))
 
-    rl.draw_texture(self._dm_person,
-                    int(self._rect.x + (self._rect.width - self._dm_person.width) / 2),
-                    int(self._rect.y + (self._rect.height - self._dm_person.height) / 2),
+    rl.draw_texture(self._dm_person, int(self._rect.x), int(self._rect.y),
                     rl.Color(255, 255, 255, int(255 * 0.9 * self._fade_filter.x)))
 
     if self.effective_active:
@@ -128,18 +119,38 @@ class DriverStateRenderer(Widget):
 
       else:
         # remove old angles
+        now = rl.get_time()
+        self._confirm_angles = {angle: t for angle, t in self._confirm_angles.items() if now - t < self.LINES_STALE_ANGLES}
+
+        looking_center = self._looking_center_filter.x > 0.2
         for angle, f in self._head_angles.items():
           dst_from_current = ((angle - self._rotation_filter.x) % 360) - 180
           target = 1.0 if abs(dst_from_current) <= self.LINES_ANGLE_INCREMENT * 5 else 0.0
           if not self._face_detected:
             target = 0.0
 
+          if self._confirm_mode:
+            # Extra careful to not add angles when looking near center
+            if target > 0 and not looking_center:
+              self._confirm_angles[angle] = now
+
+            # User is looking at area already confirmed, reduce target to indicate where they are
+            if angle in self._confirm_angles and target == 0:
+              target = 0.65
+
           # Reduce all line lengths when looking center
           if self._looking_center:
             target = np.interp(self._looking_center_filter.x, [0.0, 1.0], [target, 0.45])
 
           f.update(target)
-          self._draw_line(angle, f, self._looking_center)
+          self._draw_line(angle, f, self._looking_center and angle not in self._confirm_angles)
+
+        # if all lines placed, reset for next time and call callback
+        if self._confirm_mode:
+          if len(self._confirm_angles) >= 360 // self.LINES_ANGLE_INCREMENT:
+            self._confirm_angles = {}
+            if self._confirm_callback is not None:
+              self._confirm_callback()
 
   def _draw_line(self, angle: int, f: FirstOrderFilter, grey: bool):
     line_length = self._rect.width / 6
@@ -159,9 +170,10 @@ class DriverStateRenderer(Widget):
     if f.x > 0.01:
       rl.draw_line_ex((start_x, start_y), (end_x, end_y), 12, color)
 
-  def get_driver_data(self):
+  def _update_state(self):
     sm = ui_state.sm
 
+    # Get monitoring state
     dm_state = sm["driverMonitoringState"]
     self._is_active = dm_state.isActiveMode
     self._is_rhd = dm_state.isRHD
@@ -169,11 +181,6 @@ class DriverStateRenderer(Widget):
 
     driverstate = sm["driverStateV2"]
     driver_data = driverstate.rightDriverData if self._is_rhd else driverstate.leftDriverData
-    return driver_data
-
-  def _update_state(self):
-    # Get monitoring state
-    driver_data = self.get_driver_data()
     driver_orient = driver_data.faceOrientation
 
     if len(driver_orient) != 3:

selfdrive/ui/mici/onroad/hud_renderer.py

@@ -30,8 +30,20 @@ class FontSizes:
 
 @dataclass(frozen=True)
 class Colors:
-  WHITE = rl.WHITE
-  WHITE_TRANSLUCENT = rl.Color(255, 255, 255, 200)
+  white: rl.Color = rl.WHITE
+  disengaged: rl.Color = rl.Color(145, 155, 149, 255)
+  override: rl.Color = rl.Color(145, 155, 149, 255)  # Added
+  engaged: rl.Color = rl.Color(128, 216, 166, 255)
+  disengaged_bg: rl.Color = rl.Color(0, 0, 0, 153)
+  override_bg: rl.Color = rl.Color(145, 155, 149, 204)
+  engaged_bg: rl.Color = rl.Color(128, 216, 166, 204)
+  grey: rl.Color = rl.Color(166, 166, 166, 255)
+  dark_grey: rl.Color = rl.Color(114, 114, 114, 255)
+  black_translucent: rl.Color = rl.Color(0, 0, 0, 166)
+  white_translucent: rl.Color = rl.Color(255, 255, 255, 200)
+  border_translucent: rl.Color = rl.Color(255, 255, 255, 75)
+  header_gradient_start: rl.Color = rl.Color(0, 0, 0, 114)
+  header_gradient_end: rl.Color = rl.BLANK
 
 
 FONT_SIZES = FontSizes()
@@ -224,18 +236,16 @@ class HudRenderer(Widget):
 
   def _draw_set_speed(self, rect: rl.Rectangle) -> None:
     """Draw the MAX speed indicator box."""
-    alpha = self._set_speed_alpha_filter.update(0 < rl.get_time() - self._set_speed_changed_time < SET_SPEED_PERSISTENCE and
-                                                self._can_draw_top_icons and self._engaged)
-    if alpha < 1e-2:
-      return
-
     x = rect.x
     y = rect.y
 
+    alpha = self._set_speed_alpha_filter.update(0 < rl.get_time() - self._set_speed_changed_time < SET_SPEED_PERSISTENCE and
+                                                self._can_draw_top_icons and self._engaged)
+
     # draw drop shadow
     circle_radius = 162 // 2
     rl.draw_circle_gradient(int(x + circle_radius), int(y + circle_radius), circle_radius,
-                            rl.Color(0, 0, 0, int(255 / 2 * alpha)), rl.BLANK)
+                            rl.Color(0, 0, 0, int(255 / 2 * alpha)), rl.Color(0, 0, 0, 0))
 
     set_speed_color = rl.Color(255, 255, 255, int(255 * 0.9 * alpha))
     max_color = rl.Color(255, 255, 255, int(255 * 0.9 * alpha))
@@ -269,9 +279,9 @@ class HudRenderer(Widget):
     speed_text = str(round(self.speed))
     speed_text_size = measure_text_cached(self._font_bold, speed_text, FONT_SIZES.current_speed)
     speed_pos = rl.Vector2(rect.x + rect.width / 2 - speed_text_size.x / 2, 180 - speed_text_size.y / 2)
-    rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.WHITE)
+    rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white)
 
     unit_text = tr("km/h") if ui_state.is_metric else tr("mph")
     unit_text_size = measure_text_cached(self._font_medium, unit_text, FONT_SIZES.speed_unit)
     unit_pos = rl.Vector2(rect.x + rect.width / 2 - unit_text_size.x / 2, 290 - unit_text_size.y / 2)
-    rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.WHITE_TRANSLUCENT)
+    rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.white_translucent)

selfdrive/ui/mici/onroad/model_renderer.py

@@ -12,8 +12,6 @@ from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.shader_polygon import draw_polygon, Gradient
 from openpilot.system.ui.widgets import Widget
 
-from openpilot.selfdrive.ui.sunnypilot.mici.onroad.model_renderer import LANE_LINE_COLORS_SP
-
 CLIP_MARGIN = 500
 MIN_DRAW_DISTANCE = 10.0
 MAX_DRAW_DISTANCE = 100.0
@@ -34,7 +32,6 @@ LANE_LINE_COLORS = {
   UIStatus.DISENGAGED: rl.Color(200, 200, 200, 255),
   UIStatus.OVERRIDE: rl.Color(255, 255, 255, 255),
   UIStatus.ENGAGED: rl.Color(0, 255, 64, 255),
-  **LANE_LINE_COLORS_SP,
 }
 
 

selfdrive/ui/mici/onroad/torque_bar.py

@@ -130,9 +130,6 @@ def arc_bar_pts(cx: float, cy: float,
 
   pts = np.vstack((outer, cap_end, inner, cap_start, outer[:1])).astype(np.float32)
 
-  # Rotate to start from middle of cap for proper triangulation
-  pts = np.roll(pts, cap_segs, axis=0)
-
   if DEBUG:
     n = len(pts)
     idx = int(time.monotonic() * 12) % max(1, n)  # speed: 12 pts/sec
@@ -185,13 +182,13 @@ class TorqueBar(Widget):
 
     # animate alpha and angle span
     if not self._demo:
-      self._torque_line_alpha_filter.update(ui_state.status not in (UIStatus.DISENGAGED, UIStatus.LONG_ONLY))
+      self._torque_line_alpha_filter.update(ui_state.status != UIStatus.DISENGAGED)
     else:
       self._torque_line_alpha_filter.update(1.0)
 
     torque_line_bg_alpha = np.interp(abs(self._torque_filter.x), [0.5, 1.0], [0.25, 0.5])
     torque_line_bg_color = rl.Color(255, 255, 255, int(255 * torque_line_bg_alpha * self._torque_line_alpha_filter.x))
-    if ui_state.status not in (UIStatus.ENGAGED, UIStatus.LAT_ONLY) and not self._demo:
+    if ui_state.status != UIStatus.ENGAGED and not self._demo:
       torque_line_bg_color = rl.Color(255, 255, 255, int(255 * 0.15 * self._torque_line_alpha_filter.x))
 
     # draw curved line polygon torque bar
@@ -234,7 +231,7 @@ class TorqueBar(Widget):
       max(0, abs(self._torque_filter.x) - 0.75) * 4,
     )
 
-    if ui_state.status not in (UIStatus.ENGAGED, UIStatus.LAT_ONLY) and not self._demo:
+    if ui_state.status != UIStatus.ENGAGED and not self._demo:
       start_color = end_color = rl.Color(255, 255, 255, int(255 * 0.35 * self._torque_line_alpha_filter.x))
 
     gradient = Gradient(

selfdrive/ui/mici/widgets/dialog.py

@@ -274,27 +274,18 @@ class BigInputDialog(BigDialogBase):
 
 
 class BigDialogOptionButton(Widget):
-  HEIGHT = 64
-  SELECTED_HEIGHT = 74
-
   def __init__(self, option: str):
     super().__init__()
     self.option = option
-    self.set_rect(rl.Rectangle(0, 0, int(gui_app.width / 2 + 220), self.HEIGHT))
+    self.set_rect(rl.Rectangle(0, 0, int(gui_app.width / 2 + 220), 64))
 
     self._selected = False
 
     self._label = UnifiedLabel(option, font_size=70, text_color=rl.Color(255, 255, 255, int(255 * 0.58)),
-                               font_weight=FontWeight.DISPLAY_REGULAR, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE,
-                               scroll=True)
-
-  def show_event(self):
-    super().show_event()
-    self._label.reset_scroll()
+                               font_weight=FontWeight.DISPLAY_REGULAR, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP)
 
   def set_selected(self, selected: bool):
     self._selected = selected
-    self._rect.height = self.SELECTED_HEIGHT if selected else self.HEIGHT
 
   def _render(self, _):
     if DEBUG:
@@ -302,11 +293,11 @@ class BigDialogOptionButton(Widget):
 
     # FIXME: offset x by -45 because scroller centers horizontally
     if self._selected:
-      self._label.set_font_size(self.SELECTED_HEIGHT)
+      self._label.set_font_size(74)
       self._label.set_color(rl.Color(255, 255, 255, int(255 * 0.9)))
       self._label.set_font_weight(FontWeight.DISPLAY)
     else:
-      self._label.set_font_size(self.HEIGHT)
+      self._label.set_font_size(70)
       self._label.set_color(rl.Color(255, 255, 255, int(255 * 0.58)))
       self._label.set_font_weight(FontWeight.DISPLAY_REGULAR)
 
@@ -327,7 +318,7 @@ class BigMultiOptionDialog(BigDialogBase):
     self._selected_option: str = self._default_option
     self._last_selected_option: str = self._selected_option
 
-    self._scroller = Scroller([], horizontal=False, pad_start=100, pad_end=100, spacing=0, snap_items=True)
+    self._scroller = Scroller([], horizontal=False, pad_start=100, pad_end=100, spacing=0)
     if self._right_btn is not None:
       self._scroller.set_enabled(lambda: not cast(Widget, self._right_btn).is_pressed)
 
@@ -335,10 +326,14 @@ class BigMultiOptionDialog(BigDialogBase):
       self.add_button(BigDialogOptionButton(option))
 
   def add_button(self, button: BigDialogOptionButton):
-    def click_callback(_btn=button):
-      self._on_option_selected(_btn.option)
+    og_callback = button._click_callback
 
-    button.set_click_callback(click_callback)
+    def wrapped_callback(btn=button):
+      self._on_option_selected(btn.option)
+      if og_callback:
+        og_callback()
+
+    button.set_click_callback(wrapped_callback)
     self._scroller.add_widget(button)
 
   def show_event(self):
@@ -349,23 +344,13 @@ class BigMultiOptionDialog(BigDialogBase):
   def get_selected_option(self) -> str:
     return self._selected_option
 
-  def _on_option_selected(self, option: str, smooth_scroll: bool = True):
+  def _on_option_selected(self, option: str):
     y_pos = 0.0
     for btn in self._scroller._items:
-      btn = cast(BigDialogOptionButton, btn)
-      if btn.option == option:
-        rect_center_y = self._rect.y + self._rect.height / 2
-        if btn._selected:
-          height = btn.rect.height
-        else:
-          # when selecting an option under current, account for changing heights
-          btn_center_y = btn.rect.y + btn.rect.height / 2  # not accurate, just to determine direction
-          height_offset = BigDialogOptionButton.SELECTED_HEIGHT - BigDialogOptionButton.HEIGHT
-          height = (BigDialogOptionButton.HEIGHT - height_offset) if rect_center_y < btn_center_y else BigDialogOptionButton.SELECTED_HEIGHT
-        y_pos = rect_center_y - (btn.rect.y + height / 2)
-        break
+      if cast(BigDialogOptionButton, btn).option == option:
+        y_pos = btn.rect.y
 
-    self._scroller.scroll_to(-y_pos, smooth=smooth_scroll)
+    self._scroller.scroll_to(y_pos, smooth=True)
 
   def _selected_option_changed(self):
     pass

selfdrive/ui/onroad/alert_renderer.py

@@ -48,7 +48,7 @@ class Alert:
 
 # Pre-defined alert instances
 ALERT_STARTUP_PENDING = Alert(
-  text1=tr("sunnypilot Unavailable"),
+  text1=tr("openpilot Unavailable"),
   text2=tr("Waiting to start"),
   size=AlertSize.mid,
   status=AlertStatus.normal,

selfdrive/ui/onroad/augmented_road_view.py

@@ -14,11 +14,6 @@ from openpilot.system.ui.lib.application import gui_app
 from openpilot.common.transformations.camera import DEVICE_CAMERAS, DeviceCameraConfig, view_frame_from_device_frame
 from openpilot.common.transformations.orientation import rot_from_euler
 
-if gui_app.sunnypilot_ui():
-  from openpilot.selfdrive.ui.sunnypilot.onroad.hud_renderer import HudRendererSP as HudRenderer
-
-from openpilot.selfdrive.ui.sunnypilot.onroad.augmented_road_view import BORDER_COLORS_SP
-
 OpState = log.SelfdriveState.OpenpilotState
 CALIBRATED = log.LiveCalibrationData.Status.calibrated
 ROAD_CAM = VisionStreamType.VISION_STREAM_ROAD
@@ -29,7 +24,6 @@ BORDER_COLORS = {
   UIStatus.DISENGAGED: rl.Color(0x12, 0x28, 0x39, 0xFF),  # Blue for disengaged state
   UIStatus.OVERRIDE: rl.Color(0x89, 0x92, 0x8D, 0xFF),  # Gray for override state
   UIStatus.ENGAGED: rl.Color(0x16, 0x7F, 0x40, 0xFF),  # Green for engaged state
-  **BORDER_COLORS_SP,
 }
 
 WIDE_CAM_MAX_SPEED = 10.0  # m/s (22 mph)

selfdrive/ui/onroad/cameraview.py

@@ -68,6 +68,7 @@ else:
 class CameraView(Widget):
   def __init__(self, name: str, stream_type: VisionStreamType):
     super().__init__()
+    # TODO: implement a receiver and connect thread
     self._name = name
     # Primary stream
     self.client = VisionIpcClient(name, stream_type, conflate=True)
@@ -336,12 +337,12 @@ class CameraView(Widget):
     self._initialize_textures()
 
   def _initialize_textures(self):
-    self._clear_textures()
-    if not TICI:
-      self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride),
-        int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE))
-      self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2),
-        int(self.client.height // 2), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA))
+      self._clear_textures()
+      if not TICI:
+        self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride),
+          int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE))
+        self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2),
+          int(self.client.height // 2), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA))
 
   def _clear_textures(self):
     if self.texture_y and self.texture_y.id:

selfdrive/ui/onroad/driver_camera_dialog.py

@@ -14,20 +14,16 @@ class DriverCameraDialog(CameraView):
     super().__init__("camerad", VisionStreamType.VISION_STREAM_DRIVER)
     self.driver_state_renderer = DriverStateRenderer()
     # TODO: this can grow unbounded, should be given some thought
-    device.add_interactive_timeout_callback(lambda: gui_app.set_modal_overlay(None))
+    device.add_interactive_timeout_callback(self.stop_dmonitoringmodeld)
     ui_state.params.put_bool("IsDriverViewEnabled", True)
 
-  def hide_event(self):
-    super().hide_event()
+  def stop_dmonitoringmodeld(self):
     ui_state.params.put_bool("IsDriverViewEnabled", False)
-    self.close()
+    gui_app.set_modal_overlay(None)
 
   def _handle_mouse_release(self, _):
     super()._handle_mouse_release(_)
-    gui_app.set_modal_overlay(None)
-
-  def __del__(self):
-    self.close()
+    self.stop_dmonitoringmodeld()
 
   def _render(self, rect):
     super()._render(rect)

selfdrive/ui/onroad/exp_button.py

@@ -50,12 +50,7 @@ class ExpButton(Widget):
 
     texture = self._txt_exp if self._held_or_actual_mode() else self._txt_wheel
     rl.draw_circle(center_x, center_y, self._rect.width / 2, self._black_bg)
-
-    src_rect = rl.Rectangle(0.0, 0.0, texture.width, texture.height)
-    dest_rect = rl.Rectangle(center_x, center_y, texture.width, texture.height)
-    origin = rl.Vector2(texture.width / 2.0, texture.height / 2.0)
-    rotation = -ui_state.sm['carState'].steeringAngleDeg
-    rl.draw_texture_pro(texture, src_rect, dest_rect, origin, rotation, self._white_color)
+    rl.draw_texture(texture, center_x - texture.width // 2, center_y - texture.height // 2, self._white_color)
 
   def _held_or_actual_mode(self):
     now = time.monotonic()

selfdrive/ui/onroad/hud_renderer.py

@@ -35,20 +35,20 @@ class FontSizes:
 
 @dataclass(frozen=True)
 class Colors:
-  WHITE = rl.WHITE
-  DISENGAGED = rl.Color(145, 155, 149, 255)
-  OVERRIDE = rl.Color(145, 155, 149, 255)  # Added
-  ENGAGED = rl.Color(128, 216, 166, 255)
-  DISENGAGED_BG = rl.Color(0, 0, 0, 153)
-  OVERRIDE_BG = rl.Color(145, 155, 149, 204)
-  ENGAGED_BG = rl.Color(128, 216, 166, 204)
-  GREY = rl.Color(166, 166, 166, 255)
-  DARK_GREY = rl.Color(114, 114, 114, 255)
-  BLACK_TRANSLUCENT = rl.Color(0, 0, 0, 166)
-  WHITE_TRANSLUCENT = rl.Color(255, 255, 255, 200)
-  BORDER_TRANSLUCENT = rl.Color(255, 255, 255, 75)
-  HEADER_GRADIENT_START = rl.Color(0, 0, 0, 114)
-  HEADER_GRADIENT_END = rl.BLANK
+  white: rl.Color = rl.WHITE
+  disengaged: rl.Color = rl.Color(145, 155, 149, 255)
+  override: rl.Color = rl.Color(145, 155, 149, 255)  # Added
+  engaged: rl.Color = rl.Color(128, 216, 166, 255)
+  disengaged_bg: rl.Color = rl.Color(0, 0, 0, 153)
+  override_bg: rl.Color = rl.Color(145, 155, 149, 204)
+  engaged_bg: rl.Color = rl.Color(128, 216, 166, 204)
+  grey: rl.Color = rl.Color(166, 166, 166, 255)
+  dark_grey: rl.Color = rl.Color(114, 114, 114, 255)
+  black_translucent: rl.Color = rl.Color(0, 0, 0, 166)
+  white_translucent: rl.Color = rl.Color(255, 255, 255, 200)
+  border_translucent: rl.Color = rl.Color(255, 255, 255, 75)
+  header_gradient_start: rl.Color = rl.Color(0, 0, 0, 114)
+  header_gradient_end: rl.Color = rl.BLANK
 
 
 UI_CONFIG = UIConfig()
@@ -108,8 +108,8 @@ class HudRenderer(Widget):
       int(rect.y),
       int(rect.width),
       UI_CONFIG.header_height,
-      COLORS.HEADER_GRADIENT_START,
-      COLORS.HEADER_GRADIENT_END,
+      COLORS.header_gradient_start,
+      COLORS.header_gradient_end,
     )
 
     if self.is_cruise_available:
@@ -131,19 +131,19 @@ class HudRenderer(Widget):
     y = rect.y + 45
 
     set_speed_rect = rl.Rectangle(x, y, set_speed_width, UI_CONFIG.set_speed_height)
-    rl.draw_rectangle_rounded(set_speed_rect, 0.35, 10, COLORS.BLACK_TRANSLUCENT)
-    rl.draw_rectangle_rounded_lines_ex(set_speed_rect, 0.35, 10, 6, COLORS.BORDER_TRANSLUCENT)
+    rl.draw_rectangle_rounded(set_speed_rect, 0.35, 10, COLORS.black_translucent)
+    rl.draw_rectangle_rounded_lines_ex(set_speed_rect, 0.35, 10, 6, COLORS.border_translucent)
 
-    max_color = COLORS.GREY
-    set_speed_color = COLORS.DARK_GREY
+    max_color = COLORS.grey
+    set_speed_color = COLORS.dark_grey
     if self.is_cruise_set:
-      set_speed_color = COLORS.WHITE
+      set_speed_color = COLORS.white
       if ui_state.status == UIStatus.ENGAGED:
-        max_color = COLORS.ENGAGED
+        max_color = COLORS.engaged
       elif ui_state.status == UIStatus.DISENGAGED:
-        max_color = COLORS.DISENGAGED
+        max_color = COLORS.disengaged
       elif ui_state.status == UIStatus.OVERRIDE:
-        max_color = COLORS.OVERRIDE
+        max_color = COLORS.override
 
     max_text = tr("MAX")
     max_text_width = measure_text_cached(self._font_semi_bold, max_text, FONT_SIZES.max_speed).x
@@ -172,9 +172,9 @@ class HudRenderer(Widget):
     speed_text = str(round(self.speed))
     speed_text_size = measure_text_cached(self._font_bold, speed_text, FONT_SIZES.current_speed)
     speed_pos = rl.Vector2(rect.x + rect.width / 2 - speed_text_size.x / 2, 180 - speed_text_size.y / 2)
-    rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.WHITE)
+    rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white)
 
     unit_text = tr("km/h") if ui_state.is_metric else tr("mph")
     unit_text_size = measure_text_cached(self._font_medium, unit_text, FONT_SIZES.speed_unit)
     unit_pos = rl.Vector2(rect.x + rect.width / 2 - unit_text_size.x / 2, 290 - unit_text_size.y / 2)
-    rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.WHITE_TRANSLUCENT)
+    rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.white_translucent)

selfdrive/ui/onroad/model_renderer.py

@@ -11,8 +11,6 @@ from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.shader_polygon import draw_polygon, Gradient
 from openpilot.system.ui.widgets import Widget
 
-from openpilot.selfdrive.ui.sunnypilot.onroad.model_renderer import ChevronMetrics, ModelRendererSP
-
 CLIP_MARGIN = 500
 MIN_DRAW_DISTANCE = 10.0
 MAX_DRAW_DISTANCE = 100.0
@@ -43,11 +41,9 @@ class LeadVehicle:
   fill_alpha: int = 0
 
 
-class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
+class ModelRenderer(Widget):
   def __init__(self):
-    Widget.__init__(self)
-    ChevronMetrics.__init__(self)
-    ModelRendererSP.__init__(self)
+    super().__init__()
     self._longitudinal_control = False
     self._experimental_mode = False
     self._blend_filter = FirstOrderFilter(1.0, 0.25, 1 / gui_app.target_fps)
@@ -132,7 +128,6 @@ class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
 
     if render_lead_indicator and radar_state:
       self._draw_lead_indicator()
-      self.chevron_metrics.draw_lead_status(sm, radar_state, self._rect, self._lead_vehicles)
 
   def _update_raw_points(self, model):
     """Update raw 3D points from model data"""
@@ -286,10 +281,6 @@ class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
     allow_throttle = sm['longitudinalPlan'].allowThrottle or not self._longitudinal_control
     self._blend_filter.update(int(allow_throttle))
 
-    if ui_state.rainbow_path:
-      self.rainbow_path.draw_rainbow_path(self._rect, self._path)
-      return
-
     if self._experimental_mode:
       # Draw with acceleration coloring
       if len(self._exp_gradient.colors) > 1:

selfdrive/ui/qt/offroad/offroad_home.cc

@@ -0,0 +1,158 @@
+/**
+ * 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/qt/offroad/offroad_home.h"
+
+#include "selfdrive/ui/qt/offroad/experimental_mode.h"
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/qt/widgets/prime.h"
+
+// OffroadHome: the offroad home page
+
+OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
+  QVBoxLayout* main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(40, 40, 40, 40);
+
+  // top header
+  header_layout = new QHBoxLayout();
+  header_layout->setContentsMargins(0, 0, 0, 0);
+  header_layout->setSpacing(16);
+
+  update_notif = new QPushButton(tr("UPDATE"));
+  update_notif->setVisible(false);
+  update_notif->setStyleSheet("background-color: #364DEF;");
+  QObject::connect(update_notif, &QPushButton::clicked, [=]() { center_layout->setCurrentIndex(1); });
+  header_layout->addWidget(update_notif, 0, Qt::AlignHCenter | Qt::AlignLeft);
+
+  alert_notif = new QPushButton();
+  alert_notif->setVisible(false);
+  alert_notif->setStyleSheet("background-color: #E22C2C;");
+  QObject::connect(alert_notif, &QPushButton::clicked, [=] { center_layout->setCurrentIndex(2); });
+  header_layout->addWidget(alert_notif, 0, Qt::AlignHCenter | Qt::AlignLeft);
+
+  version = new ElidedLabel();
+  header_layout->addWidget(version, 0, Qt::AlignHCenter | Qt::AlignRight);
+
+  main_layout->addLayout(header_layout);
+
+  // main content
+  main_layout->addSpacing(25);
+  center_layout = new QStackedLayout();
+
+  QWidget *home_widget = new QWidget(this);
+  {
+    home_layout = new QHBoxLayout(home_widget);
+    home_layout->setContentsMargins(0, 0, 0, 0);
+    home_layout->setSpacing(30);
+
+#ifndef SUNNYPILOT
+    // left: PrimeAdWidget
+    QStackedWidget *left_widget = new QStackedWidget(this);
+    QVBoxLayout *left_prime_layout = new QVBoxLayout();
+    left_prime_layout->setContentsMargins(0, 0, 0, 0);
+    QWidget *prime_user = new PrimeUserWidget();
+    prime_user->setStyleSheet(R"(
+    border-radius: 10px;
+    background-color: #333333;
+    )");
+    left_prime_layout->addWidget(prime_user);
+    left_prime_layout->addStretch();
+    left_widget->addWidget(new LayoutWidget(left_prime_layout));
+    left_widget->addWidget(new PrimeAdWidget);
+    left_widget->setStyleSheet("border-radius: 10px;");
+
+    connect(uiState()->prime_state, &PrimeState::changed, [left_widget]() {
+      left_widget->setCurrentIndex(uiState()->prime_state->isSubscribed() ? 0 : 1);
+    });
+
+    home_layout->addWidget(left_widget, 1);
+#endif
+
+    // right: ExperimentalModeButton, SetupWidget
+    QWidget* right_widget = new QWidget(this);
+    QVBoxLayout* right_column = new QVBoxLayout(right_widget);
+    right_column->setContentsMargins(0, 0, 0, 0);
+    right_widget->setFixedWidth(750);
+    right_column->setSpacing(30);
+
+    ExperimentalModeButton *experimental_mode = new ExperimentalModeButton(this);
+    QObject::connect(experimental_mode, &ExperimentalModeButton::openSettings, this, &OffroadHome::openSettings);
+    right_column->addWidget(experimental_mode, 1);
+
+    SetupWidget *setup_widget = new SetupWidget;
+    QObject::connect(setup_widget, &SetupWidget::openSettings, this, &OffroadHome::openSettings);
+    right_column->addWidget(setup_widget, 1);
+
+    home_layout->addWidget(right_widget, 1);
+  }
+  center_layout->addWidget(home_widget);
+
+  // add update & alerts widgets
+  update_widget = new UpdateAlert();
+  QObject::connect(update_widget, &UpdateAlert::dismiss, [=]() { center_layout->setCurrentIndex(0); });
+  center_layout->addWidget(update_widget);
+  alerts_widget = new OffroadAlert();
+  QObject::connect(alerts_widget, &OffroadAlert::dismiss, [=]() { center_layout->setCurrentIndex(0); });
+  center_layout->addWidget(alerts_widget);
+
+  main_layout->addLayout(center_layout, 1);
+
+  // set up refresh timer
+  timer = new QTimer(this);
+  timer->callOnTimeout(this, &OffroadHome::refresh);
+
+  setStyleSheet(R"(
+    * {
+      color: white;
+    }
+    OffroadHome {
+      background-color: black;
+    }
+    OffroadHome > QPushButton {
+      padding: 15px 30px;
+      border-radius: 5px;
+      font-size: 40px;
+      font-weight: 500;
+    }
+    OffroadHome > QLabel {
+      font-size: 55px;
+    }
+  )");
+}
+
+void OffroadHome::showEvent(QShowEvent *event) {
+  refresh();
+  timer->start(10 * 1000);
+}
+
+void OffroadHome::hideEvent(QHideEvent *event) {
+  timer->stop();
+}
+
+void OffroadHome::refresh() {
+  version->setText(getBrand() + " " +  QString::fromStdString(params.get("UpdaterCurrentDescription")));
+
+  bool updateAvailable = update_widget->refresh();
+  int alerts = alerts_widget->refresh();
+
+  // pop-up new notification
+  int idx = center_layout->currentIndex();
+  if (!updateAvailable && !alerts) {
+    idx = 0;
+  } else if (updateAvailable && (!update_notif->isVisible() || (!alerts && idx == 2))) {
+    idx = 1;
+  } else if (alerts && (!alert_notif->isVisible() || (!updateAvailable && idx == 1))) {
+    idx = 2;
+  }
+  center_layout->setCurrentIndex(idx);
+
+  update_notif->setVisible(updateAvailable);
+  alert_notif->setVisible(alerts);
+  if (alerts) {
+    alert_notif->setText(QString::number(alerts) + (alerts > 1 ? tr(" ALERTS") : tr(" ALERT")));
+  }
+}

selfdrive/ui/qt/offroad/offroad_home.h

@@ -0,0 +1,59 @@
+/**
+ * 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 "common/params.h"
+#include "selfdrive/ui/qt/body.h"
+#include "selfdrive/ui/qt/widgets/offroad_alerts.h"
+
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#include "selfdrive/ui/sunnypilot/qt/onroad/onroad_home.h"
+#include "selfdrive/ui/sunnypilot/qt/sidebar.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/prime.h"
+#define OnroadWindow OnroadWindowSP
+#define LayoutWidget LayoutWidgetSP
+#define Sidebar SidebarSP
+#define ElidedLabel ElidedLabelSP
+#define SetupWidget SetupWidgetSP
+#else
+#include "selfdrive/ui/qt/widgets/controls.h"
+#include "selfdrive/ui/qt/onroad/onroad_home.h"
+#include "selfdrive/ui/qt/sidebar.h"
+#include "selfdrive/ui/qt/widgets/prime.h"
+#endif
+
+class OffroadHome : public QFrame {
+  Q_OBJECT
+
+public:
+  explicit OffroadHome(QWidget* parent = 0);
+
+  signals:
+    void openSettings(int index = 0, const QString &param = "");
+
+protected:
+  QHBoxLayout *home_layout;
+  QHBoxLayout *header_layout;
+
+  void showEvent(QShowEvent *event) override;
+  void refresh();
+
+private:
+  void hideEvent(QHideEvent *event) override;
+
+  Params params;
+
+  QTimer* timer;
+  ElidedLabel* version;
+  QStackedLayout* center_layout;
+  UpdateAlert *update_widget;
+  OffroadAlert* alerts_widget;
+  QPushButton* alert_notif;
+  QPushButton* update_notif;
+};

selfdrive/ui/sunnypilot/layouts/settings/cruise.py

@@ -1,30 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-from openpilot.common.params import Params
-from openpilot.system.ui.widgets.scroller_tici import Scroller
-from openpilot.system.ui.widgets import Widget
-
-
-class CruiseLayout(Widget):
-  def __init__(self):
-    super().__init__()
-
-    self._params = Params()
-    items = self._initialize_items()
-    self._scroller = Scroller(items, line_separator=True, spacing=0)
-
-  def _initialize_items(self):
-
-    items = [
-    ]
-    return items
-
-  def _render(self, rect):
-    self._scroller.render(rect)
-
-  def show_event(self):
-    self._scroller.show_event()

selfdrive/ui/sunnypilot/layouts/settings/developer.py

@@ -1,106 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import datetime
-import os
-from pathlib import Path
-
-from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout
-from openpilot.system.hardware import PC
-from openpilot.system.hardware.hw import Paths
-from openpilot.system.ui.lib.application import gui_app
-from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.widgets import DialogResult
-from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
-from openpilot.system.ui.widgets.list_view import button_item
-
-from openpilot.system.ui.sunnypilot.widgets.html_render import HtmlModalSP
-from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
-
-PREBUILT_PATH = os.path.join(Paths.comma_home(), "prebuilt") if PC else "/data/openpilot/prebuilt"
-
-
-class DeveloperLayoutSP(DeveloperLayout):
-  def __init__(self):
-    super().__init__()
-    self.error_log_path = os.path.join(Paths.crash_log_root(), "error.log")
-    self._is_release_branch: bool = self._is_release or ui_state.params.get_bool("IsReleaseSpBranch")
-    self._is_development_branch: bool = ui_state.params.get_bool("IsTestedBranch") or ui_state.params.get_bool("IsDevelopmentBranch")
-    self._initialize_items()
-
-    for item in self.items:
-      self._scroller.add_widget(item)
-
-  def _initialize_items(self):
-    self.show_advanced_controls = toggle_item_sp(tr("Show Advanced Controls"),
-                                                 tr("Toggle visibility of advanced sunnypilot controls.<br>This only changes the visibility of the toggles; " +
-                                                    "it does not change the actual enabled/disabled state."), param="ShowAdvancedControls")
-
-    self.enable_github_runner_toggle = toggle_item_sp(tr("GitHub Runner Service"), tr("Enables or disables the GitHub runner service."),
-                                                      param="EnableGithubRunner")
-
-    self.enable_copyparty_toggle = toggle_item_sp(tr("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 its IP address."), param="EnableCopyparty")
-
-    self.prebuilt_toggle = toggle_item_sp(tr("Quickboot Mode"), "", param="QuickBootToggle", callback=self._on_prebuilt_toggled)
-
-    self.error_log_btn = button_item(tr("Error Log"), tr("VIEW"), tr("View the error log for sunnypilot crashes."), callback=self._on_error_log_clicked)
-
-    self.items: list = [self.show_advanced_controls, self.enable_github_runner_toggle, self.enable_copyparty_toggle, self.prebuilt_toggle, self.error_log_btn,]
-
-  @staticmethod
-  def _on_prebuilt_toggled(state):
-    if state:
-      Path(PREBUILT_PATH).touch(exist_ok=True)
-    else:
-      os.remove(PREBUILT_PATH)
-    ui_state.params.put_bool("QuickBootToggle", state)
-
-  def _on_delete_confirm(self, result):
-    if result == DialogResult.CONFIRM:
-      if os.path.exists(self.error_log_path):
-        os.remove(self.error_log_path)
-
-  def _on_error_log_closed(self, result, log_exists):
-    if result == DialogResult.CONFIRM and log_exists:
-      dialog2 = ConfirmDialog(tr("Would you like to delete this log?"), tr("Yes"), tr("No"), rich=False)
-      gui_app.set_modal_overlay(dialog2, callback=self._on_delete_confirm)
-
-  def _on_error_log_clicked(self):
-    text = ""
-    if os.path.exists(self.error_log_path):
-      text = f"<b>{datetime.datetime.fromtimestamp(os.path.getmtime(self.error_log_path)).strftime('%d-%b-%Y %H:%M:%S').upper()}</b><br><br>"
-      try:
-        with open(self.error_log_path) as file:
-          text += file.read()
-      except Exception:
-        pass
-    dialog = HtmlModalSP(text=text, callback=lambda result: self._on_error_log_closed(result, os.path.exists(self.error_log_path)))
-    gui_app.set_modal_overlay(dialog)
-
-  def _update_state(self):
-    disable_updates = ui_state.params.get_bool("DisableUpdates")
-    show_advanced = ui_state.params.get_bool("ShowAdvancedControls")
-
-    if (prebuilt_file := os.path.exists(PREBUILT_PATH)) != ui_state.params.get_bool("QuickBootToggle"):
-      ui_state.params.put_bool("QuickBootToggle", prebuilt_file)
-      self.prebuilt_toggle.action_item.set_state(prebuilt_file)
-
-    self.prebuilt_toggle.set_visible(show_advanced and not (self._is_release_branch or self._is_development_branch))
-    self.prebuilt_toggle.action_item.set_enabled(disable_updates)
-
-    if disable_updates:
-      self.prebuilt_toggle.set_description(tr("When toggled on, this creates a prebuilt file to allow accelerated boot times. When toggled off, it " +
-                                              "removes the prebuilt file so compilation of locally edited cpp files can be made."))
-    else:
-      self.prebuilt_toggle.set_description(tr("Quickboot mode requires updates to be disabled.<br>Enable 'Disable Updates' in the Software panel first."))
-
-    self.enable_copyparty_toggle.set_visible(show_advanced)
-    self.enable_github_runner_toggle.set_visible(show_advanced and not self._is_release_branch)
-    self.error_log_btn.set_visible(not self._is_release_branch)

selfdrive/ui/sunnypilot/layouts/settings/device.py

@@ -1,12 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-from openpilot.selfdrive.ui.layouts.settings.device import DeviceLayout
-
-
-class DeviceLayoutSP(DeviceLayout):
-  def __init__(self):
-    DeviceLayout.__init__(self)

selfdrive/ui/sunnypilot/layouts/settings/display.py

@@ -1,30 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-from openpilot.common.params import Params
-from openpilot.system.ui.widgets.scroller_tici import Scroller
-from openpilot.system.ui.widgets import Widget
-
-
-class DisplayLayout(Widget):
-  def __init__(self):
-    super().__init__()
-
-    self._params = Params()
-    items = self._initialize_items()
-    self._scroller = Scroller(items, line_separator=True, spacing=0)
-
-  def _initialize_items(self):
-    items = [
-
-    ]
-    return items
-
-  def _render(self, rect):
-    self._scroller.render(rect)
-
-  def show_event(self):
-    self._scroller.show_event()

selfdrive/ui/sunnypilot/layouts/settings/models.py

@@ -1,254 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import os
-import re
-import time
-import pyray as rl
-
-from cereal import custom
-from openpilot.common.constants import CV
-from openpilot.selfdrive.ui.ui_state import device, ui_state
-from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.lib.application import gui_app
-from openpilot.system.ui.widgets import DialogResult, Widget
-from openpilot.system.ui.widgets.confirm_dialog import alert_dialog, ConfirmDialog
-from openpilot.system.ui.widgets.scroller_tici import Scroller
-from openpilot.system.ui.widgets.toggle import ON_COLOR
-
-from openpilot.sunnypilot.models.runners.constants import CUSTOM_MODEL_PATH
-from openpilot.system.ui.sunnypilot.lib.styles import style
-from openpilot.system.ui.sunnypilot.lib.utils import NoElideButtonAction
-from openpilot.system.ui.sunnypilot.widgets.list_view import ListItemSP, toggle_item_sp, option_item_sp
-from openpilot.system.ui.sunnypilot.widgets.progress_bar import progress_item
-from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeOptionDialog, TreeNode, TreeFolder
-
-if gui_app.sunnypilot_ui():
-  from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp as button_item
-
-
-class ModelsLayout(Widget):
-  def __init__(self):
-    super().__init__()
-    self.model_manager = None
-    self.download_status = None
-    self.prev_download_status = None
-    self.model_dialog = None
-    self.last_cache_calc_time = 0
-
-    self._initialize_items()
-
-    self.clear_cache_item.action_item.set_value(f"{self._calculate_cache_size():.2f} MB")
-    for ctrl, key in [(self.lane_turn_value_control, "LaneTurnValue"), (self.delay_control, "LagdToggleDelay")]:
-      ctrl.action_item.set_value(int(float(ui_state.params.get(key, return_default=True)) * 100))
-
-    self._scroller = Scroller(self.items, line_separator=True, spacing=0)
-
-  def _initialize_items(self):
-    self.current_model_item = ListItemSP(
-      title=tr("Current Model"),
-      description="",
-      action_item=NoElideButtonAction(tr("SELECT")),
-      callback=self._handle_current_model_clicked
-    )
-
-    self.supercombo_label = progress_item(tr("Driving Model"))
-    self.vision_label = progress_item(tr("Vision Model"))
-    self.policy_label = progress_item(tr("Policy Model"))
-
-    self.refresh_item = button_item(tr("Refresh Model List"), tr("REFRESH"), "",
-                                    lambda: (ui_state.params.put("ModelManager_LastSyncTime", 0),
-                                             gui_app.set_modal_overlay(alert_dialog(tr("Fetching Latest Models")))))
-
-    self.clear_cache_item = ListItemSP(
-      title=tr("Clear Model Cache"),
-      description="",
-      action_item=NoElideButtonAction(tr("CLEAR")),
-      callback=self._clear_cache
-    )
-
-    self.cancel_download_item = button_item(tr("Cancel Download"), tr("Cancel"), "", lambda: ui_state.params.remove("ModelManager_DownloadIndex"))
-
-    self.lane_turn_value_control = option_item_sp(tr("Adjust Lane Turn Speed"), "LaneTurnValue", 500, 2000,
-                                                  tr("Set the maximum speed for lane turn desires. Default is 19 mph."),
-                                                  int(round(100 / CV.MPH_TO_KPH)), None, True, "", style.BUTTON_ACTION_WIDTH, None, True,
-                                                  lambda v: f"{int(round(v / 100 * (CV.MPH_TO_KPH if ui_state.is_metric else 1)))}" +
-                                                            f" {'km/h' if ui_state.is_metric else 'mph'}")
-
-    self.lane_turn_desire_toggle = toggle_item_sp(tr("Use Lane Turn Desires"),
-                                                  tr("If you're driving at 20 mph (32 km/h) or below and have your blinker on," +
-                                                     " the car will plan a turn in that direction at the nearest drivable path. " +
-                                                     "This prevents situations (like at red lights) where the car might plan the wrong turn direction."),
-                                                  param="LaneTurnDesire")
-
-    self.delay_control = option_item_sp(tr("Adjust Software Delay"), "LagdToggleDelay", 5, 50,
-                                        tr("Adjust the software delay when Live Learning Steer Delay is toggled off. The default software delay value is 0.2"),
-                                        1, None, True, "", style.BUTTON_ACTION_WIDTH, None, True, lambda v: f"{v / 100:.2f}s")
-
-    self.lagd_toggle = toggle_item_sp(tr("Live Learning Steer Delay"), "", param="LagdToggle")
-
-    self.items = [self.current_model_item, self.cancel_download_item, self.supercombo_label, self.vision_label,
-                  self.policy_label, self.refresh_item, self.clear_cache_item, self.lane_turn_desire_toggle,
-                  self.lane_turn_value_control, self.lagd_toggle, self.delay_control]
-
-  def _update_lagd_description(self, lagd_toggle: bool):
-    desc = tr("Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. " +
-              "Keeping this on provides the stock openpilot experience.")
-    if lagd_toggle:
-      desc += f"<br>{tr('Live Steer Delay:')} {ui_state.sm['liveDelay'].lateralDelay:.3f} s"
-    elif ui_state.CP:
-      sw = float(ui_state.params.get("LagdToggleDelay", "0.2"))
-      cp = ui_state.CP.steerActuatorDelay
-      desc += f"<br>{tr('Actuator Delay:')} {cp:.2f} s + {tr('Software Delay:')} {sw:.2f} s = {tr('Total Delay:')} {cp + sw:.2f} s"
-    self.lagd_toggle.set_description(desc)
-
-  def _is_downloading(self):
-    return (self.model_manager and self.model_manager.selectedBundle and
-            self.model_manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.downloading)
-
-  @staticmethod
-  def _calculate_cache_size():
-    cache_size = 0.0
-    if os.path.exists(CUSTOM_MODEL_PATH):
-      cache_size = sum(os.path.getsize(os.path.join(CUSTOM_MODEL_PATH, file)) for file in os.listdir(CUSTOM_MODEL_PATH)) / (1024**2)
-    return cache_size
-
-  def _clear_cache(self):
-    def _callback(response):
-      if response == DialogResult.CONFIRM:
-        ui_state.params.put_bool("ModelManager_ClearCache", True)
-        self.clear_cache_item.action_item.set_value(f"{self._calculate_cache_size():.2f} MB")
-
-    gui_app.set_modal_overlay(ConfirmDialog(tr("This will delete ALL downloaded models from the cache except the currently active model. Are you sure?"),
-                                            tr("Clear Cache")), callback=_callback)
-
-  def _handle_bundle_download_progress(self):
-    labels = {custom.ModelManagerSP.Model.Type.supercombo: self.supercombo_label,
-              custom.ModelManagerSP.Model.Type.vision: self.vision_label,
-              custom.ModelManagerSP.Model.Type.policy: self.policy_label}
-    for label in labels.values():
-      label.set_visible(False)
-    self.cancel_download_item.set_visible(False)
-
-    if not self.model_manager or (not self.model_manager.selectedBundle and not self.model_manager.activeBundle):
-      return
-
-    bundle = self.model_manager.selectedBundle if self._is_downloading() or (
-      self.model_manager.selectedBundle and self.model_manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.failed
-    ) else self.model_manager.activeBundle
-    if not bundle:
-      return
-
-    self.download_status = bundle.status
-    status_changed = self.prev_download_status != self.download_status
-    self.prev_download_status = self.download_status
-
-    self.cancel_download_item.set_visible(bool(self.model_manager.selectedBundle) and bool(ui_state.params.get("ModelManager_DownloadIndex")))
-
-    if (current_time := time.monotonic()) - self.last_cache_calc_time > 0.5:
-      self.last_cache_calc_time = current_time
-      self.clear_cache_item.action_item.set_value(f"{self._calculate_cache_size():.2f} MB")
-
-    if self.download_status == custom.ModelManagerSP.DownloadStatus.downloading:
-      device._reset_interactive_timeout()
-
-    for model in bundle.models:
-      if label := labels.get(getattr(model.type, 'raw', model.type)):
-        label.set_visible(True)
-        p = model.artifact.downloadProgress
-        text, show, color = f"pending - {bundle.displayName}", False, rl.GRAY
-        if p.status == custom.ModelManagerSP.DownloadStatus.downloading:
-          text, show = f"{int(p.progress)}% - {bundle.displayName}", True
-        elif p.status in (custom.ModelManagerSP.DownloadStatus.downloaded, custom.ModelManagerSP.DownloadStatus.cached):
-          status_text = tr("from cache" if p.status == custom.ModelManagerSP.DownloadStatus.cached else "downloaded")
-          text, color = f"{bundle.displayName} - {status_text if status_changed else tr('ready')}", ON_COLOR
-        elif p.status == custom.ModelManagerSP.DownloadStatus.failed:
-          text, color = f"download failed - {bundle.displayName}", rl.RED
-        label.action_item.update(p.progress, text, show, color)
-
-  @staticmethod
-  def _show_reset_params_dialog():
-    def _callback(response):
-      if response == DialogResult.CONFIRM:
-        ui_state.params.remove("CalibrationParams")
-        ui_state.params.remove("LiveTorqueParameters")
-    msg = tr("Model download has started in the background. We suggest resetting calibration. Would you like to do that now?")
-    gui_app.set_modal_overlay(ConfirmDialog(msg, tr("Reset Calibration")), callback=_callback)
-
-  def _on_model_selected(self, result):
-    if result != DialogResult.CONFIRM:
-      return
-    selected_ref = self.model_dialog.selection_ref
-    if selected_ref == "Default":
-      ui_state.params.remove("ModelManager_ActiveBundle")
-      self._show_reset_params_dialog()
-    elif selected_bundle := next((bundle for bundle in self.model_manager.availableBundles if bundle.ref == selected_ref), None):
-      ui_state.params.put("ModelManager_DownloadIndex", selected_bundle.index)
-      if self.model_manager.activeBundle and selected_bundle.generation != self.model_manager.activeBundle.generation:
-        self._show_reset_params_dialog()
-    self.model_dialog = None
-
-  @staticmethod
-  def _bundle_to_node(bundle):
-    return TreeNode(bundle.ref, {'display_name': bundle.displayName, 'short_name': bundle.internalName})
-
-  def _get_folders(self, favorites):
-    bundles = self.model_manager.availableBundles
-    folders = {}
-    for bundle in bundles:
-      folders.setdefault(next((ov_ride.value for ov_ride in bundle.overrides if ov_ride.key == "folder"), ""), []).append(bundle)
-
-    folders_list = [TreeFolder("", [TreeNode("Default", {'display_name': tr("Default Model"), 'short_name': "Default"})])]
-    for folder, folder_bundles in sorted(folders.items(), key=lambda x: max((bundle.index for bundle in x[1]), default=-1), reverse=True):
-      folder_bundles.sort(key=lambda bundle: bundle.index, reverse=True)
-      name = folder + (f" - (Updated: {m.group(1)})" if folder_bundles and (m := re.search(r'\(([^)]*)\)[^(]*$', folder_bundles[0].displayName)) else "")
-      folders_list.append(TreeFolder(name, [self._bundle_to_node(bundle) for bundle in folder_bundles]))
-
-    if favorites and (fav_bundles := [bundle for bundle in bundles if bundle.ref in favorites]):
-      folders_list.insert(1, TreeFolder("Favorites", [self._bundle_to_node(bundle) for bundle in fav_bundles]))
-    return folders_list
-
-  def _handle_current_model_clicked(self):
-    favs = ui_state.params.get("ModelManager_Favs")
-    favorites = set(favs.split(';')) if favs else set()
-    folders_list = self._get_folders(favorites)
-
-    active_ref = self.model_manager.activeBundle.ref if self.model_manager.activeBundle else "Default"
-    self.model_dialog = TreeOptionDialog(tr("Select a Model"), folders_list, active_ref, "ModelManager_Favs",
-                                         get_folders_fn=self._get_folders, on_exit=self._on_model_selected)
-    gui_app.set_modal_overlay(self.model_dialog, callback=self._on_model_selected)
-
-  def _update_state(self):
-    advanced_controls: bool = ui_state.params.get_bool("ShowAdvancedControls")
-    turn_desire: bool = ui_state.params.get_bool("LaneTurnDesire")
-    live_delay: bool = ui_state.params.get_bool("LagdToggle")
-
-    self.lane_turn_desire_toggle.action_item.set_state(turn_desire)
-    self.lane_turn_value_control.set_visible(turn_desire and advanced_controls)
-    self.lagd_toggle.action_item.set_state(live_delay)
-    self.delay_control.set_visible(not live_delay and advanced_controls)
-    new_step = int(round(100 / CV.MPH_TO_KPH)) if ui_state.is_metric else 100
-    if self.lane_turn_value_control.action_item.value_change_step != new_step:
-      self.lane_turn_value_control.action_item.value_change_step = new_step
-
-    self._update_lagd_description(live_delay)
-    self.model_manager = ui_state.sm["modelManagerSP"]
-    self._handle_bundle_download_progress()
-    active_name = self.model_manager.activeBundle.internalName if self.model_manager and self.model_manager.activeBundle.ref else tr("Default Model")
-    self.current_model_item.action_item.set_value(active_name)
-
-    if not ui_state.is_offroad():
-      self.current_model_item.action_item.set_enabled(False)
-      self.current_model_item.set_description(tr("Only available when vehicle is off, or always offroad mode is on"))
-    else:
-      self.current_model_item.action_item.set_enabled(True)
-      self.current_model_item.set_description("")
-
-  def _render(self, rect):
-    self._scroller.render(rect)
-
-  def show_event(self):
-    self._scroller.show_event()

selfdrive/ui/sunnypilot/layouts/settings/navigation.py

@@ -1,30 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-from openpilot.common.params import Params
-from openpilot.system.ui.widgets.scroller_tici import Scroller
-from openpilot.system.ui.widgets import Widget
-
-
-class NavigationLayout(Widget):
-  def __init__(self):
-    super().__init__()
-
-    self._params = Params()
-    items = self._initialize_items()
-    self._scroller = Scroller(items, line_separator=True, spacing=0)
-
-  def _initialize_items(self):
-    items = [
-
-    ]
-    return items
-
-  def _render(self, rect):
-    self._scroller.render(rect)
-
-  def show_event(self):
-    self._scroller.show_event()

selfdrive/ui/sunnypilot/layouts/settings/network.py

@@ -1,46 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import threading
-import time
-import pyray as rl
-
-from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.widgets.button import Button, ButtonStyle
-from openpilot.system.ui.widgets.network import NetworkUI, PanelType
-
-
-class NetworkUISP(NetworkUI):
-  def __init__(self, wifi_manager):
-    super().__init__(wifi_manager)
-
-    self.scan_button = Button(tr("Scan"), self._scan_clicked, button_style=ButtonStyle.NORMAL, font_size=60, border_radius=30)
-    self.scan_button.set_rect(rl.Rectangle(0, 0, 400, 100))
-
-    self._scanning = False
-    self._wifi_manager.add_callbacks(networks_updated=self._on_networks_updated)
-
-  def _scan_clicked(self):
-    self._scanning = True
-    self.scan_button.set_text(tr("Scanning..."))
-    self.scan_button.set_enabled(False)
-
-    threading.Thread(target=self._wifi_manager._update_networks, daemon=True).start()
-    self._wifi_manager._request_scan()
-    self._wifi_manager._last_network_update = time.monotonic()
-
-  def _on_networks_updated(self, networks):
-    if self._scanning:
-      self._scanning = False
-      self.scan_button.set_text(tr("Scan"))
-      self.scan_button.set_enabled(True)
-
-  def _render(self, rect: rl.Rectangle):
-    super()._render(rect)
-
-    if self._current_panel == PanelType.WIFI:
-      self.scan_button.set_position(self._rect.x, self._rect.y + 20)
-      self.scan_button.render()

selfdrive/ui/sunnypilot/layouts/settings/osm.py

@@ -1,232 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import datetime
-import os
-import platform
-import requests
-import shutil
-import threading
-from pathlib import Path
-from time import monotonic
-
-from openpilot.common.params import Params
-from openpilot.selfdrive.ui.ui_state import device, ui_state
-from openpilot.selfdrive.ui.layouts.settings.software import time_ago
-from openpilot.system.hardware.hw import Paths
-from openpilot.system.ui.lib.application import gui_app
-from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.widgets import DialogResult, Widget
-from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
-from openpilot.system.ui.widgets.list_view import text_item
-from openpilot.system.ui.widgets.scroller_tici import Scroller
-
-from openpilot.system.ui.sunnypilot.lib.utils import NoElideButtonAction
-from openpilot.system.ui.sunnypilot.widgets.list_view import ListItemSP
-from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeFolder, TreeNode, TreeOptionDialog
-from openpilot.system.ui.sunnypilot.widgets.progress_bar import progress_item
-
-MAP_PATH = Path(Paths.mapd_root()) / "offline"
-
-
-class OSMLayout(Widget):
-  def __init__(self):
-    super().__init__()
-    self._current_percent = 0
-    self._last_map_size_update = 0
-    self._mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else ui_state.params
-    self._initialize_items()
-    self._update_map_size()
-    self._progress.set_visible(False)
-    self._state_btn.set_visible(False)
-    self._mapd_version.action_item.set_text(ui_state.params.get("MapdVersion") or "Loading...")
-    self._scroller = Scroller(self.items, line_separator=True, spacing=0)
-
-  def _initialize_items(self):
-    self._mapd_version = text_item(tr("Mapd Version"), lambda: ui_state.params.get("MapdVersion") or "Loading...")
-    self._delete_maps_btn = ListItemSP(tr("Downloaded Maps"), action_item=NoElideButtonAction(tr("DELETE"), enabled=True), callback=self._delete_maps)
-    self._progress = progress_item(tr("Downloading Map"))
-    self._update_btn = ListItemSP(tr("Database Update"), action_item=NoElideButtonAction(tr("CHECK"), enabled=True), callback=self._update_db)
-    self._country_btn = ListItemSP(tr("Country"), action_item=NoElideButtonAction(tr("SELECT"), enabled=True), callback=lambda: self._select_region("Country"))
-    self._state_btn = ListItemSP(tr("State"), action_item=NoElideButtonAction(tr("SELECT"), enabled=True), callback=lambda: self._select_region("State"))
-
-    self.items = [self._mapd_version, self._delete_maps_btn, self._progress, self._update_btn, self._country_btn, self._state_btn]
-
-  def _show_confirm(self, msg, confirm_text, func):
-    gui_app.set_modal_overlay(ConfirmDialog(msg, confirm_text), lambda res: func() if res == DialogResult.CONFIRM else None)
-
-  def calculate_size(self):
-    total_size = 0
-    directories_to_scan = [MAP_PATH] if MAP_PATH.exists() else []
-    while directories_to_scan:
-      try:
-        for entry in os.scandir(directories_to_scan.pop()):
-          if entry.is_file():
-            total_size += entry.stat().st_size
-          elif entry.is_dir():
-            directories_to_scan.append(entry.path)
-      except OSError:
-        pass
-    self._delete_maps_btn.action_item.set_value(f"{total_size / 1024 ** 2:.2f} MB" if total_size < 1024 ** 3 else f"{total_size / 1024 ** 3:.2f} GB")
-
-  def _update_map_size(self):
-    threading.Thread(target=self.calculate_size, daemon=True).start()
-
-  def _do_delete_maps(self):
-    if MAP_PATH.exists():
-      shutil.rmtree(MAP_PATH)
-
-    for param in ("OsmDownloadedDate", "OsmLocal", "OsmLocationName", "OsmLocationTitle", "OsmStateName", "OsmStateTitle"):
-      ui_state.params.remove(param)
-
-    self._delete_maps_btn.action_item.set_enabled(True)
-    self._delete_maps_btn.action_item.set_text(tr("DELETE"))
-    self._update_map_size()
-
-  def _on_confirm_delete_maps(self):
-    self._delete_maps_btn.action_item.set_enabled(False)
-    self._delete_maps_btn.action_item.set_text("DELETING...")
-    threading.Thread(target=self._do_delete_maps).start()
-
-  def _delete_maps(self):
-    self._show_confirm(tr("This will delete ALL downloaded maps\n\nAre you sure you want to delete all maps?"),
-                       tr("Yes, delete all maps"), self._on_confirm_delete_maps)
-
-  def _update_db(self):
-    self._show_confirm(tr("This will start the download process and it might take a while to complete."), tr("Start Download"),
-                       lambda: ui_state.params.put_bool("OsmDbUpdatesCheck", True))
-
-  def _select_region(self, region_type):
-    is_country = region_type == "Country"
-    btn = self._country_btn if is_country else self._state_btn
-    btn.action_item.set_enabled(False)
-    btn.action_item.set_text(tr("FETCHING..."))
-    threading.Thread(target=self._do_select_region, args=(region_type, btn)).start()
-
-  def _handle_region_selection(self, region_type, locations, key, res, ref):
-    if res != DialogResult.CONFIRM or not ref:
-      if region_type == "State" and res == DialogResult.CANCEL:
-        if ui_state.params.get("OsmLocationName") == "US" and not ui_state.params.get("OsmStateName"):
-          ui_state.params.remove("OsmLocationName")
-          ui_state.params.remove("OsmLocationTitle")
-          ui_state.params.remove("OsmLocal")
-          self._update_labels()
-      return
-
-    if region_type == "Country":
-      ui_state.params.put_bool("OsmLocal", True)
-      ui_state.params.remove("OsmStateName")
-      ui_state.params.remove("OsmStateTitle")
-
-    ui_state.params.put(f"{key}Name", ref)
-    name = next((n.data['display_name'] for n in locations if n.ref == ref), ref)
-    ui_state.params.put(f"{key}Title", name)
-
-    if ref == "US" and region_type == "Country":
-      self._select_region("State")
-    else:
-      self._update_db()
-
-  def _do_select_region(self, region_type, btn):
-    base_url = "https://raw.githubusercontent.com/pfeiferj/openpilot-mapd/main/"
-    url = base_url + ("nation_bounding_boxes.json" if region_type == "Country" else "us_states_bounding_boxes.json")
-    try:
-      data = requests.get(url, timeout=10).json()
-      locations = sorted([TreeNode(ref=k, data={'display_name': v['full_name']}) for k, v in data.items()], key=lambda n: n.data['display_name'])
-    except Exception:
-      locations = []
-
-    if region_type == "State":
-      locations.insert(0, TreeNode(ref="All", data={'display_name': tr("All states (~6.0 GB)")}))
-
-    btn.action_item.set_enabled(True)
-    btn.action_item.set_text(tr("SELECT"))
-
-    key = "OsmLocation" if region_type == "Country" else "OsmState"
-    current = ui_state.params.get(f"{key}Name") or ""
-
-    dialog = TreeOptionDialog(tr(f"Select {region_type}"), [TreeFolder(folder="", nodes=locations)], current_ref=current, search_prompt="Perform a search")
-    dialog.on_exit = lambda res: self._handle_region_selection(region_type, locations, key, res, dialog.selection_ref)
-    gui_app.set_modal_overlay(dialog, callback=lambda res: self._handle_region_selection(region_type, locations, key, res, dialog.selection_ref))
-
-  def _update_labels(self):
-    downloading = bool(self._mem_params.get("OSMDownloadLocations"))
-    self._country_btn.set_enabled(not downloading)
-    self._state_btn.set_enabled(not downloading)
-    self._state_btn.set_visible(ui_state.params.get("OsmLocationName") == "US")
-    self._update_btn.set_visible(bool(ui_state.params.get("OsmLocationName")))
-
-    self._country_btn.action_item.set_value(ui_state.params.get("OsmLocationTitle") or "")
-    self._state_btn.action_item.set_value(ui_state.params.get("OsmStateTitle") or "")
-
-    pending = ui_state.params.get_bool("OsmDbUpdatesCheck")
-    if downloading or pending:
-      if downloading:
-        device._reset_interactive_timeout()
-        self._update_map_size()
-      self._progress.set_visible(True)
-      progress = ui_state.params.get("OSMDownloadProgress")
-      total = progress.get('total_files', 0) if progress else 0
-      done = progress.get('downloaded_files', 0) if progress else 0
-      failed = total > 0 and not downloading and done < total
-
-      if total > 0:
-        progress_perc = max(0.0, min(100.0, (done / total) * 100.0))
-      else:
-        progress_perc = 0.0
-
-      if failed:
-        text = "0% - Downloading Maps"
-        btn_text = tr("Error: Invalid download. Retry.")
-        self._current_percent = 0.0
-      elif total > 0 and downloading:
-        self._current_percent = progress_perc
-        perc_int = int(progress_perc)
-        text = f"{perc_int}% - Downloading Maps"
-        btn_text = f"{done}/{total} ({perc_int}%)"
-      else:
-        self._current_percent = 0.0
-        text = "0% - Downloading Maps"
-        btn_text = tr("Downloading Maps...")
-
-      self._progress.action_item.update(self._current_percent, text, show_progress=total > 0 and downloading and not failed)
-      self._update_btn.action_item.set_enabled(not downloading)  # TODO-SP: introduce CANCEL database download with mapd
-      self._update_btn.action_item.set_value(btn_text)
-      self._country_btn.action_item.set_enabled(not downloading)
-      self._state_btn.action_item.set_enabled(not downloading)
-      self._delete_maps_btn.action_item.set_enabled(not downloading)
-    else:
-      self._progress.set_visible(False)
-      self._update_btn.action_item.set_enabled(True)
-      self._country_btn.action_item.set_enabled(True)
-      self._state_btn.action_item.set_enabled(True)
-      self._delete_maps_btn.action_item.set_enabled(True)
-
-      ts = ui_state.params.get("OsmDownloadedDate")
-      dt: datetime.datetime | None = None
-
-      if ts:
-        try:
-          ts_f = float(ts)
-          if ts_f > 0:
-            dt = datetime.datetime.fromtimestamp(ts_f, tz=datetime.UTC)
-        except (ValueError, TypeError):
-          dt = None
-
-      formatted = time_ago(dt)
-      self._update_btn.action_item.set_value(tr("Last checked {}").format(formatted))
-
-  def show_event(self):
-    self._scroller.show_event()
-
-  def _update_state(self):
-    now = monotonic()
-    if now - self._last_map_size_update >= 1.0:
-      self._last_map_size_update = now
-      self._update_labels()
-
-  def _render(self, rect):
-    self._scroller.render(rect)

selfdrive/ui/sunnypilot/layouts/settings/settings.py

@@ -1,202 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-from dataclasses import dataclass
-from enum import IntEnum
-
-import pyray as rl
-from openpilot.selfdrive.ui.layouts.settings import settings as OP
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.device import DeviceLayoutSP
-from openpilot.selfdrive.ui.layouts.settings.firehose import FirehoseLayout
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.software import SoftwareLayoutSP
-from openpilot.selfdrive.ui.layouts.settings.toggles import TogglesLayout
-from openpilot.system.ui.lib.application import gui_app, MousePos
-from openpilot.system.ui.lib.multilang import tr_noop
-from openpilot.system.ui.sunnypilot.lib.styles import style
-from openpilot.system.ui.widgets.scroller_tici import Scroller
-from openpilot.system.ui.lib.text_measure import measure_text_cached
-from openpilot.system.ui.lib.wifi_manager import WifiManager
-from openpilot.system.ui.widgets import Widget
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.models import ModelsLayout
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.network import NetworkUISP
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.sunnylink import SunnylinkLayout
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.osm import OSMLayout
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.trips import TripsLayout
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle import VehicleLayout
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.steering import SteeringLayout
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.cruise import CruiseLayout
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.visuals import VisualsLayout
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.display import DisplayLayout
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.developer import DeveloperLayoutSP
-
-# from openpilot.selfdrive.ui.sunnypilot.layouts.settings.navigation import NavigationLayout
-
-OP.PANEL_COLOR = rl.Color(10, 10, 10, 255)
-ICON_SIZE = 70
-
-OP.PanelType = IntEnum(  # type: ignore
-  "PanelType",
-  [es.name for es in OP.PanelType] + [
-    "SUNNYLINK",
-    "MODELS",
-    "STEERING",
-    "CRUISE",
-    "VISUALS",
-    "DISPLAY",
-    "OSM",
-    "NAVIGATION",
-    "TRIPS",
-    "VEHICLE",
-  ],
-  start=0,
-)
-
-
-@dataclass
-class PanelInfo(OP.PanelInfo):
-  icon: str = ""
-
-
-class NavButton(Widget):
-  def __init__(self, parent, p_type, p_info):
-    super().__init__()
-    self.parent = parent
-    self.panel_type = p_type
-    self.panel_info = p_info
-
-  def _render(self, rect):
-    is_selected = self.panel_type == self.parent._current_panel
-    text_color = OP.TEXT_SELECTED if is_selected else OP.TEXT_NORMAL
-    content_x = rect.x + 90
-    text_size = measure_text_cached(self.parent._font_medium, self.panel_info.name, 65)
-
-    # Draw background if selected
-    if is_selected:
-      self.container_rect = rl.Rectangle(
-        content_x - 50, rect.y, OP.SIDEBAR_WIDTH - 50, OP.NAV_BTN_HEIGHT
-      )
-      rl.draw_rectangle_rounded(self.container_rect, 0.2, 5, OP.CLOSE_BTN_COLOR)
-
-    if self.panel_info.icon:
-      icon_texture = gui_app.texture(self.panel_info.icon, ICON_SIZE, ICON_SIZE, keep_aspect_ratio=True)
-      rl.draw_texture(icon_texture, int(content_x), int(rect.y + (OP.NAV_BTN_HEIGHT - icon_texture.height) / 2),
-                      rl.WHITE)
-      content_x += ICON_SIZE + 20
-
-    # Draw button text (right-aligned)
-    text_pos = rl.Vector2(
-      content_x,
-      rect.y + (OP.NAV_BTN_HEIGHT - text_size.y) / 2
-    )
-    rl.draw_text_ex(self.parent._font_medium, self.panel_info.name, text_pos, 55, 0, text_color)
-
-    # Store button rect for click detection
-    self.panel_info.button_rect = rect
-
-
-class SettingsLayoutSP(OP.SettingsLayout):
-  def __init__(self):
-    OP.SettingsLayout.__init__(self)
-    self._nav_items: list[Widget] = []
-
-    # Create sidebar scroller
-    self._sidebar_scroller = Scroller([], spacing=0, line_separator=False, pad_end=False)
-
-    # Panel configuration
-    wifi_manager = WifiManager()
-    wifi_manager.set_active(False)
-
-    self._panels = {
-      OP.PanelType.DEVICE: PanelInfo(tr_noop("Device"), DeviceLayoutSP(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_home.png"),
-      OP.PanelType.NETWORK: PanelInfo(tr_noop("Network"), NetworkUISP(wifi_manager), icon="icons/network.png"),
-      OP.PanelType.SUNNYLINK: PanelInfo(tr_noop("sunnylink"), SunnylinkLayout(), icon="icons/wifi_strength_full.png"),
-      OP.PanelType.TOGGLES: PanelInfo(tr_noop("Toggles"), TogglesLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_toggle.png"),
-      OP.PanelType.SOFTWARE: PanelInfo(tr_noop("Software"), SoftwareLayoutSP(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_software.png"),
-      OP.PanelType.MODELS: PanelInfo(tr_noop("Models"), ModelsLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_models.png"),
-      OP.PanelType.STEERING: PanelInfo(tr_noop("Steering"), SteeringLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_lateral.png"),
-      OP.PanelType.CRUISE: PanelInfo(tr_noop("Cruise"), CruiseLayout(), icon="icons/speed_limit.png"),
-      OP.PanelType.VISUALS: PanelInfo(tr_noop("Visuals"), VisualsLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_visuals.png"),
-      OP.PanelType.DISPLAY: PanelInfo(tr_noop("Display"), DisplayLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_display.png"),
-      OP.PanelType.OSM: PanelInfo(tr_noop("OSM"), OSMLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_map.png"),
-      # OP.PanelType.NAVIGATION: PanelInfo(tr_noop("Navigation"), NavigationLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_map.png"),
-      OP.PanelType.TRIPS: PanelInfo(tr_noop("Trips"), TripsLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_trips.png"),
-      OP.PanelType.VEHICLE: PanelInfo(tr_noop("Vehicle"), VehicleLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_vehicle.png"),
-      OP.PanelType.FIREHOSE: PanelInfo(tr_noop("Firehose"), FirehoseLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_firehose.png"),
-      OP.PanelType.DEVELOPER: PanelInfo(tr_noop("Developer"), DeveloperLayoutSP(), icon="icons/shell.png"),
-    }
-
-  def _draw_sidebar(self, rect: rl.Rectangle):
-    rl.draw_rectangle_rec(rect, OP.SIDEBAR_COLOR)
-
-    # Close button
-    close_btn_rect = rl.Rectangle(
-      rect.x + style.ITEM_PADDING * 3, rect.y + style.ITEM_PADDING * 2, style.CLOSE_BTN_SIZE, style.CLOSE_BTN_SIZE
-    )
-
-    pressed = (rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) and
-               rl.check_collision_point_rec(rl.get_mouse_position(), close_btn_rect))
-    close_color = OP.CLOSE_BTN_PRESSED if pressed else OP.CLOSE_BTN_COLOR
-    rl.draw_rectangle_rounded(close_btn_rect, 1.0, 20, close_color)
-
-    icon_color = rl.Color(255, 255, 255, 255) if not pressed else rl.Color(220, 220, 220, 255)
-    icon_dest = rl.Rectangle(
-      close_btn_rect.x + (close_btn_rect.width - self._close_icon.width) / 2,
-      close_btn_rect.y + (close_btn_rect.height - self._close_icon.height) / 2,
-      self._close_icon.width,
-      self._close_icon.height,
-    )
-    rl.draw_texture_pro(
-      self._close_icon,
-      rl.Rectangle(0, 0, self._close_icon.width, self._close_icon.height),
-      icon_dest,
-      rl.Vector2(0, 0),
-      0,
-      icon_color,
-    )
-
-    # Store close button rect for click detection
-    self._close_btn_rect = close_btn_rect
-
-    # Navigation buttons with scroller
-    if not self._nav_items:
-      for panel_type, panel_info in self._panels.items():
-        nav_button = NavButton(self, panel_type, panel_info)
-        nav_button.rect.width = rect.width - 100  # Full width minus padding
-        nav_button.rect.height = OP.NAV_BTN_HEIGHT
-        self._nav_items.append(nav_button)
-        self._sidebar_scroller.add_widget(nav_button)
-
-    # Draw navigation section with scroller
-    nav_rect = rl.Rectangle(
-      rect.x,
-      self._close_btn_rect.height + style.ITEM_PADDING * 4,  # Starting Y position for nav items
-      rect.width,
-      rect.height - 300  # Remaining height after close button
-    )
-
-    if self._nav_items:
-      self._sidebar_scroller.render(nav_rect)
-      return
-
-  def _handle_mouse_release(self, mouse_pos: MousePos) -> bool:
-    # Check close button
-    if rl.check_collision_point_rec(mouse_pos, self._close_btn_rect):
-      if self._close_callback:
-        self._close_callback()
-      return True
-
-    # Check navigation buttons
-    for panel_type, panel_info in self._panels.items():
-      if rl.check_collision_point_rec(mouse_pos, panel_info.button_rect) and self._sidebar_scroller.scroll_panel.is_touch_valid():
-        self.set_current_panel(panel_type)
-        return True
-
-    return False
-
-  def show_event(self):
-    super().show_event()
-    self._panels[self._current_panel].instance.show_event()
-    self._sidebar_scroller.show_event()

selfdrive/ui/sunnypilot/layouts/settings/software.py

@@ -1,96 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import os
-
-from openpilot.selfdrive.ui.layouts.settings.software import SoftwareLayout
-from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.hardware import HARDWARE
-from openpilot.system.ui.lib.application import gui_app
-from openpilot.system.ui.lib.multilang import tr, tr_noop
-from openpilot.system.ui.widgets import DialogResult
-from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
-
-from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
-from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeOptionDialog, TreeNode, TreeFolder
-
-
-DESCRIPTIONS = {
-  'disable_updates_offroad': tr_noop(
-    "When enabled, automatic software updates will be off.<br><b>This requires a reboot to take effect.</b>"
-  ),
-  'disable_updates_onroad': tr_noop(
-    "Please enable \"Always Offroad\" mode or turn off the vehicle to adjust these toggles."
-  )
-}
-
-
-class SoftwareLayoutSP(SoftwareLayout):
-  def __init__(self):
-    super().__init__()
-    self.disable_updates_toggle = toggle_item_sp(
-      lambda: tr("Disable Updates"),
-      description="",
-      initial_state=ui_state.params.get_bool("DisableUpdates"),
-      callback=self._on_disable_updates_toggled,
-    )
-    self._scroller.add_widget(self.disable_updates_toggle)
-
-  def _handle_reboot(self, result):
-    if result == DialogResult.CONFIRM:
-      ui_state.params.put_bool("DisableUpdates", self.disable_updates_toggle.action_item.get_state())
-      ui_state.params.put_bool("DoReboot", True)
-    else:
-      self.disable_updates_toggle.action_item.set_state(ui_state.params.get_bool("DisableUpdates"))
-
-  def _on_disable_updates_toggled(self, enabled):
-    dialog = ConfirmDialog(tr("System reboot required for changes to take effect. Reboot now?"), tr("Reboot"))
-    gui_app.set_modal_overlay(dialog, callback=self._handle_reboot)
-
-  def _on_select_branch(self):
-    current_git_branch = ui_state.params.get("GitBranch") or ""
-    branches_str = ui_state.params.get("UpdaterAvailableBranches") or ""
-    branches = [b for b in branches_str.split(",") if b]
-    current_target = ui_state.params.get("UpdaterTargetBranch") or ""
-    top_level_branches = [current_git_branch, "release-mici", "release-tizi", "staging", "dev", "master"]
-
-    if HARDWARE.get_device_type() == "tici":
-      top_level_branches = ["release-tici", "staging-tici"]
-      branches = [b for b in branches if b.endswith("-tici")]
-
-    top_level_nodes = [TreeNode(b, {'display_name': b}) for b in top_level_branches if b in branches]
-    remaining_branches = [b for b in branches if b not in top_level_branches]
-    prebuilt_nodes = [TreeNode(b, {'display_name': b}) for b in remaining_branches if b.endswith("-prebuilt")]
-    non_prebuilt_nodes = [TreeNode(b, {'display_name': b}) for b in remaining_branches if not b.endswith("-prebuilt")]
-
-    folders = [
-      TreeFolder("", top_level_nodes),
-      TreeFolder("Prebuilt Branches", prebuilt_nodes),
-      TreeFolder("Non-Prebuilt Branches", non_prebuilt_nodes),
-    ]
-
-    def _on_branch_selected(result):
-      if result == DialogResult.CONFIRM and self._branch_dialog is not None:
-        selection = self._branch_dialog.selection_ref
-        if selection:
-          ui_state.params.put("UpdaterTargetBranch", selection)
-          self._branch_btn.action_item.set_value(selection)
-          os.system("pkill -SIGUSR1 -f system.updated.updated")
-      self._branch_dialog = None
-
-    self._branch_dialog = TreeOptionDialog(tr("Select a branch"), folders, current_target, "",
-                                           on_exit=_on_branch_selected)
-
-    gui_app.set_modal_overlay(self._branch_dialog, callback=_on_branch_selected)
-
-  def _update_state(self):
-    super()._update_state()
-    show_advanced = ui_state.params.get_bool("ShowAdvancedControls")
-    self.disable_updates_toggle.action_item.set_enabled(ui_state.is_offroad())
-    self.disable_updates_toggle.set_visible(show_advanced)
-
-    disable_updates_desc = tr(DESCRIPTIONS["disable_updates_offroad"] if ui_state.is_offroad() else DESCRIPTIONS["disable_updates_onroad"])
-    self.disable_updates_toggle.set_description(disable_updates_desc)

selfdrive/ui/sunnypilot/layouts/settings/steering.py

@@ -1,30 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-from openpilot.common.params import Params
-from openpilot.system.ui.widgets.scroller_tici import Scroller
-from openpilot.system.ui.widgets import Widget
-
-
-class SteeringLayout(Widget):
-  def __init__(self):
-    super().__init__()
-
-    self._params = Params()
-    items = self._initialize_items()
-    self._scroller = Scroller(items, line_separator=True, spacing=0)
-
-  def _initialize_items(self):
-    items = [
-
-    ]
-    return items
-
-  def _render(self, rect):
-    self._scroller.render(rect)
-
-  def show_event(self):
-    self._scroller.show_event()