Merge remote-tracking branch 'upstream/master' into check-accel

6 days ago · 175a85519b
parent 0badb47229 2c8415f81c
commit 175a85519b
73 changed files with 1302 additions and 645 deletions
--- a/.github/labeler.yaml
+++ b/.github/labeler.yaml
@ -1,6 +1,6 @@
 CI / testing:
  - changed-files:
-    - any-glob-to-all-files: "{.github/**,**/test_*,Jenkinsfile}"
+    - any-glob-to-all-files: "{.github/**,**/test_*,**/test/**,Jenkinsfile}"

 car:
  - changed-files:
--- a/.github/workflows/jenkins-pr-trigger.yaml
+++ b/.github/workflows/jenkins-pr-trigger.yaml
@ -9,6 +9,9 @@ jobs:
  scan-comments:
    runs-on: ubuntu-latest
    if: ${{ github.event.issue.pull_request }}
+    permissions:
+      contents: write
+      issues: write
    steps:
    - name: Check for trigger phrase
      id: check_comment
@ -43,3 +46,14 @@ jobs:
        git config --global user.email "github-actions[bot]@users.noreply.github.com"
        git checkout -b tmp-jenkins-${{ github.event.issue.number }}
        GIT_LFS_SKIP_PUSH=1 git push -f origin tmp-jenkins-${{ github.event.issue.number }}
+
+    - name: Delete trigger comment
+      if: steps.check_comment.outputs.result == 'true' && always()
+      uses: actions/github-script@v7
+      with:
+        script: |
+          await github.rest.issues.deleteComment({
+            owner: context.repo.owner,
+            repo: context.repo.repo,
+            comment_id: context.payload.comment.id,
+          });
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@ -216,96 +216,6 @@ jobs:
        ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
                        chmod -R 777 /tmp/comma_download_cache"

-  test_cars:
-    name: cars
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    strategy:
-      fail-fast: false
-      matrix:
-        job: [0, 1, 2, 3]
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-      id: setup-step
-    - name: Cache test routes
-      id: routes-cache
-      uses: actions/cache@v4
-      with:
-        path: .ci_cache/comma_download_cache
-        key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'opendbc/car/tests/routes.py') }}-${{ matrix.job }}
-    - name: Build openpilot
-      run: ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Test car models
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.routes-cache.outputs.cache-hit == 'true') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 6 }}
-      run: |
-        ${{ env.RUN }} "MAX_EXAMPLES=1 $PYTEST selfdrive/car/tests/test_models.py && \
-                        chmod -R 777 /tmp/comma_download_cache"
-      env:
-        NUM_JOBS: 4
-        JOB_ID: ${{ matrix.job }}
-
-  car_docs_diff:
-    name: PR comments
-    runs-on: ubuntu-latest
-    #if: github.event_name == 'pull_request'
-    if: false  # TODO: run this in opendbc?
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-          ref: ${{ github.event.pull_request.base.ref }}
-      - run: git lfs pull
-      - uses: ./.github/workflows/setup-with-retry
-      - name: Get base car info
-        run: |
-          ${{ env.RUN }} "scons -j$(nproc) && python3 selfdrive/debug/dump_car_docs.py --path /tmp/openpilot_cache/base_car_docs"
-          sudo chown -R $USER:$USER ${{ github.workspace }}
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-          path: current
-      - run: cd current && git lfs pull
-      - name: Save car docs diff
-        id: save_diff
-        run: |
-          cd current
-          ${{ env.RUN }} "scons -j$(nproc)"
-          output=$(${{ env.RUN }} "python3 selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_docs")
-          output="${output//$'\n'/'%0A'}"
-          echo "::set-output name=diff::$output"
-      - name: Find comment
-        if: ${{ env.AZURE_TOKEN != '' }}
-        uses: peter-evans/find-comment@3eae4d37986fb5a8592848f6a574fdf654e61f9e
-        id: fc
-        with:
-          issue-number: ${{ github.event.pull_request.number }}
-          body-includes: This PR makes changes to
-      - name: Update comment
-        if: ${{ steps.save_diff.outputs.diff != '' && env.AZURE_TOKEN != '' }}
-        uses: peter-evans/create-or-update-comment@71345be0265236311c031f5c7866368bd1eff043
-        with:
-          comment-id: ${{ steps.fc.outputs.comment-id }}
-          issue-number: ${{ github.event.pull_request.number }}
-          body: "${{ steps.save_diff.outputs.diff }}"
-          edit-mode: replace
-      - name: Delete comment
-        if: ${{ steps.fc.outputs.comment-id != '' && steps.save_diff.outputs.diff == '' && env.AZURE_TOKEN != '' }}
-        uses: actions/github-script@v7
-        with:
-          script: |
-            github.rest.issues.deleteComment({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              comment_id: ${{ steps.fc.outputs.comment-id }}
-            })
-
  simulator_driving:
    name: simulator driving
    runs-on: ${{
--- a/2
+++ b/2
@ -17,7 +17,7 @@ AGNOS = TICI

 Decider('MD5-timestamp')

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

 AddOption('--kaitai',
          action='store_true',
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@ -586,7 +586,7 @@ struct PandaState @0xa7649e2575e4591e {
  fanPower @28 :UInt8;
  fanStallCount @34 :UInt8;

-  spiChecksumErrorCount @33 :UInt16;
+  spiErrorCount @33 :UInt16;

  harnessStatus @21 :HarnessStatus;
  sbu1Voltage @35 :Float32;
--- a/cereal/messaging/tests/test_messaging.py
+++ b/cereal/messaging/tests/test_messaging.py
@ -177,8 +177,8 @@ class TestMessaging:

    # wait 5 socket timeouts before sending
    msg = random_carstate()
-    delayed_send(sock_timeout*5, pub_sock, msg.to_bytes())
    start_time = time.monotonic()
+    delayed_send(sock_timeout*5, pub_sock, msg.to_bytes())
    recvd = messaging.recv_one_retry(sub_sock)
    assert (time.monotonic() - start_time) >= sock_timeout*5
    assert isinstance(recvd, capnp._DynamicStructReader)
--- a/common/conversions.py
+++ b/common/conversions.py
@ -1,6 +1,7 @@
 import numpy as np

-class Conversions:
+# conversions
+class CV:
  # Speed
  MPH_TO_KPH = 1.609344
  KPH_TO_MPH = 1. / MPH_TO_KPH
@ -17,3 +18,6 @@ class Conversions:

  # Mass
  LB_TO_KG = 0.453592
+
+
+ACCELERATION_DUE_TO_GRAVITY = 9.81  # m/s^2
--- a/common/params_keys.h
+++ b/common/params_keys.h
@ -12,7 +12,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"ApiCache_Device", {PERSISTENT, STRING}},
    {"ApiCache_FirehoseStats", {PERSISTENT, JSON}},
    {"AssistNowToken", {PERSISTENT, STRING}},
-    {"AthenadPid", {PERSISTENT, STRING}},
+    {"AthenadPid", {PERSISTENT, INT}},
    {"AthenadUploadQueue", {PERSISTENT, JSON}},
    {"AthenadRecentlyViewedRoutes", {PERSISTENT, STRING}},
    {"BootCount", {PERSISTENT, INT}},
@ -73,7 +73,9 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"LastOffroadStatusPacket", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, JSON}},
    {"LastPowerDropDetected", {CLEAR_ON_MANAGER_START, STRING}},
    {"LastUpdateException", {CLEAR_ON_MANAGER_START, STRING}},
+    {"LastUpdateRouteCount", {PERSISTENT, INT}},
    {"LastUpdateTime", {PERSISTENT, TIME}},
+    {"LastUpdateUptimeOnroad", {PERSISTENT, FLOAT}},
    {"LiveDelay", {PERSISTENT, BYTES}},
    {"LiveParameters", {PERSISTENT, JSON}},
    {"LiveParametersV2", {PERSISTENT, BYTES}},
@ -106,7 +108,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"RecordFront", {PERSISTENT, BOOL}},
    {"RecordFrontLock", {PERSISTENT, BOOL}},  // for the internal fleet
    {"SecOCKey", {PERSISTENT | DONT_LOG, STRING}},
-    {"RouteCount", {PERSISTENT, INT}},
+    {"RouteCount", {PERSISTENT, INT, "0"}},
    {"SnoozeUpdate", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
    {"SshEnabled", {PERSISTENT, BOOL}},
    {"TermsVersion", {PERSISTENT, STRING}},
--- a/common/prefix.py
+++ b/common/prefix.py
@ -9,20 +9,19 @@ from openpilot.system.hardware.hw import Paths
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT

 class OpenpilotPrefix:
-  def __init__(self, prefix: str = None, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
+  def __init__(self, prefix: str = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
    self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15])
    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

  def __enter__(self):
    self.original_prefix = os.environ.get('OPENPILOT_PREFIX', None)
    os.environ['OPENPILOT_PREFIX'] = self.prefix
-    try:
-      os.mkdir(self.msgq_path)
-    except FileExistsError:
-      pass
-    os.makedirs(Paths.log_root(), exist_ok=True)
+
+    if self.create_dirs_on_enter:
+      self.create_dirs()

    if self.shared_download_cache:
      os.environ["COMMA_CACHE"] = DEFAULT_DOWNLOAD_CACHE_ROOT
@ -40,6 +39,13 @@ class OpenpilotPrefix:
      pass
    return False

+  def create_dirs(self):
+    try:
+      os.mkdir(self.msgq_path)
+    except FileExistsError:
+      pass
+    os.makedirs(Paths.log_root(), exist_ok=True)
+
  def clean_dirs(self):
    symlink_path = Params().get_param_path()
    if os.path.exists(symlink_path):
--- a/common/tests/test_params.py
+++ b/common/tests/test_params.py
@ -37,9 +37,9 @@ class TestParams:

  def test_params_two_things(self):
    self.params.put("DongleId", "bob")
-    self.params.put("AthenadPid", "123")
+    self.params.put("AthenadPid", 123)
    assert self.params.get("DongleId") == "bob"
-    assert self.params.get("AthenadPid") == "123"
+    assert self.params.get("AthenadPid") == 123

  def test_params_get_block(self):
    def _delayed_writer():
--- a/common/util.cc
+++ b/common/util.cc
@ -1,4 +1,5 @@
 #include "common/util.h"
+#include "common/swaglog.h"

 #include <sys/ioctl.h>
 #include <sys/stat.h>
@ -151,11 +152,16 @@ int safe_fflush(FILE *stream) {
  return ret;
 }

-int safe_ioctl(int fd, unsigned long request, void *argp) {
+int safe_ioctl(int fd, unsigned long request, void *argp, const char* exception_msg) {
  int ret;
  do {
    ret = ioctl(fd, request, argp);
  } while ((ret == -1) && (errno == EINTR));
+
+  if (ret == -1 && exception_msg) {
+    LOGE("safe_ioctl error: %s %s(%d) (fd: %d request: %lx argp: %p)", exception_msg, strerror(errno), errno, fd, request, argp);
+    throw std::runtime_error(exception_msg);
+  }
  return ret;
 }

--- a/common/util.h
+++ b/common/util.h
@ -88,7 +88,7 @@ int write_file(const char* path, const void* data, size_t size, int flags = O_WR
 FILE* safe_fopen(const char* filename, const char* mode);
 size_t safe_fwrite(const void * ptr, size_t size, size_t count, FILE * stream);
 int safe_fflush(FILE *stream);
-int safe_ioctl(int fd, unsigned long request, void *argp);
+int safe_ioctl(int fd, unsigned long request, void *argp, const char* exception_msg = nullptr);

 std::string readlink(const std::string& path);
 bool file_exists(const std::string& fn);
--- a/docs/CARS.md
+++ b/docs/CARS.md
@ -28,7 +28,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica 2021-23|All|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2021-23">Buy Here</a></sub></details>|||
 |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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=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|||
+|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>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=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 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
@ -179,7 +179,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Sportage Hybrid 2023[<sup>6</sup>](#footnotes)|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 N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage Hybrid 2023">Buy Here</a></sub></details>|||
 |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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Telluride 2020-22">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 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Telluride 2020-22">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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2019-25">Buy Here</a></sub></details>|||
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit fdd0c5a37dff55aadea3a8b47ff51f1b7f5595ad
+Subproject commit 22b8df68fb6d8aa197fb9b432a428da6dd96c98c
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 9c0be978d570f75afaa495629d25f71f60fea4ad
+Subproject commit c2723b2f6bcce7e2d97f685db1ec2472a8dd28f5
--- a/pyproject.toml
+++ b/pyproject.toml
@ -152,6 +152,7 @@ markers = [
 testpaths = [
  "common",
  "selfdrive",
+  "system/manager",
  "system/updated",
  "system/athena",
  "system/camerad",
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@ -57,7 +57,7 @@ class CarSpecificEvents:
        events.add(EventName.belowSteerSpeed)

    elif self.CP.brand == 'honda':
-      events = self.create_common_events(CS, CS_prev, 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)
--- a/selfdrive/car/cruise.py
+++ b/selfdrive/car/cruise.py
@ -2,7 +2,7 @@ import math
 import numpy as np

 from cereal import car
-from openpilot.common.conversions import Conversions as CV
+from openpilot.common.constants import CV


 # WARNING: this value was determined based on the model's training distribution,
--- a/selfdrive/car/tests/test_cruise_speed.py
+++ b/selfdrive/car/tests/test_cruise_speed.py
@ -6,7 +6,7 @@ from parameterized import parameterized_class
 from cereal import log
 from openpilot.selfdrive.car.cruise import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_INITIAL, IMPERIAL_INCREMENT
 from cereal import car
-from openpilot.common.conversions import Conversions as CV
+from openpilot.common.constants import CV
 from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver

 ButtonEvent = car.CarState.ButtonEvent
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@ -1,10 +1,10 @@
 #!/usr/bin/env python3
 import math
-from typing import SupportsFloat
+from numbers import Number

 from cereal import car, log
 import cereal.messaging as messaging
-from openpilot.common.conversions import Conversions as CV
+from openpilot.common.constants import CV
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
 from openpilot.common.swaglog import cloudlog
@ -127,7 +127,7 @@ class Controls:
    # Ensure no NaNs/Infs
    for p in ACTUATOR_FIELDS:
      attr = getattr(actuators, p)
-      if not isinstance(attr, SupportsFloat):
+      if not isinstance(attr, Number):
        continue

      if not math.isfinite(attr):
--- a/selfdrive/controls/lib/desire_helper.py
+++ b/selfdrive/controls/lib/desire_helper.py
@ -1,5 +1,5 @@
 from cereal import log
-from openpilot.common.conversions import Conversions as CV
+from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_MDL

 LaneChangeState = log.LaneChangeState
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@ -1,5 +1,5 @@
 import numpy as np
-from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
+from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.common.realtime import DT_CTRL, DT_MDL

 MIN_SPEED = 1.0
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@ -2,9 +2,9 @@ import math
 import numpy as np

 from cereal import log
-from opendbc.car import FRICTION_THRESHOLD, get_friction
+from opendbc.car.lateral import FRICTION_THRESHOLD, get_friction
 from opendbc.car.interfaces import LatControlInputs
-from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
+from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 from openpilot.common.pid import PIDController

--- a/selfdrive/controls/lib/ldw.py
+++ b/selfdrive/controls/lib/ldw.py
@ -1,6 +1,6 @@
 from cereal import log
 from openpilot.common.realtime import DT_CTRL
-from openpilot.common.conversions import Conversions as CV
+from openpilot.common.constants import CV


 CAMERA_OFFSET = 0.04
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@ -4,7 +4,7 @@ import numpy as np

 import cereal.messaging as messaging
 from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
-from openpilot.common.conversions import Conversions as CV
+from openpilot.common.constants import CV
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.modeld.constants import ModelConstants
@ -178,7 +178,7 @@ class LongitudinalPlanner:
  def publish(self, sm, pm):
    plan_send = messaging.new_message('longitudinalPlan')

-    plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'selfdriveState'])
+    plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'selfdriveState', 'radarState'])

    longitudinalPlan = plan_send.longitudinalPlan
    longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2']
--- a/selfdrive/locationd/calibrationd.py
+++ b/selfdrive/locationd/calibrationd.py
@ -14,7 +14,7 @@ from typing import NoReturn
 from cereal import log, car
 import cereal.messaging as messaging
 from openpilot.system.hardware import HARDWARE
-from openpilot.common.conversions import Conversions as CV
+from openpilot.common.constants import CV
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process
 from openpilot.common.transformations.orientation import rot_from_euler, euler_from_rot
--- a/selfdrive/locationd/models/car_kf.py
+++ b/selfdrive/locationd/models/car_kf.py
@ -5,7 +5,7 @@ from typing import Any

 import numpy as np

-from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
+from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.selfdrive.locationd.models.constants import ObservationKind
 from openpilot.common.swaglog import cloudlog

--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@ -4,7 +4,7 @@ from collections import deque, defaultdict

 import cereal.messaging as messaging
 from cereal import car, log
-from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
+from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, DT_MDL
 from openpilot.common.filter_simple import FirstOrderFilter
--- a/selfdrive/pandad/pandad.cc
+++ b/selfdrive/pandad/pandad.cc
@ -36,8 +36,7 @@
 // Ignition:
 // - If any of the ignition sources in any panda is high, ignition is high

-#define MAX_IR_POWER 0.5f
-#define MIN_IR_POWER 0.0f
+#define MAX_IR_PANDA_VAL 50
 #define CUTOFF_IL 400
 #define SATURATE_IL 1000

@ -155,7 +154,7 @@ void fill_panda_state(cereal::PandaState::Builder &ps, cereal::PandaState::Panda
  ps.setFanPower(health.fan_power);
  ps.setFanStallCount(health.fan_stall_count);
  ps.setSafetyRxChecksInvalid((bool)(health.safety_rx_checks_invalid_pkt));
-  ps.setSpiChecksumErrorCount(health.spi_checksum_error_count_pkt);
+  ps.setSpiErrorCount(health.spi_error_count_pkt);
  ps.setSbu1Voltage(health.sbu1_voltage_mV / 1000.0f);
  ps.setSbu2Voltage(health.sbu2_voltage_mV / 1000.0f);
 }
@ -371,8 +370,8 @@ void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control)

  static uint64_t last_driver_camera_t = 0;
  static uint16_t prev_fan_speed = 999;
-  static uint16_t ir_pwr = 0;
-  static uint16_t prev_ir_pwr = 999;
+  static int ir_pwr = 0;
+  static int prev_ir_pwr = 999;

  static FirstOrderFilter integ_lines_filter(0, 30.0, 0.05);

@ -395,11 +394,11 @@ void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control)
      last_driver_camera_t = event.getLogMonoTime();

      if (cur_integ_lines <= CUTOFF_IL) {
-        ir_pwr = 100.0 * MIN_IR_POWER;
+        ir_pwr = 0;
      } else if (cur_integ_lines > SATURATE_IL) {
-        ir_pwr = 100.0 * MAX_IR_POWER;
+        ir_pwr = 100;
      } else {
-        ir_pwr = 100.0 * (MIN_IR_POWER + ((cur_integ_lines - CUTOFF_IL) * (MAX_IR_POWER - MIN_IR_POWER) / (SATURATE_IL - CUTOFF_IL)));
+        ir_pwr = 100 * (cur_integ_lines - CUTOFF_IL) / (SATURATE_IL - CUTOFF_IL);
      }
    }

@ -408,9 +407,10 @@ void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control)
      ir_pwr = 0;
    }

-    if (ir_pwr != prev_ir_pwr || sm.frame % 100 == 0 || ir_pwr >= 50.0) {
-      panda->set_ir_pwr(ir_pwr);
-      Hardware::set_ir_power(ir_pwr);
+    if (ir_pwr != prev_ir_pwr || sm.frame % 100 == 0) {
+      int16_t ir_panda = util::map_val(ir_pwr, 0, 100, 0, MAX_IR_PANDA_VAL); 
+      panda->set_ir_pwr(ir_panda);
+      Hardware::set_ir_power(ir_pwr); 
      prev_ir_pwr = ir_pwr;
    }
  }
--- a/selfdrive/pandad/spi.cc
+++ b/selfdrive/pandad/spi.cc
@ -66,58 +66,44 @@ PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) {
  // 50MHz is the max of the 845. note that some older
  // revs of the comma three may not support this speed
  uint32_t spi_speed = 50000000;
+  try {
+    if (!util::file_exists(SPI_DEVICE)) {
+      throw std::runtime_error("Error connecting to panda: SPI device not found");
+    }

-  if (!util::file_exists(SPI_DEVICE)) {
-    goto fail;
-  }
-
-  spi_fd = open(SPI_DEVICE.c_str(), O_RDWR);
-  if (spi_fd < 0) {
-    LOGE("failed opening SPI device %d", spi_fd);
-    goto fail;
-  }
-
-  // SPI settings
-  ret = util::safe_ioctl(spi_fd, SPI_IOC_WR_MODE, &spi_mode);
-  if (ret < 0) {
-    LOGE("failed setting SPI mode %d", ret);
-    goto fail;
-  }
-
-  ret = util::safe_ioctl(spi_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed);
-  if (ret < 0) {
-    LOGE("failed setting SPI speed");
-    goto fail;
-  }
+    spi_fd = open(SPI_DEVICE.c_str(), O_RDWR);
+    if (spi_fd < 0) {
+      LOGE("failed opening SPI device %d", spi_fd);
+      throw std::runtime_error("Error connecting to panda: failed to open SPI device");
+    }

-  ret = util::safe_ioctl(spi_fd, SPI_IOC_WR_BITS_PER_WORD, &spi_bits_per_word);
-  if (ret < 0) {
-    LOGE("failed setting SPI bits per word");
-    goto fail;
-  }
+    // SPI settings
+    util::safe_ioctl(spi_fd, SPI_IOC_WR_MODE, &spi_mode, "failed setting SPI mode");
+    util::safe_ioctl(spi_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed, "failed setting SPI speed");
+    util::safe_ioctl(spi_fd, SPI_IOC_WR_BITS_PER_WORD, &spi_bits_per_word, "failed setting SPI bits per word");
+
+    // get hw UID/serial
+    ret = control_read(0xc3, 0, 0, uid, uid_len, 100);
+    if (ret == uid_len) {
+      std::stringstream stream;
+      for (int i = 0; i < uid_len; i++) {
+        stream << std::hex << std::setw(2) << std::setfill('0') << int(uid[i]);
+      }
+      hw_serial = stream.str();
+    } else {
+      LOGD("failed to get serial %d", ret);
+      throw std::runtime_error("Error connecting to panda: failed to get serial");
+    }

-  // get hw UID/serial
-  ret = control_read(0xc3, 0, 0, uid, uid_len, 100);
-  if (ret == uid_len) {
-    std::stringstream stream;
-    for (int i = 0; i < uid_len; i++) {
-      stream << std::hex << std::setw(2) << std::setfill('0') << int(uid[i]);
+    if (!serial.empty() && (serial != hw_serial)) {
+      throw std::runtime_error("Error connecting to panda: serial mismatch");
    }
-    hw_serial = stream.str();
-  } else {
-    LOGD("failed to get serial %d", ret);
-    goto fail;
-  }

-  if (!serial.empty() && (serial != hw_serial)) {
-    goto fail;
+  } catch (...) {
+    cleanup();
+    throw;
  }
-
  return;
-
-fail:
-  cleanup();
-  throw std::runtime_error("Error connecting to panda");
 }

 PandaSpiHandle::~PandaSpiHandle() {
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@ -7,7 +7,7 @@ from collections.abc import Callable

 from cereal import log, car
 import cereal.messaging as messaging
-from openpilot.common.conversions import Conversions as CV
+from openpilot.common.constants import CV
 from openpilot.common.git import get_short_branch
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@ -46,7 +46,6 @@ SafetyModel = car.CarParams.SafetyModel
 IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)


-# TODO: make class?
 def check_excessive_actuation(sm: messaging.SubMaster, CS: car.CarState, calibrator: PoseCalibrator,
                              jerk_estimator: JerkEstimator3, counter: int) -> tuple[int, bool]:
  # CS.aEgo can be noisy to bumps in the road, transitioning from standstill, losing traction, etc.
@ -281,7 +280,10 @@ class SelfdriveD:

    # Check for excessive actuation
    if self.sm.updated['liveCalibration']:
-      self.calibrator.feed_live_calib(self.sm['liveCalibration'])
+      self.pose_calibrator.feed_live_calib(self.sm['liveCalibration'])
+    if self.sm.updated['livePose']:
+      device_pose = Pose.from_live_pose(self.sm['livePose'])
+      self.calibrated_pose = self.pose_calibrator.build_calibrated_pose(device_pose)

    self.excessive_actuation_counter, excessive_actuation, roll_compensated_lateral_accel = check_excessive_actuation(self.sm, CS, self.calibrator, self.jerk_estimator, self.excessive_actuation_counter)
    self.roll_compensated_lateral_accel = roll_compensated_lateral_accel
@ -345,13 +347,12 @@ class SelfdriveD:
          self.events.add(EventName.cameraFrameRate)
    if not REPLAY and self.rk.lagging:
      self.events.add(EventName.selfdrivedLagging)
-    if not self.sm.valid['radarState']:
-      if self.sm['radarState'].radarErrors.canError:
-        self.events.add(EventName.canError)
-      elif self.sm['radarState'].radarErrors.radarUnavailableTemporary:
-        self.events.add(EventName.radarTempUnavailable)
-      else:
-        self.events.add(EventName.radarFault)
+    if self.sm['radarState'].radarErrors.canError:
+      self.events.add(EventName.canError)
+    elif self.sm['radarState'].radarErrors.radarUnavailableTemporary:
+      self.events.add(EventName.radarTempUnavailable)
+    elif any(self.sm['radarState'].radarErrors.to_dict().values()):
+      self.events.add(EventName.radarFault)
    if not self.sm.valid['pandaStates']:
      self.events.add(EventName.usbError)
    if CS.canTimeout:
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@ -4,8 +4,9 @@ import time
 import copy
 import heapq
 import signal
-from collections import Counter, OrderedDict
+from collections import Counter
 from dataclasses import dataclass, field
+from itertools import islice
 from typing import Any
 from collections.abc import Callable, Iterable
 from tqdm import tqdm
@ -16,12 +17,12 @@ import cereal.messaging as messaging
 from cereal import car
 from cereal.services import SERVICE_LIST
 from msgq.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoint_name
+from opendbc.car.can_definitions import CanData
 from opendbc.car.car_helpers import get_car, interfaces
 from openpilot.common.params import Params
 from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.common.timeout import Timeout
 from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car.card import can_comm_callbacks
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams
 from openpilot.selfdrive.test.process_replay.migration import migrate_all
@ -30,22 +31,10 @@ from openpilot.tools.lib.logreader import LogIterable
 from openpilot.tools.lib.framereader import FrameReader

 # Numpy gives different results based on CPU features after version 19
-NUMPY_TOLERANCE = 1e-7
+NUMPY_TOLERANCE = 1e-2
 PROC_REPLAY_DIR = os.path.dirname(os.path.abspath(__file__))
 FAKEDATA = os.path.join(PROC_REPLAY_DIR, "fakedata/")

-class DummySocket:
-  def __init__(self):
-    self.data: list[bytes] = []
-
-  def receive(self, non_blocking: bool = False) -> bytes | None:
-    if non_blocking:
-      return None
-
-    return self.data.pop()
-
-  def send(self, data: bytes):
-    self.data.append(data)

 class LauncherWithCapture:
  def __init__(self, capture: ProcessOutputCapture, launcher: Callable):
@ -63,8 +52,7 @@ class ReplayContext:
    self.pubs = cfg.pubs
    self.main_pub = cfg.main_pub
    self.main_pub_drained = cfg.main_pub_drained
-    self.unlocked_pubs = cfg.unlocked_pubs
-    assert(len(self.pubs) != 0 or self.main_pub is not None)
+    assert len(self.pubs) != 0 or self.main_pub is not None

  def __enter__(self):
    self.open_context()
@ -79,9 +67,8 @@ class ReplayContext:
    messaging.set_fake_prefix(self.proc_name)

    if self.main_pub is None:
-      self.events = OrderedDict()
-      pubs_with_events = [pub for pub in self.pubs if pub not in self.unlocked_pubs]
-      for pub in pubs_with_events:
+      self.events = {}
+      for pub in self.pubs:
        self.events[pub] = messaging.fake_event_handle(pub, enable=True)
    else:
      self.events = {self.main_pub: messaging.fake_event_handle(self.main_pub, enable=True)}
@ -138,16 +125,21 @@ class ProcessConfig:
  processing_time: float = 0.001
  timeout: int = 30
  simulation: bool = True
+  # Set to service process receives on first
  main_pub: str | None = None
-  main_pub_drained: bool = True
+  main_pub_drained: bool = False
  vision_pubs: list[str] = field(default_factory=list)
  ignore_alive_pubs: list[str] = field(default_factory=list)
-  unlocked_pubs: list[str] = field(default_factory=list)
+
+  def __post_init__(self):
+    # If the process is polling a service, we can just lock that one to speed up replay
+    if self.main_pub is None and isinstance(self.should_recv_callback, MessageBasedRcvCallback):
+      self.main_pub = self.should_recv_callback.trigger_msg_type


 class ProcessContainer:
  def __init__(self, cfg: ProcessConfig):
-    self.prefix = OpenpilotPrefix(clean_dirs_on_exit=False)
+    self.prefix = OpenpilotPrefix(create_dirs_on_enter=False, clean_dirs_on_exit=False)
    self.cfg = copy.deepcopy(cfg)
    self.process = copy.deepcopy(managed_processes[cfg.proc_name])
    self.msg_queue: list[capnp._DynamicStructReader] = []
@ -229,6 +221,7 @@ class ProcessContainer:
    fingerprint: str | None, capture_output: bool
  ):
    with self.prefix as p:
+      self.prefix.create_dirs()
      self._setup_env(params_config, environ_config)

      if self.cfg.config_callback is not None:
@ -254,11 +247,6 @@ class ProcessContainer:
      if self.cfg.init_callback is not None:
        self.cfg.init_callback(self.rc, self.pm, all_msgs, fingerprint)

-      # wait for process to startup
-      with Timeout(10, error_msg=f"timed out waiting for process to start: {repr(self.cfg.proc_name)}"):
-        while not all(self.pm.all_readers_updated(s) for s in self.cfg.pubs if s not in self.cfg.ignore_alive_pubs):
-          time.sleep(0)
-
  def stop(self):
    with self.prefix:
      self.process.signal(signal.SIGKILL)
@ -267,28 +255,42 @@ class ProcessContainer:
      self.prefix.clean_dirs()
      self._clean_env()

+  def get_output_msgs(self, start_time: int):
+    assert self.rc and self.sockets
+
+    output_msgs = []
+    self.rc.wait_for_recv_called()
+    for socket in self.sockets:
+      ms = messaging.drain_sock(socket)
+      for m in ms:
+        m = m.as_builder()
+        m.logMonoTime = start_time + int(self.cfg.processing_time * 1e9)
+        output_msgs.append(m.as_reader())
+    return output_msgs
+
  def run_step(self, msg: capnp._DynamicStructReader, frs: dict[str, FrameReader] | None) -> list[capnp._DynamicStructReader]:
    assert self.rc and self.pm and self.sockets and self.process.proc

    output_msgs = []
-    with self.prefix, Timeout(self.cfg.timeout, error_msg=f"timed out testing process {repr(self.cfg.proc_name)}"):
-      end_of_cycle = True
-      if self.cfg.should_recv_callback is not None:
-        end_of_cycle = self.cfg.should_recv_callback(msg, self.cfg, self.cnt)
-
-      self.msg_queue.append(msg)
-      if end_of_cycle:
-        self.rc.wait_for_recv_called()
+    end_of_cycle = True
+    if self.cfg.should_recv_callback is not None:
+      end_of_cycle = self.cfg.should_recv_callback(msg, self.cfg, self.cnt)

+    self.msg_queue.append(msg)
+    if end_of_cycle:
+      with self.prefix, Timeout(self.cfg.timeout, error_msg=f"timed out testing process {repr(self.cfg.proc_name)}"):
        # call recv to let sub-sockets reconnect, after we know the process is ready
        if self.cnt == 0:
          for s in self.sockets:
            messaging.recv_one_or_none(s)

-        # empty recv on drained pub indicates the end of messages, only do that if there're any
+        # certain processes use drain_sock. need to cause empty recv to break from this loop
        trigger_empty_recv = False
        if self.cfg.main_pub and self.cfg.main_pub_drained:
-          trigger_empty_recv = next((True for m in self.msg_queue if m.which() == self.cfg.main_pub), False)
+          trigger_empty_recv = any(m.which() == self.cfg.main_pub for m in self.msg_queue)
+
+        # get output msgs from previous inputs
+        output_msgs = self.get_output_msgs(msg.logMonoTime)

        for m in self.msg_queue:
          self.pm.send(m.which(), m.as_builder())
@ -303,14 +305,8 @@ class ProcessContainer:
        self.msg_queue = []

        self.rc.unlock_sockets()
-        self.rc.wait_for_next_recv(trigger_empty_recv)
-
-        for socket in self.sockets:
-          ms = messaging.drain_sock(socket)
-          for m in ms:
-            m = m.as_builder()
-            m.logMonoTime = msg.logMonoTime + int(self.cfg.processing_time * 1e9)
-            output_msgs.append(m.as_reader())
+        if trigger_empty_recv:
+          self.rc.unlock_sockets()
        self.cnt += 1
    assert self.process.proc.is_alive()

@ -320,7 +316,7 @@ class ProcessContainer:
 def card_fingerprint_callback(rc, pm, msgs, fingerprint):
  print("start fingerprinting")
  params = Params()
-  canmsgs = [msg for msg in msgs if msg.which() == "can"][:300]
+  canmsgs = list(islice((m for m in msgs if m.which() == "can"), 300))

  # card expects one arbitrary can and pandaState
  rc.send_sync(pm, "can", messaging.new_message("can", 1))
@ -344,34 +340,25 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
    CarInterface = interfaces[fingerprint]
    CP = CarInterface.get_non_essential_params(fingerprint)
  else:
-    can = DummySocket()
-    sendcan = DummySocket()
-
-    canmsgs = [msg for msg in msgs if msg.which() == "can"]
+    can_msgs = ([CanData(can.address, can.dat, can.src) for can in m.can] for m in msgs if m.which() == "can")
    cached_params_raw = params.get("CarParamsCache")
-    has_cached_cp = cached_params_raw is not None
-    assert len(canmsgs) != 0, "CAN messages are required for fingerprinting"
-    assert os.environ.get("SKIP_FW_QUERY", False) or has_cached_cp, \
+    assert next(can_msgs, None), "CAN messages are required for fingerprinting"
+    assert os.environ.get("SKIP_FW_QUERY", False) or cached_params_raw is not None, \
            "CarParamsCache is required for fingerprinting. Make sure to keep carParams msgs in the logs."

-    for m in canmsgs[:300]:
-      can.send(m.as_builder().to_bytes())
-    can_callbacks = can_comm_callbacks(can, sendcan)
+    def can_recv(wait_for_one: bool = False) -> list[list[CanData]]:
+      return [next(can_msgs, [])]

    cached_params = None
-    if has_cached_cp:
+    if cached_params_raw is not None:
      with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
        cached_params = _cached_params

-    CP = get_car(*can_callbacks, lambda obd: None, Params().get_bool("AlphaLongitudinalEnabled"), False, cached_params=cached_params).CP
+    CP = get_car(can_recv, lambda _msgs: None, lambda obd: None, params.get_bool("AlphaLongitudinalEnabled"), False, cached_params=cached_params).CP

  params.put("CarParams", CP.to_bytes())


-def selfdrived_rcv_callback(msg, cfg, frame):
-  return (frame - 1) == 0 or msg.which() == 'carState'
-
-
 def card_rcv_callback(msg, cfg, frame):
  # no sendcan until card is initialized
  if msg.which() != "can":
@ -386,21 +373,6 @@ def card_rcv_callback(msg, cfg, frame):
  return len(socks) > 0


-def calibration_rcv_callback(msg, cfg, frame):
-  # calibrationd publishes 1 calibrationData every 5 cameraOdometry packets.
-  # should_recv always true to increment frame
-  return (frame - 1) == 0 or msg.which() == 'cameraOdometry'
-
-
-def torqued_rcv_callback(msg, cfg, frame):
-  # should_recv always true to increment frame
-  return (frame - 1) == 0 or msg.which() == 'livePose'
-
-
-def dmonitoringmodeld_rcv_callback(msg, cfg, frame):
-  return msg.which() == "driverCameraState"
-
-
 class ModeldCameraSyncRcvCallback:
  def __init__(self):
    self.road_present = False
@ -425,26 +397,13 @@ class ModeldCameraSyncRcvCallback:


 class MessageBasedRcvCallback:
-  def __init__(self, trigger_msg_type):
+  def __init__(self, trigger_msg_type: str, first_frame: bool = False):
    self.trigger_msg_type = trigger_msg_type
+    self.first_frame = first_frame

  def __call__(self, msg, cfg, frame):
-    return msg.which() == self.trigger_msg_type
-
-
-class FrequencyBasedRcvCallback:
-  def __init__(self, trigger_msg_type):
-    self.trigger_msg_type = trigger_msg_type
-
-  def __call__(self, msg, cfg, frame):
-    if msg.which() != self.trigger_msg_type:
-      return False
-
-    resp_sockets = [
-      s for s in cfg.subs
-      if frame % max(1, int(SERVICE_LIST[msg.which()].frequency / SERVICE_LIST[s].frequency)) == 0
-    ]
-    return bool(len(resp_sockets))
+    # publish on first frame or trigger msg
+    return ((frame - 1) == 0 and self.first_frame) or msg.which() == self.trigger_msg_type


 def selfdrived_config_callback(params, cfg, lr):
@ -468,7 +427,7 @@ CONFIGS = [
    ignore=["logMonoTime"],
    config_callback=selfdrived_config_callback,
    init_callback=get_car_params_callback,
-    should_recv_callback=selfdrived_rcv_callback,
+    should_recv_callback=MessageBasedRcvCallback("carState", True),
    tolerance=NUMPY_TOLERANCE,
    processing_time=0.004,
  ),
@ -493,6 +452,7 @@ CONFIGS = [
    tolerance=NUMPY_TOLERANCE,
    processing_time=0.004,
    main_pub="can",
+    main_pub_drained=True,
  ),
  ProcessConfig(
    proc_name="radard",
@ -500,7 +460,7 @@ CONFIGS = [
    subs=["radarState"],
    ignore=["logMonoTime"],
    init_callback=get_car_params_callback,
-    should_recv_callback=FrequencyBasedRcvCallback("modelV2"),
+    should_recv_callback=MessageBasedRcvCallback("modelV2"),
  ),
  ProcessConfig(
    proc_name="plannerd",
@ -508,7 +468,7 @@ CONFIGS = [
    subs=["longitudinalPlan", "driverAssistance"],
    ignore=["logMonoTime", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime"],
    init_callback=get_car_params_callback,
-    should_recv_callback=FrequencyBasedRcvCallback("modelV2"),
+    should_recv_callback=MessageBasedRcvCallback("modelV2"),
    tolerance=NUMPY_TOLERANCE,
  ),
  ProcessConfig(
@ -517,14 +477,14 @@ CONFIGS = [
    subs=["liveCalibration"],
    ignore=["logMonoTime"],
    init_callback=get_car_params_callback,
-    should_recv_callback=calibration_rcv_callback,
+    should_recv_callback=MessageBasedRcvCallback("cameraOdometry", True),
  ),
  ProcessConfig(
    proc_name="dmonitoringd",
    pubs=["driverStateV2", "liveCalibration", "carState", "modelV2", "selfdriveState"],
    subs=["driverMonitoringState"],
    ignore=["logMonoTime"],
-    should_recv_callback=FrequencyBasedRcvCallback("driverStateV2"),
+    should_recv_callback=MessageBasedRcvCallback("driverStateV2"),
    tolerance=NUMPY_TOLERANCE,
  ),
  ProcessConfig(
@ -536,7 +496,6 @@ CONFIGS = [
    ignore=["logMonoTime"],
    should_recv_callback=MessageBasedRcvCallback("cameraOdometry"),
    tolerance=NUMPY_TOLERANCE,
-    unlocked_pubs=["accelerometer", "gyroscope"],
  ),
  ProcessConfig(
    proc_name="paramsd",
@ -544,7 +503,7 @@ CONFIGS = [
    subs=["liveParameters"],
    ignore=["logMonoTime"],
    init_callback=get_car_params_callback,
-    should_recv_callback=FrequencyBasedRcvCallback("livePose"),
+    should_recv_callback=MessageBasedRcvCallback("livePose"),
    tolerance=NUMPY_TOLERANCE,
    processing_time=0.004,
  ),
@ -569,7 +528,7 @@ CONFIGS = [
    subs=["liveTorqueParameters"],
    ignore=["logMonoTime"],
    init_callback=get_car_params_callback,
-    should_recv_callback=torqued_rcv_callback,
+    should_recv_callback=MessageBasedRcvCallback("livePose", True),
    tolerance=NUMPY_TOLERANCE,
  ),
  ProcessConfig(
@ -581,7 +540,6 @@ CONFIGS = [
    tolerance=NUMPY_TOLERANCE,
    processing_time=0.020,
    main_pub=vipc_get_endpoint_name("camerad", meta_from_camera_state("roadCameraState").stream),
-    main_pub_drained=False,
    vision_pubs=["roadCameraState", "wideRoadCameraState"],
    ignore_alive_pubs=["wideRoadCameraState"],
    init_callback=get_car_params_callback,
@ -591,11 +549,10 @@ CONFIGS = [
    pubs=["liveCalibration", "driverCameraState"],
    subs=["driverStateV2"],
    ignore=["logMonoTime", "driverStateV2.modelExecutionTime", "driverStateV2.gpuExecutionTime"],
-    should_recv_callback=dmonitoringmodeld_rcv_callback,
+    should_recv_callback=MessageBasedRcvCallback("driverCameraState"),
    tolerance=NUMPY_TOLERANCE,
    processing_time=0.020,
    main_pub=vipc_get_endpoint_name("camerad", meta_from_camera_state("driverCameraState").stream),
-    main_pub_drained=False,
    vision_pubs=["driverCameraState"],
    ignore_alive_pubs=["driverCameraState"],
  ),
@ -703,8 +660,8 @@ def _replay_multi_process(

  all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime)
  log_msgs = []
+  containers = []
  try:
-    containers = []
    for cfg in cfgs:
      container = ProcessContainer(cfg)
      containers.append(container)
@ -739,6 +696,11 @@ def _replay_multi_process(
            internal_pub_queue.append(m)
            heapq.heappush(internal_pub_index_heap, (m.logMonoTime, len(internal_pub_queue) - 1))
        log_msgs.extend(output_msgs)
+
+    # flush last set of messages from each process
+    for container in containers:
+      last_time = log_msgs[-1].logMonoTime if len(log_msgs) > 0 else int(time.monotonic() * 1e9)
+      log_msgs.extend(container.get_output_msgs(last_time))
  finally:
    for container in containers:
      container.stop()
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-9e86884c9c94299f2dcbb1d7f6b30b081a74f2cc
+8ff1b4c9c7a34589142a07579b0051acddfe7699
--- a/selfdrive/ui/onroad/hud_renderer.py
+++ b/selfdrive/ui/onroad/hud_renderer.py
@ -1,6 +1,6 @@
 import pyray as rl
 from dataclasses import dataclass
-from openpilot.common.conversions import Conversions as CV
+from openpilot.common.constants import CV
 from openpilot.selfdrive.ui.onroad.exp_button import ExpButton
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
 from openpilot.system.ui.lib.application import gui_app, FontWeight
--- a/selfdrive/ui/qt/util.cc
+++ b/selfdrive/ui/qt/util.cc
@ -18,6 +18,7 @@
 #include <QtXml/QDomDocument>

 #include "common/swaglog.h"
+#include "common/util.h"
 #include "system/hardware/hw.h"

 QString getVersion() {
@ -57,6 +58,10 @@ QMap<QString, QString> getSupportedLanguages() {
 }

 QString timeAgo(const QDateTime &date) {
+  if (!util::system_time_valid()) {
+    return date.date().toString();
+  }
+
  int diff = date.secsTo(QDateTime::currentDateTimeUtc());

  QString s;
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@ -490,19 +490,19 @@ Firehoseモードを有効にすると学習データを最大限アップロー
    </message>
    <message>
        <source>Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.</source>
-        <translation type="unfinished"></translation>
+        <translation>製品のcomma.aiへの登録に失敗しました。このデバイスはcomma.aiのサーバーに接続したりアップロードを行ったりすることはできず、comma.aiからのサポートも受けられません。もしcomma.ai/shopで購入した場合は、https://comma.ai/support にてサポートチケットをご提出ください。</translation>
    </message>
    <message>
        <source>Acknowledge Excessive Actuation</source>
-        <translation type="unfinished"></translation>
+        <translation>過剰な作動の検知</translation>
    </message>
    <message>
        <source>Snooze Update</source>
-        <translation type="unfinished">更新の一時停止</translation>
+        <translation>また後で更新する</translation>
    </message>
    <message>
        <source>openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support.</source>
-        <translation type="unfinished"></translation>
+        <translation>openpilotが過剰な%1の作動を検出しました。ソフトウェアの不具合の可能性があります。https://comma.ai/support からサポートへご連絡下さい。</translation>
    </message>
 </context>
 <context>
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@ -490,19 +490,19 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
    </message>
    <message>
        <source>Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.</source>
-        <translation type="unfinished"></translation>
+        <translation>장치를 comma.ai 백엔드에 등록하지 못했습니다. comma.ai 서버에 연결하거나 업로드하지 않으며 comma.ai로부터 지원을받지 않습니다. comma.ai shop에서 구매 한 장치 인 경우 https://comma.ai/support에서 티켓을 여십시오.</translation>
    </message>
    <message>
        <source>Acknowledge Excessive Actuation</source>
-        <translation type="unfinished"></translation>
+        <translation>과도한 작동을 인정하십시오</translation>
    </message>
    <message>
        <source>Snooze Update</source>
-        <translation type="unfinished">업데이트 일시 중지</translation>
+        <translation>업데이트 일시 중지</translation>
    </message>
    <message>
        <source>openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support.</source>
-        <translation type="unfinished"></translation>
+        <translation>오픈파일럿은 과도한 %1 작동을 감지했습니다. 소프트웨어 버그 때문일 수 있습니다. https://comma.ai/support 에 문의하여 지원받으세요.</translation>
    </message>
 </context>
 <context>
@ -1132,7 +1132,7 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
    </message>
    <message>
        <source>Record and Upload Microphone Audio</source>
-        <translation>마이크 오디오를 녹음하고 업로드하세요</translation>
+        <translation>마이크 오디오 녹음 및 업로드</translation>
    </message>
    <message>
        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
--- a/system/hardware/base.h
+++ b/system/hardware/base.h
@ -10,9 +10,6 @@
 // no-op base hw class
 class HardwareNone {
 public:
-  static constexpr float MAX_VOLUME = 0.7;
-  static constexpr float MIN_VOLUME = 0.2;
-
  static std::string get_os_version() { return ""; }
  static std::string get_name() { return ""; }
  static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::UNKNOWN; }
--- a/system/hardware/tici/hardware.h
+++ b/system/hardware/tici/hardware.h
@ -13,8 +13,6 @@

 class HardwareTici : public HardwareNone {
 public:
-  static constexpr float MAX_VOLUME = 0.9;
-  static constexpr float MIN_VOLUME = 0.1;
  static bool TICI() { return true; }
  static bool AGNOS() { return true; }
  static std::string get_os_version() {
@ -75,7 +73,7 @@ public:
      return;
    }

-    int value = util::map_val(std::clamp(percent, 0, 100), 0, 100, 0, 255);
+    int value = util::map_val(std::clamp(percent, 0, 100), 0, 100, 0, 300);
    std::ofstream("/sys/class/leds/led:switch_2/brightness") << 0 << "\n";
    std::ofstream("/sys/class/leds/led:torch_2/brightness") << value << "\n";
    std::ofstream("/sys/class/leds/led:switch_2/brightness") << value << "\n";
--- a/system/loggerd/encoder/v4l_encoder.cc
+++ b/system/loggerd/encoder/v4l_encoder.cc
@ -24,14 +24,6 @@
 */
 const int env_debug_encoder = (getenv("DEBUG_ENCODER") != NULL) ? atoi(getenv("DEBUG_ENCODER")) : 0;

-static void checked_ioctl(int fd, unsigned long request, void *argp) {
-  int ret = util::safe_ioctl(fd, request, argp);
-  if (ret != 0) {
-    LOGE("checked_ioctl failed with error %d (%d %lx %p)", errno, fd, request, argp);
-    assert(0);
-  }
-}
-
 static void dequeue_buffer(int fd, v4l2_buf_type buf_type, unsigned int *index=NULL, unsigned int *bytesused=NULL, unsigned int *flags=NULL, struct timeval *timestamp=NULL) {
  v4l2_plane plane = {0};
  v4l2_buffer v4l_buf = {
@ -40,7 +32,7 @@ static void dequeue_buffer(int fd, v4l2_buf_type buf_type, unsigned int *index=N
    .m = { .planes = &plane, },
    .length = 1,
  };
-  checked_ioctl(fd, VIDIOC_DQBUF, &v4l_buf);
+  util::safe_ioctl(fd, VIDIOC_DQBUF, &v4l_buf, "VIDIOC_DQBUF failed");

  if (index) *index = v4l_buf.index;
  if (bytesused) *bytesused = v4l_buf.m.planes[0].bytesused;
@ -66,8 +58,7 @@ static void queue_buffer(int fd, v4l2_buf_type buf_type, unsigned int index, Vis
    .flags = V4L2_BUF_FLAG_TIMESTAMP_COPY,
    .timestamp = timestamp
  };
-
-  checked_ioctl(fd, VIDIOC_QBUF, &v4l_buf);
+  util::safe_ioctl(fd, VIDIOC_QBUF, &v4l_buf, "VIDIOC_QBUF failed");
 }

 static void request_buffers(int fd, v4l2_buf_type buf_type, unsigned int count) {
@ -76,7 +67,7 @@ static void request_buffers(int fd, v4l2_buf_type buf_type, unsigned int count)
    .memory = V4L2_MEMORY_USERPTR,
    .count = count
  };
-  checked_ioctl(fd, VIDIOC_REQBUFS, &reqbuf);
+  util::safe_ioctl(fd, VIDIOC_REQBUFS, &reqbuf, "VIDIOC_REQBUFS failed");
 }

 void V4LEncoder::dequeue_handler(V4LEncoder *e) {
@ -159,7 +150,7 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
  assert(fd >= 0);

  struct v4l2_capability cap;
-  checked_ioctl(fd, VIDIOC_QUERYCAP, &cap);
+  util::safe_ioctl(fd, VIDIOC_QUERYCAP, &cap, "VIDIOC_QUERYCAP failed");
  LOGD("opened encoder device %s %s = %d", cap.driver, cap.card, fd);
  assert(strcmp((const char *)cap.driver, "msm_vidc_driver") == 0);
  assert(strcmp((const char *)cap.card, "msm_vidc_venc") == 0);
@ -177,7 +168,7 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
      }
    }
  };
-  checked_ioctl(fd, VIDIOC_S_FMT, &fmt_out);
+  util::safe_ioctl(fd, VIDIOC_S_FMT, &fmt_out, "VIDIOC_S_FMT failed");

  v4l2_streamparm streamparm = {
    .type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE,
@ -191,7 +182,7 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
      }
    }
  };
-  checked_ioctl(fd, VIDIOC_S_PARM, &streamparm);
+  util::safe_ioctl(fd, VIDIOC_S_PARM, &streamparm, "VIDIOC_S_PARM failed");

  struct v4l2_format fmt_in = {
    .type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE,
@ -205,7 +196,7 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
      }
    }
  };
-  checked_ioctl(fd, VIDIOC_S_FMT, &fmt_in);
+  util::safe_ioctl(fd, VIDIOC_S_FMT, &fmt_in, "VIDIOC_S_FMT failed");

  LOGD("in buffer size %d, out buffer size %d",
    fmt_in.fmt.pix_mp.plane_fmt[0].sizeimage,
@ -221,7 +212,7 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
      { .id = V4L2_CID_MPEG_VIDC_VIDEO_IDR_PERIOD, .value = 1},
    };
    for (auto ctrl : ctrls) {
-      checked_ioctl(fd, VIDIOC_S_CTRL, &ctrl);
+      util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl, "VIDIOC_S_CTRL failed");
    }
  }

@ -234,7 +225,7 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
      { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_B_FRAMES, .value = 0},
    };
    for (auto ctrl : ctrls) {
-      checked_ioctl(fd, VIDIOC_S_CTRL, &ctrl);
+      util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl, "VIDIOC_S_CTRL failed");
    }
  } else {
    struct v4l2_control ctrls[] = {
@ -250,7 +241,7 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
      { .id = V4L2_CID_MPEG_VIDEO_MULTI_SLICE_MODE, .value = 0},
    };
    for (auto ctrl : ctrls) {
-      checked_ioctl(fd, VIDIOC_S_CTRL, &ctrl);
+      util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl, "VIDIOC_S_CTRL failed");
    }
  }

@ -260,9 +251,9 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei

  // start encoder
  v4l2_buf_type buf_type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
-  checked_ioctl(fd, VIDIOC_STREAMON, &buf_type);
+  util::safe_ioctl(fd, VIDIOC_STREAMON, &buf_type, "VIDIOC_STREAMON failed");
  buf_type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE;
-  checked_ioctl(fd, VIDIOC_STREAMON, &buf_type);
+  util::safe_ioctl(fd, VIDIOC_STREAMON, &buf_type, "VIDIOC_STREAMON failed");

  // queue up output buffers
  for (unsigned int i = 0; i < BUF_OUT_COUNT; i++) {
@ -305,7 +296,7 @@ void V4LEncoder::encoder_close() {
    for (int i = 0; i < BUF_IN_COUNT; i++) free_buf_in.push(i);
    // no frames, stop the encoder
    struct v4l2_encoder_cmd encoder_cmd = { .cmd = V4L2_ENC_CMD_STOP };
-    checked_ioctl(fd, VIDIOC_ENCODER_CMD, &encoder_cmd);
+    util::safe_ioctl(fd, VIDIOC_ENCODER_CMD, &encoder_cmd, "VIDIOC_ENCODER_CMD failed");
    // join waits for V4L2_QCOM_BUF_FLAG_EOS
    dequeue_handler_thread.join();
    assert(extras.empty());
@ -316,10 +307,10 @@ void V4LEncoder::encoder_close() {
 V4LEncoder::~V4LEncoder() {
  encoder_close();
  v4l2_buf_type buf_type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE;
-  checked_ioctl(fd, VIDIOC_STREAMOFF, &buf_type);
+  util::safe_ioctl(fd, VIDIOC_STREAMOFF, &buf_type, "VIDIOC_STREAMOFF failed");
  request_buffers(fd, V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE, 0);
  buf_type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
-  checked_ioctl(fd, VIDIOC_STREAMOFF, &buf_type);
+  util::safe_ioctl(fd, VIDIOC_STREAMOFF, &buf_type, "VIDIOC_STREAMOFF failed");
  request_buffers(fd, V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE, 0);
  close(fd);

--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@ -3,6 +3,7 @@ import datetime
 import os
 import signal
 import sys
+import time
 import traceback

 from cereal import log
@ -160,6 +161,14 @@ def manager_thread() -> None:
    msg.managerState.processes = [p.get_process_state_msg() for p in managed_processes.values()]
    pm.send('managerState', msg)

+    # kick AGNOS power monitoring watchdog
+    try:
+      if sm.all_checks(['deviceState']):
+        with open("/var/tmp/power_watchdog", "w") as f:
+          f.write(str(time.monotonic()))
+    except Exception:
+      pass
+
    # Exit main loop when uninstall/shutdown/reboot is needed
    shutdown = False
    for param in ("DoUninstall", "DoShutdown", "DoReboot"):
--- a/system/manager/process.py
+++ b/system/manager/process.py
@ -270,7 +270,7 @@ class DaemonProcess(ManagerProcess):
                               stderr=open('/dev/null', 'w'),
                               preexec_fn=os.setpgrp)

-    self.params.put(self.param_name, str(proc.pid))
+    self.params.put(self.param_name, proc.pid)

  def stop(self, retry=True, block=True, sig=None) -> None:
    pass
--- a/system/sensord/sensord.py
+++ b/system/sensord/sensord.py
@ -98,6 +98,13 @@ def main() -> None:
    (MMC5603NJ_Magn(I2C_BUS_IMU), "magnetometer", False),
  ]

+  # Reset sensors
+  for sensor, _, _ in sensors_cfg:
+    try:
+      sensor.reset()
+    except Exception:
+      cloudlog.exception(f"Error initializing {sensor} sensor")
+
  # Initialize sensors
  exit_event = threading.Event()
  threads = [
--- a/system/sensord/sensors/i2c_sensor.py
+++ b/system/sensord/sensors/i2c_sensor.py
@ -40,6 +40,11 @@ class Sensor:
  def device_address(self) -> int:
    raise NotImplementedError

+  def reset(self) -> None:
+    # optional.
+    # not part of init due to shared registers
+    pass
+
  def init(self) -> None:
    raise NotImplementedError

--- a/system/sensord/sensors/lsm6ds3_accel.py
+++ b/system/sensord/sensors/lsm6ds3_accel.py
@ -31,6 +31,10 @@ class LSM6DS3_Accel(Sensor):
  def device_address(self) -> int:
    return 0x6A

+  def reset(self):
+    self.write(0x12, 0x1)
+    time.sleep(0.1)
+
  def init(self):
    chip_id = self.verify_chip_id(0x0F, [0x69, 0x6A])
    if chip_id == 0x6A:
--- a/system/sensord/sensors/lsm6ds3_gyro.py
+++ b/system/sensord/sensors/lsm6ds3_gyro.py
@ -29,6 +29,10 @@ class LSM6DS3_Gyro(Sensor):
  def device_address(self) -> int:
    return 0x6A

+  def reset(self):
+    self.write(0x12, 0x1)
+    time.sleep(0.1)
+
  def init(self):
    chip_id = self.verify_chip_id(0x0F, [0x69, 0x6A])
    if chip_id == 0x6A:
--- a/system/ui/lib/application.py
+++ b/system/ui/lib/application.py
@ -19,6 +19,7 @@ FPS_LOG_INTERVAL = 5  # Seconds between logging FPS drops
 FPS_DROP_THRESHOLD = 0.9  # FPS drop threshold for triggering a warning
 FPS_CRITICAL_THRESHOLD = 0.5  # Critical threshold for triggering strict actions
 MOUSE_THREAD_RATE = 140  # touch controller runs at 140Hz
+MAX_TOUCH_SLOT = 2

 ENABLE_VSYNC = os.getenv("ENABLE_VSYNC", "0") == "1"
 SHOW_FPS = os.getenv("SHOW_FPS") == "1"
@ -58,6 +59,7 @@ class MousePos(NamedTuple):

 class MouseEvent(NamedTuple):
  pos: MousePos
+  slot: int
  left_pressed: bool
  left_released: bool
  left_down: bool
@ -67,7 +69,7 @@ class MouseEvent(NamedTuple):
 class MouseState:
  def __init__(self):
    self._events: deque[MouseEvent] = deque(maxlen=MOUSE_THREAD_RATE)  # bound event list
-    self._prev_mouse_event: MouseEvent | None = None
+    self._prev_mouse_event: list[MouseEvent | None] = [None] * MAX_TOUCH_SLOT

    self._rk = Ratekeeper(MOUSE_THREAD_RATE)
    self._lock = threading.Lock()
@ -98,19 +100,21 @@ class MouseState:
      self._rk.keep_time()

  def _handle_mouse_event(self):
-    mouse_pos = rl.get_mouse_position()
-    ev = MouseEvent(
-      MousePos(mouse_pos.x, mouse_pos.y),
-      rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT),
-      rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT),
-      rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT),
-      time.monotonic(),
-    )
-    # Only add changes
-    if self._prev_mouse_event is None or ev[:-1] != self._prev_mouse_event[:-1]:
-      with self._lock:
-        self._events.append(ev)
-      self._prev_mouse_event = ev
+    for slot in range(MAX_TOUCH_SLOT):
+      mouse_pos = rl.get_touch_position(slot)
+      ev = MouseEvent(
+        MousePos(mouse_pos.x, mouse_pos.y),
+        slot,
+        rl.is_mouse_button_pressed(slot),
+        rl.is_mouse_button_released(slot),
+        rl.is_mouse_button_down(slot),
+        time.monotonic(),
+      )
+      # Only add changes
+      if self._prev_mouse_event[slot] is None or ev[:-1] != self._prev_mouse_event[slot][:-1]:
+        with self._lock:
+          self._events.append(ev)
+        self._prev_mouse_event[slot] = ev


 class GuiApplication:
--- a/system/ui/lib/scroll_panel.py
+++ b/system/ui/lib/scroll_panel.py
@ -41,8 +41,9 @@ class GuiScrollPanel:

  def handle_scroll(self, bounds: rl.Rectangle, content: rl.Rectangle) -> rl.Vector2:
    # TODO: HACK: this class is driven by mouse events, so we need to ensure we have at least one event to process
-    for mouse_event in gui_app.mouse_events or [MouseEvent(MousePos(0, 0), False, False, False, time.monotonic())]:
-      self._handle_mouse_event(mouse_event, bounds, content)
+    for mouse_event in gui_app.mouse_events or [MouseEvent(MousePos(0, 0), 0, False, False, False, time.monotonic())]:
+      if mouse_event.slot == 0:
+        self._handle_mouse_event(mouse_event, bounds, content)
    return self._offset

  def _handle_mouse_event(self, mouse_event: MouseEvent, bounds: rl.Rectangle, content: rl.Rectangle):
--- a/system/ui/lib/wifi_manager.py
+++ b/system/ui/lib/wifi_manager.py
@ -441,7 +441,6 @@ class WifiManager:
    settings_iface.on_connection_removed(self._on_connection_removed)

  def _on_properties_changed(self, interface: str, changed: dict, invalidated: list):
-    # print("property changed", interface, changed, invalidated)
    if 'LastScan' in changed:
      asyncio.create_task(self._refresh_networks())
    elif interface == NM_WIRELESS_IFACE and "ActiveAccessPoint" in changed:
@ -451,7 +450,6 @@ class WifiManager:
        asyncio.create_task(self._refresh_networks())

  def _on_state_changed(self, new_state: int, old_state: int, reason: int):
-    print("State changed", new_state, old_state, reason)
    if new_state == NMDeviceState.ACTIVATED:
      if self.callbacks.activated:
        self.callbacks.activated()
@ -461,13 +459,16 @@ class WifiManager:
      for network in self.networks:
        network.is_connected = False

+      # BAD PASSWORD
      if new_state == NMDeviceState.NEED_AUTH and reason == NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT and self.callbacks.need_auth:
        if self._current_connection_ssid:
+          asyncio.create_task(self.forget_connection(self._current_connection_ssid))
          self.callbacks.need_auth(self._current_connection_ssid)
        else:
          # Try to find the network from active_ap_path
          for network in self.networks:
            if network.path == self.active_ap_path:
+              asyncio.create_task(self.forget_connection(network.ssid))
              self.callbacks.need_auth(network.ssid)
              break
          else:
@ -534,7 +535,7 @@ class WifiManager:
        props_iface = await self._get_interface(NM, ap_path, NM_PROPERTIES_IFACE)
        properties = await props_iface.call_get_all('org.freedesktop.NetworkManager.AccessPoint')
        ssid_variant = properties['Ssid'].value
-        ssid = ''.join(chr(byte) for byte in ssid_variant)
+        ssid = bytes(ssid_variant).decode('utf-8')
        if not ssid:
          continue

@ -543,18 +544,28 @@ class WifiManager:
        flags = properties['Flags'].value
        wpa_flags = properties['WpaFlags'].value
        rsn_flags = properties['RsnFlags'].value
-        existing_network = network_dict.get(ssid)
-        if not existing_network or ((not existing_network.bssid and bssid) or (existing_network.strength < strength)):
+
+        # May be multiple access points for each SSID. Use first for ssid
+        # and security type, then update the rest using all APs
+        if ssid not in network_dict:
          network_dict[ssid] = NetworkInfo(
            ssid=ssid,
-            strength=strength,
+            strength=0,
            security_type=self._get_security_type(flags, wpa_flags, rsn_flags),
-            path=ap_path,
-            bssid=bssid,
-            is_connected=self.active_ap_path == ap_path and self._current_connection_ssid != ssid,
+            path="",
+            bssid="",
+            is_connected=False,
            is_saved=ssid in self.saved_connections
          )

+        existing_network = network_dict.get(ssid)
+        if existing_network.strength < strength:
+          existing_network.strength = strength
+          existing_network.path = ap_path
+          existing_network.bssid = bssid
+        if self.active_ap_path == ap_path:
+          existing_network.is_connected = self._current_connection_ssid != ssid
+
      except DBusError as e:
        cloudlog.error(f"Error fetching networks: {e}")
      except Exception as e:
--- a/system/ui/reset.py
+++ b/system/ui/reset.py
@ -2,6 +2,7 @@
 import os
 import sys
 import threading
+import time
 from enum import IntEnum

 import pyray as rl
@ -14,6 +15,7 @@ from openpilot.system.ui.widgets.label import gui_label, gui_text_box

 NVME = "/dev/nvme0n1"
 USERDATA = "/dev/disk/by-partlabel/userdata"
+TIMEOUT = 3*60


 class ResetMode(IntEnum):
@ -33,6 +35,7 @@ class Reset(Widget):
  def __init__(self, mode):
    super().__init__()
    self._mode = mode
+    self._previous_reset_state = None
    self._reset_state = ResetState.NONE
    self._cancel_button = Button("Cancel", self._cancel_callback)
    self._confirm_button = Button("Confirm", self._confirm, button_style=ButtonStyle.PRIMARY)
@ -64,6 +67,13 @@ class Reset(Widget):
    self._reset_state = ResetState.RESETTING
    threading.Timer(0.1, self._do_erase).start()

+  def _update_state(self):
+    if self._reset_state != self._previous_reset_state:
+      self._previous_reset_state = self._reset_state
+      self._timeout_st = time.monotonic()
+    elif self._reset_state != ResetState.RESETTING and (time.monotonic() - self._timeout_st) > TIMEOUT:
+      exit(0)
+
  def _render(self, rect: rl.Rectangle):
    label_rect = rl.Rectangle(rect.x + 140, rect.y, rect.width - 280, 100)
    gui_label(label_rect, "System Reset", 100, font_weight=FontWeight.BOLD)
@ -77,13 +87,15 @@ class Reset(Widget):
    button_width = (rect.width - button_spacing) / 2.0

    if self._reset_state != ResetState.RESETTING:
-      if self._mode == ResetMode.RECOVER or self._reset_state == ResetState.FAILED:
-        self._reboot_button.render(rl.Rectangle(rect.x, button_top, rect.width, button_height))
+      if self._mode == ResetMode.RECOVER:
+        self._reboot_button.render(rl.Rectangle(rect.x, button_top, button_width, button_height))
      elif self._mode == ResetMode.USER_RESET:
        self._cancel_button.render(rl.Rectangle(rect.x, button_top, button_width, button_height))

      if self._reset_state != ResetState.FAILED:
        self._confirm_button.render(rl.Rectangle(rect.x + button_width + 50, button_top, button_width, button_height))
+      else:
+        self._reboot_button.render(rl.Rectangle(rect.x, button_top, rect.width, button_height))

    return self._render_status

--- a/system/ui/setup.py
+++ b/system/ui/setup.py
@ -11,7 +11,7 @@ from cereal import log
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.widgets.button import gui_button, ButtonStyle
+from openpilot.system.ui.widgets.button import Button, ButtonStyle, ButtonRadio
 from openpilot.system.ui.widgets.keyboard import Keyboard
 from openpilot.system.ui.widgets.label import gui_label, gui_text_box
 from openpilot.system.ui.widgets.network import WifiManagerUI, WifiManagerWrapper
@ -57,9 +57,22 @@ class Setup(Widget):
    self.wifi_ui = WifiManagerUI(self.wifi_manager)
    self.keyboard = Keyboard()
    self.selected_radio = None
-
    self.warning = gui_app.texture("icons/warning.png", 150, 150)
    self.checkmark = gui_app.texture("icons/circled_check.png", 100, 100)
+    self._low_voltage_continue_button = Button("Continue", self._low_voltage_continue_button_callback)
+    self._low_voltage_poweroff_button = Button("Power Off", HARDWARE.shutdown)
+    self._getting_started_button = Button("", self._getting_started_button_callback, button_style=ButtonStyle.PRIMARY, border_radius=0)
+    self._software_selection_openpilot_button = ButtonRadio("openpilot", self.checkmark, font_size=BODY_FONT_SIZE, text_padding=80)
+    self._software_selection_custom_software_button = ButtonRadio("Custom Software", self.checkmark, font_size=BODY_FONT_SIZE, text_padding=80)
+    self._software_selection_continue_button = Button("Continue", self._software_selection_continue_button_callback,
+                                                      button_style=ButtonStyle.PRIMARY, enabled=False)
+    self._software_selection_back_button = Button("Back", self._software_selection_back_button_callback)
+    self._download_failed_reboot_button = Button("Reboot device", HARDWARE.reboot)
+    self._download_failed_startover_button = Button("Start over", self._download_failed_startover_button_callback, button_style=ButtonStyle.PRIMARY)
+    self._network_setup_back_button = Button("Back", self._network_setup_back_button_callback)
+    self._network_setup_continue_button = Button("Waiting for internet", self._network_setup_continue_button_callback,
+                                                 button_style=ButtonStyle.PRIMARY, enabled=False)
+

    try:
      with open("/sys/class/hwmon/hwmon1/in1_input") as f:
@ -85,6 +98,35 @@ class Setup(Widget):
    elif self.state == SetupState.DOWNLOAD_FAILED:
      self.render_download_failed(rect)

+  def _low_voltage_continue_button_callback(self):
+    self.state = SetupState.GETTING_STARTED
+
+  def _getting_started_button_callback(self):
+    self.state = SetupState.NETWORK_SETUP
+    self.stop_network_check_thread.clear()
+    self.start_network_check()
+
+  def _software_selection_back_button_callback(self):
+    self.state = SetupState.NETWORK_SETUP
+    self.stop_network_check_thread.clear()
+    self.start_network_check()
+
+  def _software_selection_continue_button_callback(self):
+    if self._software_selection_openpilot_button.selected:
+      self.download(OPENPILOT_URL)
+    else:
+      self.state = SetupState.CUSTOM_URL
+
+  def _download_failed_startover_button_callback(self):
+    self.state = SetupState.GETTING_STARTED
+
+  def _network_setup_back_button_callback(self):
+    self.state = SetupState.GETTING_STARTED
+
+  def _network_setup_continue_button_callback(self):
+    self.state = SetupState.SOFTWARE_SELECTION
+    self.stop_network_check_thread.set()
+
  def render_low_voltage(self, rect: rl.Rectangle):
    rl.draw_texture(self.warning, int(rect.x + 150), int(rect.y + 110), rl.WHITE)

@ -97,11 +139,8 @@ class Setup(Widget):
    button_width = (rect.width - MARGIN * 3) / 2
    button_y = rect.height - MARGIN - BUTTON_HEIGHT

-    if gui_button(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT), "Power off"):
-      HARDWARE.shutdown()
-
-    if gui_button(rl.Rectangle(rect.x + MARGIN * 2 + button_width, button_y, button_width, BUTTON_HEIGHT), "Continue"):
-      self.state = SetupState.GETTING_STARTED
+    self._low_voltage_poweroff_button.render(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT))
+    self._low_voltage_continue_button.render(rl.Rectangle(rect.x + MARGIN * 2 + button_width, button_y, button_width, BUTTON_HEIGHT))

  def render_getting_started(self, rect: rl.Rectangle):
    title_rect = rl.Rectangle(rect.x + 165, rect.y + 280, rect.width - 265, TITLE_FONT_SIZE)
@ -112,14 +151,10 @@ class Setup(Widget):

    btn_rect = rl.Rectangle(rect.width - NEXT_BUTTON_WIDTH, 0, NEXT_BUTTON_WIDTH, rect.height)

-    ret = gui_button(btn_rect, "", button_style=ButtonStyle.PRIMARY, border_radius=0)
+    self._getting_started_button.render(btn_rect)
    triangle = gui_app.texture("images/button_continue_triangle.png", 54, int(btn_rect.height))
    rl.draw_texture_v(triangle, rl.Vector2(btn_rect.x + btn_rect.width / 2 - triangle.width / 2, btn_rect.height / 2 - triangle.height / 2), rl.WHITE)

-    if ret:
-      self.state = SetupState.NETWORK_SETUP
-      self.start_network_check()
-
  def check_network_connectivity(self):
    while not self.stop_network_check_thread.is_set():
      if self.state == SetupState.NETWORK_SETUP:
@ -157,75 +192,43 @@ class Setup(Widget):
    button_width = (rect.width - BUTTON_SPACING - MARGIN * 2) / 2
    button_y = rect.height - BUTTON_HEIGHT - MARGIN

-    if gui_button(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT), "Back"):
-      self.state = SetupState.GETTING_STARTED
+    self._network_setup_back_button.render(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT))

    # Check network connectivity status
    continue_enabled = self.network_connected.is_set()
+    self._network_setup_continue_button.enabled = continue_enabled
    continue_text = ("Continue" if self.wifi_connected.is_set() else "Continue without Wi-Fi") if continue_enabled else "Waiting for internet"
-
-    if gui_button(
-      rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT),
-      continue_text,
-      button_style=ButtonStyle.PRIMARY if continue_enabled else ButtonStyle.NORMAL,
-      is_enabled=continue_enabled,
-    ):
-      self.state = SetupState.SOFTWARE_SELECTION
-      self.stop_network_check_thread.set()
+    self._network_setup_continue_button.set_text(continue_text)
+    self._network_setup_continue_button.render(rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT))

  def render_software_selection(self, rect: rl.Rectangle):
    title_rect = rl.Rectangle(rect.x + MARGIN, rect.y + MARGIN, rect.width - MARGIN * 2, TITLE_FONT_SIZE)
-    gui_label(title_rect, "Choose Software to Install", TITLE_FONT_SIZE, font_weight=FontWeight.MEDIUM)
+    gui_label(title_rect, "Choose Software to Use", TITLE_FONT_SIZE, font_weight=FontWeight.MEDIUM)

    radio_height = 230
    radio_spacing = 30

-    openpilot_rect = rl.Rectangle(rect.x + MARGIN, rect.y + TITLE_FONT_SIZE + MARGIN * 2, rect.width - MARGIN * 2, radio_height)
-    openpilot_selected = self.selected_radio == "openpilot"
+    self._software_selection_continue_button.enabled = False

-    rl.draw_rectangle_rounded(openpilot_rect, 0.1, 10, rl.Color(70, 91, 234, 255) if openpilot_selected else rl.Color(79, 79, 79, 255))
-    gui_label(rl.Rectangle(openpilot_rect.x + 100, openpilot_rect.y, openpilot_rect.width - 200, radio_height), "openpilot", BODY_FONT_SIZE)
+    openpilot_rect = rl.Rectangle(rect.x + MARGIN, rect.y + TITLE_FONT_SIZE + MARGIN * 2, rect.width - MARGIN * 2, radio_height)
+    self._software_selection_openpilot_button.render(openpilot_rect)

-    if openpilot_selected:
-      checkmark_pos = rl.Vector2(openpilot_rect.x + openpilot_rect.width - 100 - self.checkmark.width,
-                                 openpilot_rect.y + radio_height / 2 - self.checkmark.height / 2)
-      rl.draw_texture_v(self.checkmark, checkmark_pos, rl.WHITE)
+    if self._software_selection_openpilot_button.selected:
+      self._software_selection_continue_button.enabled = True
+      self._software_selection_custom_software_button.selected = False

    custom_rect = rl.Rectangle(rect.x + MARGIN, rect.y + TITLE_FONT_SIZE + MARGIN * 2 + radio_height + radio_spacing, rect.width - MARGIN * 2, radio_height)
-    custom_selected = self.selected_radio == "custom"
-
-    rl.draw_rectangle_rounded(custom_rect, 0.1, 10, rl.Color(70, 91, 234, 255) if custom_selected else rl.Color(79, 79, 79, 255))
-    gui_label(rl.Rectangle(custom_rect.x + 100, custom_rect.y, custom_rect.width - 200, radio_height), "Custom Software", BODY_FONT_SIZE)
-
-    if custom_selected:
-      checkmark_pos = rl.Vector2(custom_rect.x + custom_rect.width - 100 - self.checkmark.width, custom_rect.y + radio_height / 2 - self.checkmark.height / 2)
-      rl.draw_texture_v(self.checkmark, checkmark_pos, rl.WHITE)
+    self._software_selection_custom_software_button.render(custom_rect)

-    mouse_pos = rl.get_mouse_position()
-    if rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT):
-      if rl.check_collision_point_rec(mouse_pos, openpilot_rect):
-        self.selected_radio = "openpilot"
-      elif rl.check_collision_point_rec(mouse_pos, custom_rect):
-        self.selected_radio = "custom"
+    if self._software_selection_custom_software_button.selected:
+      self._software_selection_continue_button.enabled = True
+      self._software_selection_openpilot_button.selected = False

    button_width = (rect.width - BUTTON_SPACING - MARGIN * 2) / 2
    button_y = rect.height - BUTTON_HEIGHT - MARGIN

-    if gui_button(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT), "Back"):
-      self.state = SetupState.NETWORK_SETUP
-
-    continue_enabled = self.selected_radio is not None
-    if gui_button(
-      rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT),
-      "Continue",
-      button_style=ButtonStyle.PRIMARY,
-      is_enabled=continue_enabled,
-    ):
-      if continue_enabled:
-        if self.selected_radio == "openpilot":
-          self.download(OPENPILOT_URL)
-        else:
-          self.state = SetupState.CUSTOM_URL
+    self._software_selection_back_button.render(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT))
+    self._software_selection_continue_button.render(rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT))

  def render_downloading(self, rect: rl.Rectangle):
    title_rect = rl.Rectangle(rect.x, rect.y + rect.height / 2 - TITLE_FONT_SIZE / 2, rect.width, TITLE_FONT_SIZE)
@ -244,13 +247,8 @@ class Setup(Widget):

    button_width = (rect.width - BUTTON_SPACING - MARGIN * 2) / 2
    button_y = rect.height - BUTTON_HEIGHT - MARGIN
-
-    if gui_button(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT), "Reboot device"):
-      HARDWARE.reboot()
-
-    if gui_button(rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT), "Start over",
-                  button_style=ButtonStyle.PRIMARY):
-      self.state = SetupState.GETTING_STARTED
+    self._download_failed_reboot_button.render(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT))
+    self._download_failed_startover_button.render(rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT))

  def render_custom_url(self):
    def handle_keyboard_result(result):
@ -265,6 +263,7 @@ class Setup(Widget):
      elif result == 0:
        self.state = SetupState.SOFTWARE_SELECTION

+    self.keyboard.reset()
    self.keyboard.set_title("Enter URL", "for Custom Software")
    gui_app.set_modal_overlay(self.keyboard, callback=handle_keyboard_result)

--- a/system/ui/widgets/init.py
+++ b/system/ui/widgets/init.py
@ -2,7 +2,7 @@ import abc
 import pyray as rl
 from enum import IntEnum
 from collections.abc import Callable
-from openpilot.system.ui.lib.application import gui_app, MousePos
+from openpilot.system.ui.lib.application import gui_app, MousePos, MAX_TOUCH_SLOT


 class DialogResult(IntEnum):
@ -15,7 +15,8 @@ class Widget(abc.ABC):
  def __init__(self):
    self._rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0)
    self._parent_rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0)
-    self._is_pressed = False
+    self._is_pressed = [False] * MAX_TOUCH_SLOT
+    self._multi_touch = False
    self._is_visible: bool | Callable[[], bool] = True
    self._touch_valid_callback: Callable[[], bool] | None = None

@ -31,6 +32,10 @@ class Widget(abc.ABC):
  def is_visible(self) -> bool:
    return self._is_visible() if callable(self._is_visible) else self._is_visible

+  @property
+  def is_pressed(self) -> bool:
+    return any(self._is_pressed)
+
  @property
  def rect(self) -> rl.Rectangle:
    return self._rect
@ -68,17 +73,19 @@ class Widget(abc.ABC):

    # Keep track of whether mouse down started within the widget's rectangle
    for mouse_event in gui_app.mouse_events:
+      if not self._multi_touch and mouse_event.slot != 0:
+        continue
      if mouse_event.left_pressed and self._touch_valid():
        if rl.check_collision_point_rec(mouse_event.pos, self._rect):
-          self._is_pressed = True
+          self._is_pressed[mouse_event.slot] = True

      elif not self._touch_valid():
-        self._is_pressed = False
+        self._is_pressed[mouse_event.slot] = False

      elif mouse_event.left_released:
-        if self._is_pressed and rl.check_collision_point_rec(mouse_event.pos, self._rect):
+        if self._is_pressed[mouse_event.slot] and rl.check_collision_point_rec(mouse_event.pos, self._rect):
          self._handle_mouse_release(mouse_event.pos)
-        self._is_pressed = False
+        self._is_pressed[mouse_event.slot] = False

    return ret

--- a/system/ui/widgets/button.py
+++ b/system/ui/widgets/button.py
@ -15,6 +15,9 @@ class ButtonStyle(IntEnum):
  TRANSPARENT = 3  # For buttons with transparent background and border
  ACTION = 4
  LIST_ACTION = 5  # For list items with action buttons
+  NO_EFFECT = 6
+  KEYBOARD = 7
+  FORGET_WIFI = 8


 class TextAlignment(IntEnum):
@ -26,6 +29,7 @@ class TextAlignment(IntEnum):
 ICON_PADDING = 15
 DEFAULT_BUTTON_FONT_SIZE = 60
 BUTTON_DISABLED_TEXT_COLOR = rl.Color(228, 228, 228, 51)
+BUTTON_DISABLED_BACKGROUND_COLOR = rl.Color(51, 51, 51, 255)
 ACTION_BUTTON_FONT_SIZE = 48

 BUTTON_TEXT_COLOR = {
@ -35,6 +39,9 @@ BUTTON_TEXT_COLOR = {
  ButtonStyle.TRANSPARENT: rl.BLACK,
  ButtonStyle.ACTION: rl.Color(0, 0, 0, 255),
  ButtonStyle.LIST_ACTION: rl.Color(228, 228, 228, 255),
+  ButtonStyle.NO_EFFECT: rl.Color(228, 228, 228, 255),
+  ButtonStyle.KEYBOARD: rl.Color(221, 221, 221, 255),
+  ButtonStyle.FORGET_WIFI: rl.Color(51, 51, 51, 255),
 }

 BUTTON_BACKGROUND_COLORS = {
@ -44,6 +51,9 @@ BUTTON_BACKGROUND_COLORS = {
  ButtonStyle.TRANSPARENT: rl.BLACK,
  ButtonStyle.ACTION: rl.Color(189, 189, 189, 255),
  ButtonStyle.LIST_ACTION: rl.Color(57, 57, 57, 255),
+  ButtonStyle.NO_EFFECT: rl.Color(51, 51, 51, 255),
+  ButtonStyle.KEYBOARD: rl.Color(68, 68, 68, 255),
+  ButtonStyle.FORGET_WIFI: rl.Color(189, 189, 189, 255),
 }

 BUTTON_PRESSED_BACKGROUND_COLORS = {
@ -53,6 +63,9 @@ BUTTON_PRESSED_BACKGROUND_COLORS = {
  ButtonStyle.TRANSPARENT: rl.BLACK,
  ButtonStyle.ACTION: rl.Color(130, 130, 130, 255),
  ButtonStyle.LIST_ACTION: rl.Color(74, 74, 74, 74),
+  ButtonStyle.NO_EFFECT: rl.Color(51, 51, 51, 255),
+  ButtonStyle.KEYBOARD: rl.Color(51, 51, 51, 255),
+  ButtonStyle.FORGET_WIFI: rl.Color(130, 130, 130, 255),
 }

 _pressed_buttons: set[str] = set()  # Track mouse press state globally
@ -162,6 +175,11 @@ class Button(Widget):
               font_weight: FontWeight = FontWeight.MEDIUM,
               button_style: ButtonStyle = ButtonStyle.NORMAL,
               border_radius: int = 10,
+               text_alignment: TextAlignment = TextAlignment.CENTER,
+               text_padding: int = 20,
+               enabled: bool = True,
+               icon = None,
+               multi_touch: bool = False,
               ):

    super().__init__()
@ -169,27 +187,100 @@ class Button(Widget):
    self._click_callback = click_callback
    self._label_font = gui_app.font(FontWeight.SEMI_BOLD)
    self._button_style = button_style
-    self._font_size = font_size
    self._border_radius = border_radius
    self._font_size = font_size
+    self._font_weight = font_weight
    self._text_color = BUTTON_TEXT_COLOR[button_style]
-    self._text_size = measure_text_cached(gui_app.font(font_weight), text, font_size)
+    self._background_color = BUTTON_BACKGROUND_COLORS[button_style]
+    self._text_alignment = text_alignment
+    self._text_padding = text_padding
+    self._text_size = measure_text_cached(gui_app.font(self._font_weight), self._text, self._font_size)
+    self._icon = icon
+    self._multi_touch = multi_touch
+    self.enabled = enabled
+
+  def set_text(self, text):
+    self._text = text
+    self._text_size = measure_text_cached(gui_app.font(self._font_weight), self._text, self._font_size)
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    if self._click_callback and self.enabled:
+      self._click_callback()
+
+  def _update_state(self):
+    if self.enabled:
+      self._text_color = BUTTON_TEXT_COLOR[self._button_style]
+      if self.is_pressed:
+        self._background_color = BUTTON_PRESSED_BACKGROUND_COLORS[self._button_style]
+      else:
+        self._background_color = BUTTON_BACKGROUND_COLORS[self._button_style]
+    elif self._button_style != ButtonStyle.NO_EFFECT:
+      self._background_color = BUTTON_DISABLED_BACKGROUND_COLOR
+      self._text_color = BUTTON_DISABLED_TEXT_COLOR
+
+  def _render(self, _):
+    roundness = self._border_radius / (min(self._rect.width, self._rect.height) / 2)
+    rl.draw_rectangle_rounded(self._rect, roundness, 10, self._background_color)
+
+    text_pos = rl.Vector2(0, self._rect.y + (self._rect.height - self._text_size.y) // 2)
+    if self._icon:
+      icon_y = self._rect.y + (self._rect.height - self._icon.height) / 2
+      if self._text:
+        if self._text_alignment == TextAlignment.LEFT:
+          icon_x = self._rect.x + self._text_padding
+          text_pos.x = icon_x + self._icon.width + ICON_PADDING
+        elif self._text_alignment == TextAlignment.CENTER:
+          total_width = self._icon.width + ICON_PADDING + self._text_size.x
+          icon_x = self._rect.x + (self._rect.width - total_width) / 2
+          text_pos.x = icon_x + self._icon.width + ICON_PADDING
+        else:
+          text_pos.x = self._rect.x + self._rect.width - self._text_size.x - self._text_padding
+          icon_x = text_pos.x - ICON_PADDING - self._icon.width
+      else:
+        icon_x = self._rect.x + (self._rect.width - self._icon.width) / 2
+      rl.draw_texture_v(self._icon, rl.Vector2(icon_x, icon_y), rl.WHITE if self.enabled else rl.Color(255, 255, 255, 100))
+    else:
+      if self._text_alignment == TextAlignment.LEFT:
+        text_pos.x = self._rect.x + self._text_padding
+      elif self._text_alignment == TextAlignment.CENTER:
+        text_pos.x = self._rect.x + (self._rect.width - self._text_size.x) // 2
+      elif self._text_alignment == TextAlignment.RIGHT:
+        text_pos.x = self._rect.x + self._rect.width - self._text_size.x - self._text_padding
+    rl.draw_text_ex(self._label_font, self._text, text_pos, self._font_size, 0, self._text_color)
+
+class ButtonRadio(Button):
+  def __init__(self,
+               text: str,
+               icon,
+               click_callback: Callable[[], None] = None,
+               font_size: int = DEFAULT_BUTTON_FONT_SIZE,
+               border_radius: int = 10,
+               text_padding: int = 20,
+               ):
+
+    super().__init__(text, click_callback=click_callback, font_size=font_size, border_radius=border_radius, text_padding=text_padding, icon=icon)
+    self.selected = False

  def _handle_mouse_release(self, mouse_pos: MousePos):
+    self.selected = not self.selected
    if self._click_callback:
-      print(f"Button clicked: {self._text}")
      self._click_callback()

-  def _get_background_color(self) -> rl.Color:
-    if self._is_pressed:
-      return BUTTON_PRESSED_BACKGROUND_COLORS[self._button_style]
+  def _update_state(self):
+    if self.selected:
+      self._background_color = BUTTON_BACKGROUND_COLORS[ButtonStyle.PRIMARY]
    else:
-      return BUTTON_BACKGROUND_COLORS[self._button_style]
+      self._background_color = BUTTON_BACKGROUND_COLORS[ButtonStyle.NORMAL]

  def _render(self, _):
    roundness = self._border_radius / (min(self._rect.width, self._rect.height) / 2)
-    rl.draw_rectangle_rounded(self._rect, roundness, 10, self._get_background_color())
+    rl.draw_rectangle_rounded(self._rect, roundness, 10, self._background_color)

    text_pos = rl.Vector2(0, self._rect.y + (self._rect.height - self._text_size.y) // 2)
-    text_pos.x = self._rect.x + (self._rect.width - self._text_size.x) // 2
+    text_pos.x = self._rect.x + self._text_padding
    rl.draw_text_ex(self._label_font, self._text, text_pos, self._font_size, 0, self._text_color)
+
+    if self._icon and self.selected:
+      icon_y = self._rect.y + (self._rect.height - self._icon.height) / 2
+      icon_x = self._rect.x + self._rect.width - self._icon.width - self._text_padding - ICON_PADDING
+      rl.draw_texture_v(self._icon, rl.Vector2(icon_x, icon_y), rl.WHITE if self.enabled else rl.Color(255, 255, 255, 100))
--- a/system/ui/widgets/confirm_dialog.py
+++ b/system/ui/widgets/confirm_dialog.py
@ -1,8 +1,9 @@
 import pyray as rl
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.widgets import DialogResult
-from openpilot.system.ui.widgets.button import gui_button, ButtonStyle
+from openpilot.system.ui.widgets.button import gui_button, ButtonStyle, Button
 from openpilot.system.ui.widgets.label import gui_text_box
+from openpilot.system.ui.widgets import Widget

 DIALOG_WIDTH = 1520
 DIALOG_HEIGHT = 600
@ -11,6 +12,63 @@ MARGIN = 50
 TEXT_AREA_HEIGHT_REDUCTION = 200
 BACKGROUND_COLOR = rl.Color(27, 27, 27, 255)

+class ConfirmDialog(Widget):
+  def __init__(self, text: str, confirm_text: str, cancel_text: str = "Cancel"):
+    super().__init__()
+    self.text = text
+    self._cancel_button = Button(cancel_text, self._cancel_button_callback)
+    self._confirm_button = Button(confirm_text, self._confirm_button_callback, button_style=ButtonStyle.PRIMARY)
+    self._dialog_result = DialogResult.NO_ACTION
+    self._cancel_text = cancel_text
+
+  def reset(self):
+    self._dialog_result = DialogResult.NO_ACTION
+
+  def _cancel_button_callback(self):
+    self._dialog_result = DialogResult.CANCEL
+
+  def _confirm_button_callback(self):
+    self._dialog_result = DialogResult.CONFIRM
+
+  def _render(self, rect: rl.Rectangle):
+    dialog_x = (gui_app.width - DIALOG_WIDTH) / 2
+    dialog_y = (gui_app.height - DIALOG_HEIGHT) / 2
+    dialog_rect = rl.Rectangle(dialog_x, dialog_y, DIALOG_WIDTH, DIALOG_HEIGHT)
+
+    bottom = dialog_rect.y + dialog_rect.height
+    button_width = (dialog_rect.width - 3 * MARGIN) // 2
+    cancel_button_x = dialog_rect.x + MARGIN
+    confirm_button_x = dialog_rect.x + dialog_rect.width - button_width - MARGIN
+    button_y = bottom - BUTTON_HEIGHT - MARGIN
+    cancel_button = rl.Rectangle(cancel_button_x, button_y, button_width, BUTTON_HEIGHT)
+    confirm_button = rl.Rectangle(confirm_button_x, button_y, button_width, BUTTON_HEIGHT)
+
+    rl.draw_rectangle_rec(dialog_rect, BACKGROUND_COLOR)
+
+    text_rect = rl.Rectangle(dialog_rect.x + MARGIN, dialog_rect.y, dialog_rect.width - 2 * MARGIN, dialog_rect.height - TEXT_AREA_HEIGHT_REDUCTION)
+    gui_text_box(
+      text_rect,
+      self.text,
+      font_size=70,
+      alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+      alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE,
+      font_weight=FontWeight.BOLD,
+    )
+
+    if rl.is_key_pressed(rl.KeyboardKey.KEY_ENTER):
+      self._dialog_result = DialogResult.CONFIRM
+    elif rl.is_key_pressed(rl.KeyboardKey.KEY_ESCAPE):
+      self._dialog_result = DialogResult.CANCEL
+
+    if self._cancel_text:
+      self._confirm_button.render(confirm_button)
+      self._cancel_button.render(cancel_button)
+    else:
+      centered_button_x = dialog_rect.x + (dialog_rect.width - button_width) / 2
+      centered_confirm_button = rl.Rectangle(centered_button_x, button_y, button_width, BUTTON_HEIGHT)
+      self._confirm_button.render(centered_confirm_button)
+
+    return self._dialog_result

 def confirm_dialog(message: str, confirm_text: str, cancel_text: str = "Cancel") -> DialogResult:
  dialog_x = (gui_app.width - DIALOG_WIDTH) / 2
--- a/system/ui/widgets/keyboard.py
+++ b/system/ui/widgets/keyboard.py
@ -1,9 +1,12 @@
+from functools import partial
 import time
 from typing import Literal
+
 import pyray as rl
+
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.widgets.button import ButtonStyle, gui_button
+from openpilot.system.ui.widgets.button import ButtonStyle, Button
 from openpilot.system.ui.widgets.inputbox import InputBox
 from openpilot.system.ui.widgets.label import gui_label

@ -73,6 +76,11 @@ class Keyboard(Widget):
    self._backspace_press_time: float = 0.0
    self._backspace_last_repeat: float = 0.0

+    self._render_return_status = -1
+    self._cancel_button = Button("Cancel", self._cancel_button_callback)
+
+    self._eye_button = Button("", self._eye_button_callback, button_style=ButtonStyle.TRANSPARENT)
+
    self._eye_open_texture = gui_app.texture("icons/eye_open.png", 81, 54)
    self._eye_closed_texture = gui_app.texture("icons/eye_closed.png", 81, 54)
    self._key_icons = {
@ -83,6 +91,19 @@ class Keyboard(Widget):
      ENTER_KEY: gui_app.texture("icons/arrow-right.png", 80, 80),
    }

+    self._all_keys = {}
+    for l in KEYBOARD_LAYOUTS:
+      for _, keys in enumerate(KEYBOARD_LAYOUTS[l]):
+        for _, key in enumerate(keys):
+          if key in self._key_icons:
+            texture = self._key_icons[key]
+            self._all_keys[key] = Button("", partial(self._key_callback, key), icon=texture,
+                                        button_style=ButtonStyle.PRIMARY if key == ENTER_KEY else ButtonStyle.KEYBOARD, multi_touch=True)
+          else:
+            self._all_keys[key] = Button(key, partial(self._key_callback, key), button_style=ButtonStyle.KEYBOARD, font_size=85, multi_touch=True)
+    self._all_keys[CAPS_LOCK_KEY] = Button("", partial(self._key_callback, CAPS_LOCK_KEY), icon=self._key_icons[CAPS_LOCK_KEY],
+                                           button_style=ButtonStyle.KEYBOARD, multi_touch=True)
+
  @property
  def text(self):
    return self._input_box.text
@ -97,13 +118,24 @@ class Keyboard(Widget):
    self._title = title
    self._sub_title = sub_title

+  def _eye_button_callback(self):
+    self._password_mode = not self._password_mode
+
+  def _cancel_button_callback(self):
+    self.clear()
+    self._render_return_status = 0
+
+  def _key_callback(self, k):
+    if k == ENTER_KEY:
+      self._render_return_status = 1
+    else:
+      self.handle_key_press(k)
+
  def _render(self, rect: rl.Rectangle):
    rect = rl.Rectangle(rect.x + CONTENT_MARGIN, rect.y + CONTENT_MARGIN, rect.width - 2 * CONTENT_MARGIN, rect.height - 2 * CONTENT_MARGIN)
    gui_label(rl.Rectangle(rect.x, rect.y, rect.width, 95), self._title, 90, font_weight=FontWeight.BOLD)
    gui_label(rl.Rectangle(rect.x, rect.y + 95, rect.width, 60), self._sub_title, 55, font_weight=FontWeight.NORMAL)
-    if gui_button(rl.Rectangle(rect.x + rect.width - 386, rect.y, 386, 125), "Cancel"):
-      self.clear()
-      return 0
+    self._cancel_button.render(rl.Rectangle(rect.x + rect.width - 386, rect.y, 386, 125))

    # Draw input box and password toggle
    input_margin = 25
@ -111,7 +143,7 @@ class Keyboard(Widget):
    self._render_input_area(input_box_rect)

    # Process backspace key repeat if it's held down
-    if not rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT):
+    if not self._all_keys[BACKSPACE_KEY].is_pressed:
      self._backspace_pressed = False

    if self._backspace_pressed:
@ -146,33 +178,22 @@ class Keyboard(Widget):
        start_x += new_width

        is_enabled = key != ENTER_KEY or len(self._input_box.text) >= self._min_text_size
-        result = -1

-        # Check for backspace key press-and-hold
-        mouse_pos = rl.get_mouse_position()
-        mouse_over_key = rl.check_collision_point_rec(mouse_pos, key_rect)
-
-        if key == BACKSPACE_KEY and mouse_over_key:
-          if rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT):
-            self._backspace_pressed = True
-            self._backspace_press_time = time.monotonic()
-            self._backspace_last_repeat = time.monotonic()
+        if key == BACKSPACE_KEY and self._all_keys[BACKSPACE_KEY].is_pressed and not self._backspace_pressed:
+          self._backspace_pressed = True
+          self._backspace_press_time = time.monotonic()
+          self._backspace_last_repeat = time.monotonic()

        if key in self._key_icons:
          if key == SHIFT_ACTIVE_KEY and self._caps_lock:
            key = CAPS_LOCK_KEY
-          texture = self._key_icons[key]
-          result = gui_button(key_rect, "", icon=texture, button_style=ButtonStyle.PRIMARY if key == ENTER_KEY else ButtonStyle.NORMAL, is_enabled=is_enabled)
+          self._all_keys[key].enabled = is_enabled
+          self._all_keys[key].render(key_rect)
        else:
-          result = gui_button(key_rect, key, KEY_FONT_SIZE, is_enabled=is_enabled)
-
-        if result:
-          if key == ENTER_KEY:
-            return 1
-          else:
-            self.handle_key_press(key)
+          self._all_keys[key].enabled = is_enabled
+          self._all_keys[key].render(key_rect)

-    return -1
+    return self._render_return_status

  def _render_input_area(self, input_rect: rl.Rectangle):
    if self._show_password_toggle:
@ -183,16 +204,12 @@ class Keyboard(Widget):
      eye_texture = self._eye_closed_texture if self._password_mode else self._eye_open_texture

      eye_rect = rl.Rectangle(input_rect.x + input_rect.width - 90, input_rect.y, 80, input_rect.height)
+      self._eye_button.render(eye_rect)
+
      eye_x = eye_rect.x + (eye_rect.width - eye_texture.width) / 2
      eye_y = eye_rect.y + (eye_rect.height - eye_texture.height) / 2

      rl.draw_texture_v(eye_texture, rl.Vector2(eye_x, eye_y), rl.WHITE)
-
-      # Handle click on eye icon
-      if rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT) and rl.check_collision_point_rec(
-        rl.get_mouse_position(), eye_rect
-      ):
-        self._password_mode = not self._password_mode
    else:
      self._input_box.render(input_rect)

@ -226,6 +243,10 @@ class Keyboard(Widget):
      if not self._caps_lock and self._layout_name == "uppercase":
        self._layout_name = "lowercase"

+  def reset(self):
+    self._render_return_status = -1
+    self.clear()
+

 if __name__ == "__main__":
  gui_app.init_window("Keyboard")
--- a/system/ui/widgets/list_view.py
+++ b/system/ui/widgets/list_view.py
@ -167,7 +167,7 @@ class MultipleButtonAction(ItemAction):
      # Check button state
      mouse_pos = rl.get_mouse_position()
      is_hovered = rl.check_collision_point_rec(mouse_pos, button_rect)
-      is_pressed = is_hovered and rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) and self._is_pressed
+      is_pressed = is_hovered and rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) and self.is_pressed
      is_selected = i == self.selected_button

      # Button colors
@ -188,7 +188,7 @@ class MultipleButtonAction(ItemAction):
      rl.draw_text_ex(self._font, text, rl.Vector2(text_x, text_y), 40, 0, rl.Color(228, 228, 228, 255))

      # Handle click
-      if is_hovered and rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT) and self._is_pressed:
+      if is_hovered and rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT) and self.is_pressed:
        clicked = i

    if clicked >= 0:
--- a/system/ui/widgets/network.py
+++ b/system/ui/widgets/network.py
@ -1,4 +1,5 @@
 from dataclasses import dataclass
+from functools import partial
 from threading import Lock
 from typing import Literal

@ -7,8 +8,8 @@ from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.lib.wifi_manager import NetworkInfo, WifiManagerCallbacks, WifiManagerWrapper, SecurityType
 from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.widgets.button import ButtonStyle, gui_button
-from openpilot.system.ui.widgets.confirm_dialog import confirm_dialog
+from openpilot.system.ui.widgets.button import ButtonStyle, Button, TextAlignment
+from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
 from openpilot.system.ui.widgets.keyboard import Keyboard
 from openpilot.system.ui.widgets.label import gui_label

@ -40,6 +41,7 @@ class StateConnecting:
@dataclass
 class StateNeedsAuth:
  network: NetworkInfo
+  retry: bool
  action: Literal["needs_auth"] = "needs_auth"


@ -67,8 +69,11 @@ class WifiManagerUI(Widget):
    self.keyboard = Keyboard(max_text_size=MAX_PASSWORD_LENGTH, min_text_size=MIN_PASSWORD_LENGTH, show_password_toggle=True)

    self._networks: list[NetworkInfo] = []
+    self._networks_buttons: dict[str, Button] = {}
+    self._forget_networks_buttons: dict[str, Button] = {}
    self._lock = Lock()
    self.wifi_manager = wifi_manager
+    self._confirm_dialog = ConfirmDialog("", "Forget", "Cancel")

    self.wifi_manager.set_callbacks(
      WifiManagerCallbacks(
@ -89,12 +94,14 @@ class WifiManagerUI(Widget):
        return

      match self.state:
-        case StateNeedsAuth(network):
-          self.keyboard.set_title("Enter password", f"for {network.ssid}")
+        case StateNeedsAuth(network, retry):
+          self.keyboard.set_title("Wrong password" if retry else "Enter password", f"for {network.ssid}")
+          self.keyboard.reset()
          gui_app.set_modal_overlay(self.keyboard, lambda result: self._on_password_entered(network, result))
        case StateShowForgetConfirm(network):
-          gui_app.set_modal_overlay(lambda: confirm_dialog(f'Forget Wi-Fi Network "{network.ssid}"?', "Forget"),
-                                    callback=lambda result: self.on_forgot_confirm_finished(network, result))
+          self._confirm_dialog.text = f'Forget Wi-Fi Network "{network.ssid}"?'
+          self._confirm_dialog.reset()
+          gui_app.set_modal_overlay(self._confirm_dialog, callback=lambda result: self.on_forgot_confirm_finished(network, result))
        case _:
          self._draw_network_list(rect)

@ -139,16 +146,20 @@ class WifiManagerUI(Widget):
    signal_icon_rect = rl.Rectangle(rect.x + rect.width - ICON_SIZE, rect.y + (ITEM_HEIGHT - ICON_SIZE) / 2, ICON_SIZE, ICON_SIZE)
    security_icon_rect = rl.Rectangle(signal_icon_rect.x - spacing - ICON_SIZE, rect.y + (ITEM_HEIGHT - ICON_SIZE) / 2, ICON_SIZE, ICON_SIZE)

-    gui_label(ssid_rect, network.ssid, 55)
-
    status_text = ""
    match self.state:
      case StateConnecting(network=connecting):
        if connecting.ssid == network.ssid:
+          self._networks_buttons[network.ssid].enabled = False
          status_text = "CONNECTING..."
      case StateForgetting(network=forgetting):
        if forgetting.ssid == network.ssid:
+          self._networks_buttons[network.ssid].enabled = False
          status_text = "FORGETTING..."
+      case _:
+        self._networks_buttons[network.ssid].enabled = True
+
+    self._networks_buttons[network.ssid].render(ssid_rect)

    if status_text:
      status_text_rect = rl.Rectangle(security_icon_rect.x - 410, rect.y, 410, ITEM_HEIGHT)
@ -162,18 +173,23 @@ class WifiManagerUI(Widget):
          self.btn_width,
          80,
        )
-        if isinstance(self.state, StateIdle) and gui_button(forget_btn_rect, "Forget", button_style=ButtonStyle.ACTION) and clicked:
-          self.state = StateShowForgetConfirm(network)
+        self._forget_networks_buttons[network.ssid].render(forget_btn_rect)

    self._draw_status_icon(security_icon_rect, network)
    self._draw_signal_strength_icon(signal_icon_rect, network)

-    if isinstance(self.state, StateIdle) and rl.check_collision_point_rec(rl.get_mouse_position(), ssid_rect) and clicked:
+  def _networks_buttons_callback(self, network):
+    if self.scroll_panel.is_touch_valid():
      if not network.is_saved and network.security_type != SecurityType.OPEN:
-        self.state = StateNeedsAuth(network)
+        self.state = StateNeedsAuth(network, False)
      elif not network.is_connected:
        self.connect_to_network(network)

+  def _forget_networks_buttons_callback(self, network):
+    if self.scroll_panel.is_touch_valid():
+      if isinstance(self.state, StateIdle):
+        self.state = StateShowForgetConfirm(network)
+
  def _draw_status_icon(self, rect, network: NetworkInfo):
    """Draw the status icon based on network's connection state"""
    icon_file = None
@ -211,12 +227,17 @@ class WifiManagerUI(Widget):
  def _on_network_updated(self, networks: list[NetworkInfo]):
    with self._lock:
      self._networks = networks
+      for n in self._networks:
+        self._networks_buttons[n.ssid] = Button(n.ssid, partial(self._networks_buttons_callback, n), font_size=55, text_alignment=TextAlignment.LEFT,
+                                                button_style=ButtonStyle.NO_EFFECT)
+        self._forget_networks_buttons[n.ssid] = Button("Forget", partial(self._forget_networks_buttons_callback, n), button_style=ButtonStyle.FORGET_WIFI,
+                                                       font_size=45)

  def _on_need_auth(self, ssid):
    with self._lock:
      network = next((n for n in self._networks if n.ssid == ssid), None)
      if network:
-        self.state = StateNeedsAuth(network)
+        self.state = StateNeedsAuth(network, True)

  def _on_activated(self):
    with self._lock:
--- a/system/updated/updated.py
+++ b/system/updated/updated.py
@ -31,8 +31,13 @@ FINALIZED = os.path.join(STAGING_ROOT, "finalized")

 OVERLAY_INIT = Path(os.path.join(BASEDIR, ".overlay_init"))

-DAYS_NO_CONNECTIVITY_MAX = 14     # do not allow to engage after this many days
-DAYS_NO_CONNECTIVITY_PROMPT = 10  # send an offroad prompt after this many days
+# do not allow to engage after this many hours onroad and this many routes
+HOURS_NO_CONNECTIVITY_MAX = 27
+ROUTES_NO_CONNECTIVITY_MAX = 84
+# send an offroad prompt after this many hours onroad and this many routes
+HOURS_NO_CONNECTIVITY_PROMPT = 23
+ROUTES_NO_CONNECTIVITY_PROMPT = 80
+

 class UserRequest:
  NONE = 0
@ -271,13 +276,15 @@ class Updater:
    if len(self.branches):
      self.params.put("UpdaterAvailableBranches", ','.join(self.branches.keys()))

-    last_update = datetime.datetime.now(datetime.UTC).replace(tzinfo=None)
+    last_uptime_onroad = self.params.get("UptimeOnroad", return_default=True)
+    last_route_count = self.params.get("RouteCount", return_default=True)
    if update_success:
-      write_time_to_param(self.params, "LastUpdateTime")
+      self.params.put("LastUpdateTime", datetime.datetime.now(datetime.UTC).replace(tzinfo=None))
+      self.params.put("LastUpdateUptimeOnroad", last_uptime_onroad)
+      self.params.put("LastUpdateRouteCount", last_route_count)
    else:
-      t = self.params.get("LastUpdateTime")
-      if t is not None:
-        last_update = t
+      last_uptime_onroad = self.params.get("LastUpdateUptimeOnroad") or last_uptime_onroad
+      last_route_count = self.params.get("LastUpdateRouteCount") or last_route_count

    if exception is None:
      self.params.remove("LastUpdateException")
@ -315,8 +322,8 @@ class Updater:
    for alert in ("Offroad_UpdateFailed", "Offroad_ConnectivityNeeded", "Offroad_ConnectivityNeededPrompt"):
      set_offroad_alert(alert, False)

-    now = datetime.datetime.now(datetime.UTC).replace(tzinfo=None)
-    dt = now - last_update
+    dt_uptime_onroad = (self.params.get("UptimeOnroad", return_default=True) - last_uptime_onroad) / (60*60)
+    dt_route_count = self.params.get("RouteCount", return_default=True) - last_route_count
    build_metadata = get_build_metadata()
    if failed_count > 15 and exception is not None and self.has_internet:
      if build_metadata.tested_channel:
@ -325,11 +332,11 @@ class Updater:
        extra_text = exception
      set_offroad_alert("Offroad_UpdateFailed", True, extra_text=extra_text)
    elif failed_count > 0:
-      if dt.days > DAYS_NO_CONNECTIVITY_MAX:
+      if dt_uptime_onroad > HOURS_NO_CONNECTIVITY_MAX and dt_route_count > ROUTES_NO_CONNECTIVITY_MAX:
        set_offroad_alert("Offroad_ConnectivityNeeded", True)
-      elif dt.days > DAYS_NO_CONNECTIVITY_PROMPT:
-        remaining = max(DAYS_NO_CONNECTIVITY_MAX - dt.days, 1)
-        set_offroad_alert("Offroad_ConnectivityNeededPrompt", True, extra_text=f"{remaining} day{'' if remaining == 1 else 's'}.")
+      elif dt_uptime_onroad > HOURS_NO_CONNECTIVITY_PROMPT and dt_route_count > ROUTES_NO_CONNECTIVITY_PROMPT:
+        remaining = max(HOURS_NO_CONNECTIVITY_MAX - dt_uptime_onroad, 1)
+        set_offroad_alert("Offroad_ConnectivityNeededPrompt", True, extra_text=f"{remaining} hour{'' if remaining == 1 else 's'}.")

  def check_for_update(self) -> None:
    cloudlog.info("checking for updates")
--- a/third_party/raylib/build.sh
+++ b/third_party/raylib/build.sh
@ -30,7 +30,7 @@ fi

 cd raylib_repo

-COMMIT=${1:-66030a7de62c9e1ee8ab30a1d657a740333bb4f2}
+COMMIT=${1:-39e6d8b52db159ba2ab3214b46d89a8069e09394}
 git fetch origin $COMMIT
 git reset --hard $COMMIT
 git clean -xdff .
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 7737cbb2a0635fce95a9085fb1b53d5bea1093f8
+Subproject commit 06af9f9236b33419f89ef3b3a5ba4cce0adecc2d
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@ -15,7 +15,8 @@ else:
 qt_libs = ['qt_util'] + base_libs

 cabana_env = qt_env.Clone()
-cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, 'panda', 'avutil', 'avcodec', 'avformat', 'bz2', 'zstd', 'curl', 'yuv', 'usb-1.0'] + qt_libs
+
+cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'zstd', 'curl', 'yuv', 'usb-1.0'] + qt_libs
 opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../opendbc/dbc").abspath)
 cabana_env['CXXFLAGS'] += [opendbc_path]

@ -29,7 +30,7 @@ cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/socketcans
                                               'streams/routes.cc', 'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc',
                                               'utils/export.cc', 'utils/util.cc',
                                               'chart/chartswidget.cc', 'chart/chart.cc', 'chart/signalselector.cc', 'chart/tiplabel.cc', 'chart/sparkline.cc',
-                                               'commands.cc', 'messageswidget.cc', 'streamselector.cc', 'settings.cc',
+                                               'commands.cc', 'messageswidget.cc', 'streamselector.cc', 'settings.cc', 'panda.cc',
                                               'cameraview.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc', 'tools/findsignal.cc', 'tools/routeinfo.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
 cabana_env.Program('cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)

@ -40,4 +41,4 @@ output_json_file = 'tools/cabana/dbc/car_fingerprint_to_dbc.json'
 generate_dbc = cabana_env.Command('#' + output_json_file,
                                  ['dbc/generate_dbc_json.py'],
                                  "python3 tools/cabana/dbc/generate_dbc_json.py --out " + output_json_file)
-cabana_env.Depends(generate_dbc, ["#common", "#selfdrive/pandad", '#opendbc_repo', "#cereal", "#msgq_repo"])
+cabana_env.Depends(generate_dbc, ["#common", '#opendbc_repo', "#cereal", "#msgq_repo"])
--- a/tools/cabana/panda.cc
+++ b/tools/cabana/panda.cc
@ -0,0 +1,346 @@
+#include "tools/cabana/panda.h"
+
+#include <unistd.h>
+#include <cassert>
+#include <stdexcept>
+#include <vector>
+#include <memory>
+
+#include "cereal/messaging/messaging.h"
+#include "common/swaglog.h"
+#include "common/util.h"
+
+static libusb_context *init_usb_ctx() {
+  libusb_context *context = nullptr;
+  int err = libusb_init(&context);
+  if (err != 0) {
+    LOGE("libusb initialization error");
+    return nullptr;
+  }
+
+#if LIBUSB_API_VERSION >= 0x01000106
+  libusb_set_option(context, LIBUSB_OPTION_LOG_LEVEL, LIBUSB_LOG_LEVEL_INFO);
+#else
+  libusb_set_debug(context, 3);
+#endif
+  return context;
+}
+
+Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {
+  if (!init_usb_connection(serial)) {
+    throw std::runtime_error("Error connecting to panda");
+  }
+
+  LOGW("connected to %s over USB", serial.c_str());
+  hw_type = get_hw_type();
+  can_reset_communications();
+}
+
+Panda::~Panda() {
+  cleanup_usb();
+}
+
+bool Panda::connected() {
+  return connected_flag;
+}
+
+bool Panda::comms_healthy() {
+  return comms_healthy_flag;
+}
+
+std::string Panda::hw_serial() {
+  return hw_serial_str;
+}
+
+std::vector<std::string> Panda::list(bool usb_only) {
+  static std::unique_ptr<libusb_context, decltype(&libusb_exit)> context(init_usb_ctx(), libusb_exit);
+
+  ssize_t num_devices;
+  libusb_device **dev_list = NULL;
+  std::vector<std::string> serials;
+  if (!context) { return serials; }
+
+  num_devices = libusb_get_device_list(context.get(), &dev_list);
+  if (num_devices < 0) {
+    LOGE("libusb can't get device list");
+    goto finish;
+  }
+
+  for (size_t i = 0; i < num_devices; ++i) {
+    libusb_device *device = dev_list[i];
+    libusb_device_descriptor desc;
+    libusb_get_device_descriptor(device, &desc);
+    if (desc.idVendor == 0x3801 && desc.idProduct == 0xddcc) {
+      libusb_device_handle *handle = NULL;
+      int ret = libusb_open(device, &handle);
+      if (ret < 0) { goto finish; }
+
+      unsigned char desc_serial[26] = { 0 };
+      ret = libusb_get_string_descriptor_ascii(handle, desc.iSerialNumber, desc_serial, std::size(desc_serial));
+      libusb_close(handle);
+      if (ret < 0) { goto finish; }
+
+      serials.push_back(std::string((char *)desc_serial, ret));
+    }
+  }
+
+finish:
+  if (dev_list != NULL) {
+    libusb_free_device_list(dev_list, 1);
+  }
+  return serials;
+}
+
+void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param) {
+  control_write(0xdc, (uint16_t)safety_model, safety_param);
+}
+
+
+cereal::PandaState::PandaType Panda::get_hw_type() {
+  unsigned char hw_query[1] = {0};
+
+  control_read(0xc1, 0, 0, hw_query, 1);
+  return (cereal::PandaState::PandaType)(hw_query[0]);
+}
+
+
+
+
+void Panda::send_heartbeat(bool engaged) {
+  control_write(0xf3, engaged, 0);
+}
+
+void Panda::set_can_speed_kbps(uint16_t bus, uint16_t speed) {
+  control_write(0xde, bus, (speed * 10));
+}
+
+
+void Panda::set_data_speed_kbps(uint16_t bus, uint16_t speed) {
+  control_write(0xf9, bus, (speed * 10));
+}
+
+
+
+bool Panda::can_receive(std::vector<can_frame>& out_vec) {
+  // Check if enough space left in buffer to store RECV_SIZE data
+  assert(receive_buffer_size + RECV_SIZE <= sizeof(receive_buffer));
+
+  int recv = bulk_read(0x81, &receive_buffer[receive_buffer_size], RECV_SIZE);
+  if (!comms_healthy()) {
+    return false;
+  }
+
+  bool ret = true;
+  if (recv > 0) {
+    receive_buffer_size += recv;
+    ret = unpack_can_buffer(receive_buffer, receive_buffer_size, out_vec);
+  }
+  return ret;
+}
+
+void Panda::can_reset_communications() {
+  control_write(0xc0, 0, 0);
+}
+
+bool Panda::unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector<can_frame> &out_vec) {
+  int pos = 0;
+
+  while (pos <= size - sizeof(can_header)) {
+    can_header header;
+    memcpy(&header, &data[pos], sizeof(can_header));
+
+    const uint8_t data_len = dlc_to_len[header.data_len_code];
+    if (pos + sizeof(can_header) + data_len > size) {
+      // we don't have all the data for this message yet
+      break;
+    }
+
+    if (calculate_checksum(&data[pos], sizeof(can_header) + data_len) != 0) {
+      LOGE("Panda CAN checksum failed");
+      size = 0;
+      can_reset_communications();
+      return false;
+    }
+
+    can_frame &canData = out_vec.emplace_back();
+    canData.address = header.addr;
+    canData.src = header.bus + bus_offset;
+    if (header.rejected) {
+      canData.src += CAN_REJECTED_BUS_OFFSET;
+    }
+    if (header.returned) {
+      canData.src += CAN_RETURNED_BUS_OFFSET;
+    }
+
+    canData.dat.assign((char *)&data[pos + sizeof(can_header)], data_len);
+
+    pos += sizeof(can_header) + data_len;
+  }
+
+  // move the overflowing data to the beginning of the buffer for the next round
+  memmove(data, &data[pos], size - pos);
+  size -= pos;
+
+  return true;
+}
+
+uint8_t Panda::calculate_checksum(uint8_t *data, uint32_t len) {
+  uint8_t checksum = 0U;
+  for (uint32_t i = 0U; i < len; i++) {
+    checksum ^= data[i];
+  }
+  return checksum;
+}
+
+// USB implementation methods
+bool Panda::init_usb_connection(const std::string& serial) {
+  ssize_t num_devices;
+  libusb_device **dev_list = NULL;
+  int err = 0;
+
+  ctx = init_usb_ctx();
+  if (!ctx) { goto fail; }
+
+  // connect by serial
+  num_devices = libusb_get_device_list(ctx, &dev_list);
+  if (num_devices < 0) { goto fail; }
+
+  for (size_t i = 0; i < num_devices; ++i) {
+    libusb_device_descriptor desc;
+    libusb_get_device_descriptor(dev_list[i], &desc);
+    if (desc.idVendor == 0x3801 && desc.idProduct == 0xddcc) {
+      int ret = libusb_open(dev_list[i], &dev_handle);
+      if (dev_handle == NULL || ret < 0) { goto fail; }
+
+      unsigned char desc_serial[26] = { 0 };
+      ret = libusb_get_string_descriptor_ascii(dev_handle, desc.iSerialNumber, desc_serial, std::size(desc_serial));
+      if (ret < 0) { goto fail; }
+
+      hw_serial_str = std::string((char *)desc_serial, ret);
+      if (serial.empty() || serial == hw_serial_str) {
+        break;
+      }
+      libusb_close(dev_handle);
+      dev_handle = NULL;
+    }
+  }
+  if (dev_handle == NULL) goto fail;
+  libusb_free_device_list(dev_list, 1);
+
+  if (libusb_kernel_driver_active(dev_handle, 0) == 1) {
+    libusb_detach_kernel_driver(dev_handle, 0);
+  }
+
+  err = libusb_set_configuration(dev_handle, 1);
+  if (err != 0) { goto fail; }
+
+  err = libusb_claim_interface(dev_handle, 0);
+  if (err != 0) { goto fail; }
+
+  return true;
+
+fail:
+  if (dev_list != NULL) {
+    libusb_free_device_list(dev_list, 1);
+  }
+  cleanup_usb();
+  return false;
+}
+
+void Panda::cleanup_usb() {
+  if (dev_handle) {
+    libusb_release_interface(dev_handle, 0);
+    libusb_close(dev_handle);
+    dev_handle = nullptr;
+  }
+
+  if (ctx) {
+    libusb_exit(ctx);
+    ctx = nullptr;
+  }
+  connected_flag = false;
+}
+
+void Panda::handle_usb_issue(int err, const char func[]) {
+  LOGE_100("usb error %d \"%s\" in %s", err, libusb_strerror((enum libusb_error)err), func);
+  if (err == LIBUSB_ERROR_NO_DEVICE) {
+    LOGE("lost connection");
+    connected_flag = false;
+  }
+}
+
+int Panda::control_write(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned int timeout) {
+  int err;
+  const uint8_t bmRequestType = LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE;
+
+  if (!connected_flag) {
+    return LIBUSB_ERROR_NO_DEVICE;
+  }
+
+  do {
+    err = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, NULL, 0, timeout);
+    if (err < 0) handle_usb_issue(err, __func__);
+  } while (err < 0 && connected_flag);
+
+  return err;
+}
+
+int Panda::control_read(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned char *data, uint16_t wLength, unsigned int timeout) {
+  int err;
+  const uint8_t bmRequestType = LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE;
+
+  if (!connected_flag) {
+    return LIBUSB_ERROR_NO_DEVICE;
+  }
+
+  do {
+    err = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, data, wLength, timeout);
+    if (err < 0) handle_usb_issue(err, __func__);
+  } while (err < 0 && connected_flag);
+
+  return err;
+}
+
+int Panda::bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) {
+  int err;
+  int transferred = 0;
+
+  if (!connected_flag) {
+    return 0;
+  }
+
+  do {
+    err = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout);
+    if (err == LIBUSB_ERROR_TIMEOUT) {
+      LOGW("Transmit buffer full");
+      break;
+    } else if (err != 0 || length != transferred) {
+      handle_usb_issue(err, __func__);
+    }
+  } while (err != 0 && connected_flag);
+
+  return transferred;
+}
+
+int Panda::bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) {
+  int err;
+  int transferred = 0;
+
+  if (!connected_flag) {
+    return 0;
+  }
+
+  do {
+    err = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout);
+    if (err == LIBUSB_ERROR_TIMEOUT) {
+      break; // timeout is okay to exit, recv still happened
+    } else if (err == LIBUSB_ERROR_OVERFLOW) {
+      comms_healthy_flag = false;
+      LOGE_100("overflow got 0x%x", transferred);
+    } else if (err != 0) {
+      handle_usb_issue(err, __func__);
+    }
+  } while (err != 0 && connected_flag);
+
+  return transferred;
+}
--- a/tools/cabana/panda.h
+++ b/tools/cabana/panda.h
@ -0,0 +1,95 @@
+#pragma once
+
+#include <cstdint>
+#include <ctime>
+#include <functional>
+#include <list>
+#include <memory>
+#include <optional>
+#include <string>
+#include <vector>
+
+#include <atomic>
+#include <mutex>
+#include <libusb-1.0/libusb.h>
+
+#include "cereal/gen/cpp/car.capnp.h"
+#include "cereal/gen/cpp/log.capnp.h"
+#include "panda/board/health.h"
+#include "panda/board/can.h"
+
+#define USB_TX_SOFT_LIMIT   (0x100U)
+#define USBPACKET_MAX_SIZE  (0x40)
+#define RECV_SIZE (0x4000U)
+#define TIMEOUT 0
+
+#define CAN_REJECTED_BUS_OFFSET 0xC0U
+#define CAN_RETURNED_BUS_OFFSET 0x80U
+
+#define PANDA_BUS_OFFSET 4
+
+struct __attribute__((packed)) can_header {
+  uint8_t reserved : 1;
+  uint8_t bus : 3;
+  uint8_t data_len_code : 4;
+  uint8_t rejected : 1;
+  uint8_t returned : 1;
+  uint8_t extended : 1;
+  uint32_t addr : 29;
+  uint8_t checksum : 8;
+};
+
+struct can_frame {
+  long address;
+  std::string dat;
+  long src;
+};
+
+
+class Panda {
+public:
+  Panda(std::string serial="", uint32_t bus_offset=0);
+  ~Panda();
+
+  cereal::PandaState::PandaType hw_type = cereal::PandaState::PandaType::UNKNOWN;
+  const uint32_t bus_offset;
+
+  bool connected();
+  bool comms_healthy();
+  std::string hw_serial();
+
+  // Static functions
+  static std::vector<std::string> list(bool usb_only=false);
+
+  // Panda functionality
+  cereal::PandaState::PandaType get_hw_type();
+  void set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param=0U);
+  void send_heartbeat(bool engaged);
+  void set_can_speed_kbps(uint16_t bus, uint16_t speed);
+  void set_data_speed_kbps(uint16_t bus, uint16_t speed);
+  bool can_receive(std::vector<can_frame>& out_vec);
+  void can_reset_communications();
+
+private:
+  // USB connection members
+  libusb_context *ctx = nullptr;
+  libusb_device_handle *dev_handle = nullptr;
+  std::string hw_serial_str;
+  std::atomic<bool> connected_flag = true;
+  std::atomic<bool> comms_healthy_flag = true;
+
+  // CAN buffer members
+  uint8_t receive_buffer[RECV_SIZE + sizeof(can_header) + 64];
+  uint32_t receive_buffer_size = 0;
+
+  // Internal methods
+  bool init_usb_connection(const std::string& serial);
+  void cleanup_usb();
+  void handle_usb_issue(int err, const char func[]);
+  int control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout=TIMEOUT);
+  int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout=TIMEOUT);
+  int bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
+  int bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
+  bool unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector<can_frame> &out_vec);
+  uint8_t calculate_checksum(uint8_t *data, uint32_t len);
+};
--- a/tools/cabana/streams/pandastream.cc
+++ b/tools/cabana/streams/pandastream.cc
@ -24,7 +24,7 @@ bool PandaStream::connect() {
    return false;
  }

-  panda->set_safety_model(cereal::CarParams::SafetyModel::SILENT);
+  panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
  for (int bus = 0; bus < config.bus_config.size(); bus++) {
    panda->set_can_speed_kbps(bus, config.bus_config[bus].can_speed_kbps);

--- a/tools/cabana/streams/pandastream.h
+++ b/tools/cabana/streams/pandastream.h
@ -7,7 +7,7 @@
 #include <QFormLayout>

 #include "tools/cabana/streams/livestream.h"
-#include "selfdrive/pandad/panda.h"
+#include "tools/cabana/panda.h"

 const uint32_t speeds[] = {10U, 20U, 50U, 100U, 125U, 250U, 500U, 1000U};
 const uint32_t data_speeds[] = {10U, 20U, 50U, 100U, 125U, 250U, 500U, 1000U, 2000U, 5000U};
--- a/tools/lib/api.py
+++ b/tools/lib/api.py
@ -2,6 +2,8 @@ import os
 import requests
 API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')

+# TODO: this should be merged into common.api
+
 class CommaApi:
  def __init__(self, token=None):
    self.session = requests.Session()
--- a/tools/longitudinal_maneuvers/maneuversd.py
+++ b/tools/longitudinal_maneuvers/maneuversd.py
@ -3,7 +3,7 @@ import numpy as np
 from dataclasses import dataclass

 from cereal import messaging, car
-from opendbc.car.common.conversions import Conversions as CV
+from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_MDL
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
--- a/tools/op.sh
+++ b/tools/op.sh
@ -231,7 +231,7 @@ function op_setup() {

  echo "Getting git submodules..."
  st="$(date +%s)"
-  if ! git submodule update --filter=blob:none --jobs 4 --init --recursive; then
+  if ! git submodule update --jobs 4 --init --recursive; then
    echo -e " ↳ [${RED}✗${NC}] Getting git submodules failed!"
    loge "ERROR_GIT_SUBMODULES"
    return 1
@ -287,6 +287,11 @@ function op_adb() {
  op_run_command tools/scripts/adb_ssh.sh
 }

+function op_ssh() {
+  op_before_cmd
+  op_run_command tools/scripts/ssh.py "$@"
+}
+
 function op_check() {
  VERBOSE=1
  op_before_cmd
@ -412,6 +417,7 @@ function op_default() {
  echo -e "  ${BOLD}cabana${NC}       Run Cabana"
  echo -e "  ${BOLD}clip${NC}         Run clip (linux only)"
  echo -e "  ${BOLD}adb${NC}          Run adb shell"
+  echo -e "  ${BOLD}ssh${NC}          comma prime SSH helper"
  echo ""
  echo -e "${BOLD}${UNDERLINE}Commands [Testing]:${NC}"
  echo -e "  ${BOLD}sim${NC}          Run openpilot in a simulator"
@ -471,6 +477,7 @@ function _op() {
    restart )       shift 1; op_restart "$@" ;;
    post-commit )   shift 1; op_install_post_commit "$@" ;;
    adb )           shift 1; op_adb "$@" ;;
+    ssh )           shift 1; op_ssh "$@" ;;
    * ) op_default "$@" ;;
  esac
 }
--- a/tools/replay/ui.py
+++ b/tools/replay/ui.py
@ -149,6 +149,7 @@ def ui_thread(addr):
    plot_arr[-1, name_to_arr_idx['angle_steers']] = sm['carState'].steeringAngleDeg
    plot_arr[-1, name_to_arr_idx['angle_steers_des']] = sm['carControl'].actuators.steeringAngleDeg
    plot_arr[-1, name_to_arr_idx['angle_steers_k']] = angle_steers_k
+    plot_arr[-1, name_to_arr_idx['gas']] = sm['carState'].gasDEPRECATED
    # TODO gas is deprecated
    plot_arr[-1, name_to_arr_idx['computer_gas']] = np.clip(sm['carControl'].actuators.accel/4.0, 0.0, 1.0)
    plot_arr[-1, name_to_arr_idx['user_brake']] = sm['carState'].brake
--- a/tools/scripts/ssh.py
+++ b/tools/scripts/ssh.py
@ -0,0 +1,57 @@
+#!/usr/bin/env python3
+import os
+import sys
+import argparse
+import re
+
+from openpilot.common.basedir import BASEDIR
+from openpilot.tools.lib.auth_config import get_token
+from openpilot.tools.lib.api import CommaApi
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="A helper for connecting to devices over the comma prime SSH proxy.\
+      Adding your SSH key to your SSH config is recommended for more convenient use; see https://docs.comma.ai/how-to/connect-to-comma/.")
+  parser.add_argument("device", help="device name or dongle id")
+  parser.add_argument("--host", help="ssh jump server host", default="ssh.comma.ai")
+  parser.add_argument("--port", help="ssh jump server port", default=22, type=int)
+  parser.add_argument("--key", help="ssh key", default=os.path.join(BASEDIR, "system/hardware/tici/id_rsa"))
+  parser.add_argument("--debug", help="enable debug output", action="store_true")
+  args = parser.parse_args()
+
+  r = CommaApi(get_token()).get("v1/me/devices")
+  devices = {x['dongle_id']: x['alias'] for x in r}
+
+  if not re.match("[0-9a-zA-Z]{16}", args.device):
+    user_input = args.device.replace(" ", "").lower()
+    matches = { k: v for k, v in devices.items() if isinstance(v, str) and user_input in v.replace(" ", "").lower() }
+    if len(matches) == 1:
+      dongle_id = list(matches.keys())[0]
+    else:
+      print(f"failed to look up dongle id for \"{args.device}\"", file=sys.stderr)
+      if len(matches) > 1:
+        print("found multiple matches:", file=sys.stderr)
+        for k, v in matches.items():
+          print(f"  \"{v}\" ({k})", file=sys.stderr)
+      exit(1)
+  else:
+    dongle_id = args.device
+
+  name = dongle_id
+  if dongle_id in devices:
+    name = f"{devices[dongle_id]} ({dongle_id})"
+  print(f"connecting to {name} through {args.host}:{args.port} ...")
+
+  command = [
+    "ssh",
+    "-i", args.key,
+    "-o", f"ProxyCommand=ssh -i {args.key} -W %h:%p -p %p %h@{args.host}",
+    "-p", str(args.port),
+  ]
+  if args.debug:
+    command += ["-v"]
+  command += [
+    f"comma@{dongle_id}",
+  ]
+  if args.debug:
+    print(" ".join([f"'{c}'" if " " in c else c for c in command]))
+  os.execvp(command[0], command)
--- a/tools/sim/lib/simulated_car.py
+++ b/tools/sim/lib/simulated_car.py
@ -46,7 +46,7 @@ class SimulatedCar:

    msg.append(self.packer.make_can_msg("SCM_BUTTONS", 0, {"CRUISE_BUTTONS": simulator_state.cruise_button}))

-    msg.append(self.packer.make_can_msg("GEARBOX", 0, {"GEAR": 4, "GEAR_SHIFTER": 8}))
+    msg.append(self.packer.make_can_msg("GEARBOX_AUTO", 0, {"GEAR_SHIFTER": 4}))
    msg.append(self.packer.make_can_msg("GAS_PEDAL_2", 0, {}))
    msg.append(self.packer.make_can_msg("SEATBELT_STATUS", 0, {"SEATBELT_DRIVER_LATCHED": 1}))
    msg.append(self.packer.make_can_msg("STEER_STATUS", 0, {"STEER_TORQUE_SENSOR": simulator_state.user_torque}))
@ -56,7 +56,6 @@ class SimulatedCar:
    msg.append(self.packer.make_can_msg("STEER_MOTOR_TORQUE", 0, {}))
    msg.append(self.packer.make_can_msg("EPB_STATUS", 0, {}))
    msg.append(self.packer.make_can_msg("DOORS_STATUS", 0, {}))
-    msg.append(self.packer.make_can_msg("CRUISE_PARAMS", 0, {}))
    msg.append(self.packer.make_can_msg("CRUISE", 0, {}))
    msg.append(self.packer.make_can_msg("CRUISE_FAULT_STATUS", 0, {}))
    msg.append(self.packer.make_can_msg("SCM_FEEDBACK", 0,
--- a/uv.lock
+++ b/uv.lock
@ -1,5 +1,5 @@
 version = 1
-revision = 2
+revision = 3
 requires-python = ">=3.11, <3.13"
 resolution-markers = [
    "python_full_version >= '3.12' and sys_platform == 'darwin'",
@ -21,7 +21,7 @@ wheels = [

 [[package]]
 name = "aiohttp"
-version = "3.12.14"
+version = "3.12.15"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
    { name = "aiohappyeyeballs" },
@ -32,42 +32,42 @@ dependencies = [
    { name = "propcache" },
    { name = "yarl" },
 ]
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