Merge remote-tracking branch 'origin/master' into log-compat-test

.gitattributes

@@ -11,8 +11,6 @@
 
 selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
 system/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text
-selfdrive/ui/qt/spinner_larch64 filter=lfs diff=lfs merge=lfs -text
-selfdrive/ui/qt/text_larch64 filter=lfs diff=lfs merge=lfs -text
 third_party/**/*.a filter=lfs diff=lfs merge=lfs -text
 third_party/**/*.so filter=lfs diff=lfs merge=lfs -text
 third_party/**/*.so.* filter=lfs diff=lfs merge=lfs -text

.github/labeler.yaml

@@ -12,7 +12,7 @@ simulation:
 
 ui:
   - changed-files:
-    - any-glob-to-all-files: 'selfdrive/ui/**'
+    - any-glob-to-all-files: '{selfdrive/ui/**,system/ui/**}'
 
 tools:
   - changed-files:

.github/workflows/auto-cache/action.yaml

@@ -12,7 +12,7 @@ inputs:
     required: true
   save:
     description: 'whether to save the cache'
-    default: 'false'
+    default: 'true'
     required: false
 outputs:
   cache-hit:

.github/workflows/model_review.yaml

@@ -0,0 +1,42 @@
+name: "model review"
+
+on:
+  pull_request:
+    types: [opened, reopened, synchronize]
+    paths:
+      - 'selfdrive/modeld/models/*.onnx'
+  workflow_dispatch:
+
+jobs:
+  comment:
+    permissions:
+      contents: read
+      pull-requests: write
+    runs-on: ubuntu-latest
+    if: github.repository == 'commaai/openpilot'
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+      - name: Checkout master
+        uses: actions/checkout@v4
+        with:
+          ref: master
+          path: base
+      - run: git lfs pull
+      - run: cd base && git lfs pull
+
+      - run: pip install onnx
+
+      - name: scripts/reporter.py
+        id: report
+        run: |
+          echo "content<<EOF" >> $GITHUB_OUTPUT
+          echo "## Model Review" >> $GITHUB_OUTPUT
+          MASTER_PATH=${{ github.workspace }}/base python scripts/reporter.py >> $GITHUB_OUTPUT
+          echo "EOF" >> $GITHUB_OUTPUT
+
+      - name: Post model report comment
+        uses: marocchino/sticky-pull-request-comment@baa7203ed60924babbe5dcd0ac8eae3b66ec5e16
+        with:
+          header: model-review
+          message: ${{ steps.report.outputs.content }}

.github/workflows/repo-maintenance.yaml

@@ -50,7 +50,7 @@ jobs:
     - name: bump submodules
       run: |
         git config --global --add safe.directory '*'
-        git -c submodule."tinygrad".update=none submodule update --remote
+        git submodule update --remote
         git add .
     - name: update car docs
       run: |

.github/workflows/selfdrive_tests.yaml

@@ -51,10 +51,6 @@ jobs:
       timeout-minutes: 1
       run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
     - uses: ./.github/workflows/setup-with-retry
-    - name: Check submodules
-      if: github.repository == 'commaai/openpilot'
-      timeout-minutes: 3
-      run: release/check-submodules.sh
     - name: Build openpilot and run checks
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
       run: |
@@ -65,6 +61,10 @@ jobs:
       run: |
         cd $STRIPPED_DIR
         ${{ env.RUN }} "release/check-dirty.sh"
+    - name: Check submodules
+      if: github.repository == 'commaai/openpilot'
+      timeout-minutes: 3
+      run: release/check-submodules.sh
 
   build:
     runs-on:

.gitignore

@@ -47,10 +47,8 @@ selfdrive/pandad/pandad
 cereal/services.h
 cereal/gen
 cereal/messaging/bridge
-selfdrive/logcatd/logcatd
 selfdrive/mapd/default_speeds_by_region.json
 system/proclogd/proclogd
-selfdrive/ui/translations/alerts_generated.h
 selfdrive/ui/translations/tmp
 selfdrive/test/longitudinal_maneuvers/out
 selfdrive/car/tests/cars_dump

.gitmodules

@@ -15,4 +15,4 @@
   url = ../../commaai/teleoprtc
 [submodule "tinygrad"]
   path = tinygrad_repo
-  url = https://github.com/commaai/tinygrad.git
+  url = https://github.com/tinygrad/tinygrad.git

RELEASES.md

@@ -1,10 +1,13 @@
-Version 0.9.9 (2025-04-30)
+Version 0.9.9 (2025-05-15)
 ========================
 * New driving model
+  * New training architecture supervised by MLSIM
+* Steering actuator delay is now learned online
 * Tesla Model 3 and Y support thanks to lukasloetkolben!
+* Lexus RC 2023 support thanks to nelsonjchen!
 * Coming soon
-  * New driving model supervised by MLSIM
-  * An online learner for steering actuator delay
+  * New Honda models
+  * Bigger vision model
 
 Version 0.9.8 (2025-02-28)
 ========================

cereal/log.capnp

@@ -48,6 +48,7 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     preEnableStandstill @12;  # added during pre-enable state with brake
     gasPressedOverride @13;  # added when user is pressing gas with no disengage on gas
     steerOverride @14;
+    steerDisengage @94;  # exits active state
     cruiseDisabled @15;
     speedTooLow @16;
     outOfSpace @17;
@@ -126,6 +127,7 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     espActive @90;
     personalityChanged @91;
     aeb @92;
+    userFlag @95;
 
     soundsUnavailableDEPRECATED @47;
   }
@@ -488,6 +490,7 @@ struct DeviceState @0xa4d8b5af2aa492eb {
   # device thermals
   cpuTempC @26 :List(Float32);
   gpuTempC @27 :List(Float32);
+  dspTempC @49 :Float32;
   memoryTempC @28 :Float32;
   nvmeTempC @35 :List(Float32);
   modemTempC @36 :List(Float32);

cereal/messaging/__init__.py

@@ -145,12 +145,16 @@ class SubMaster:
     self.updated = {s: False for s in services}
     self.recv_time = {s: 0. for s in services}
     self.recv_frame = {s: 0 for s in services}
-    self.alive = {s: False for s in services}
-    self.freq_ok = {s: False for s in services}
     self.sock = {}
     self.data = {}
-    self.valid = {}
-    self.logMonoTime = {}
+    self.logMonoTime = {s: 0 for s in services}
+
+    # zero-frequency / on-demand services are always alive and presumed valid; all others must pass checks
+    on_demand = {s: SERVICE_LIST[s].frequency <= 1e-5 for s in services}
+    self.static_freq_services = set(s for s in services if not on_demand[s])
+    self.alive = {s: on_demand[s] for s in services}
+    self.freq_ok = {s: on_demand[s] for s in services}
+    self.valid = {s: on_demand[s] for s in services}
 
     self.freq_tracker: Dict[str, FrequencyTracker] = {}
     self.poller = Poller()
@@ -177,8 +181,6 @@ class SubMaster:
         data = new_message(s, 0) # lists
 
       self.data[s] = getattr(data.as_reader(), s)
-      self.logMonoTime[s] = 0
-      self.valid[s] = False
       self.freq_tracker[s] = FrequencyTracker(SERVICE_LIST[s].frequency, self.update_freq, s == poll)
 
   def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader:
@@ -215,14 +217,10 @@ class SubMaster:
       self.logMonoTime[s] = msg.logMonoTime
       self.valid[s] = msg.valid
 
-    for s in self.services:
-      if SERVICE_LIST[s].frequency > 1e-5 and not self.simulation:
-        # alive if delay is within 10x the expected frequency
-        self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency)
-        self.freq_ok[s] = self.freq_tracker[s].valid
-      else:
-        self.freq_ok[s] = True
-        self.alive[s] = self.seen[s] if self.simulation else True
+    for s in self.static_freq_services:
+      # alive if delay is within 10x the expected frequency; checks relaxed in simulator
+      self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency) or (self.seen[s] and self.simulation)
+      self.freq_ok[s] = self.freq_tracker[s].valid or self.simulation
 
   def all_alive(self, service_list: Optional[List[str]] = None) -> bool:
     return all(self.alive[s] for s in (service_list or self.services) if s not in self.ignore_alive)

cereal/messaging/tests/test_pub_sub_master.py

@@ -6,6 +6,7 @@ import cereal.messaging as messaging
 from cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
                                                   random_bytes, random_carstate, assert_carstate, \
                                                   zmq_sleep
+from cereal.services import SERVICE_LIST
 
 
 class TestSubMaster:
@@ -26,7 +27,9 @@ class TestSubMaster:
     sm = messaging.SubMaster(socks)
     assert sm.frame == -1
     assert not any(sm.updated.values())
-    assert not any(sm.alive.values())
+    assert not any(sm.seen.values())
+    on_demand = {s: SERVICE_LIST[s].frequency <= 1e-5 for s in sm.services}
+    assert all(sm.alive[s] == sm.valid[s] == sm.freq_ok[s] == on_demand[s] for s in sm.services)
     assert all(t == 0. for t in sm.recv_time.values())
     assert all(f == 0 for f in sm.recv_frame.values())
     assert all(t == 0 for t in sm.logMonoTime.values())
@@ -83,6 +86,7 @@ class TestSubMaster:
         "cameraOdometry": (20, 10),
         "liveCalibration": (4, 4),
         "carParams": (None, None),
+        "userFlag": (None, None),
       }
 
       for service, (max_freq, min_freq) in checks.items():

common/realtime.py

@@ -1,6 +1,7 @@
 """Utilities for reading real time clocks and keeping soft real time constraints."""
 import gc
 import os
+import sys
 import time
 
 from setproctitle import getproctitle
@@ -28,13 +29,13 @@ class Priority:
 
 
 def set_core_affinity(cores: list[int]) -> None:
-  if not PC:
+  if sys.platform == 'linux' and not PC:
     os.sched_setaffinity(0, cores)
 
 
 def config_realtime_process(cores: int | list[int], priority: int) -> None:
   gc.disable()
-  if not PC:
+  if sys.platform == 'linux' and not PC:
     os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(priority))
   c = cores if isinstance(cores, list) else [cores, ]
   set_core_affinity(c)

common/spinner.py

@@ -1,52 +0,0 @@
-import os
-import subprocess
-from openpilot.common.basedir import BASEDIR
-
-
-class Spinner:
-  def __init__(self):
-    try:
-      self.spinner_proc = subprocess.Popen(["./spinner"],
-                                           stdin=subprocess.PIPE,
-                                           cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
-                                           close_fds=True)
-    except OSError:
-      self.spinner_proc = None
-
-  def __enter__(self):
-    return self
-
-  def update(self, spinner_text: str):
-    if self.spinner_proc is not None:
-      self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n")
-      try:
-        self.spinner_proc.stdin.flush()
-      except BrokenPipeError:
-        pass
-
-  def update_progress(self, cur: float, total: float):
-    self.update(str(round(100 * cur / total)))
-
-  def close(self):
-    if self.spinner_proc is not None:
-      self.spinner_proc.kill()
-      try:
-        self.spinner_proc.communicate(timeout=2.)
-      except subprocess.TimeoutExpired:
-        print("WARNING: failed to kill spinner")
-      self.spinner_proc = None
-
-  def __del__(self):
-    self.close()
-
-  def __exit__(self, exc_type, exc_value, traceback):
-    self.close()
-
-
-if __name__ == "__main__":
-  import time
-  with Spinner() as s:
-    s.update("Spinner text")
-    time.sleep(5.0)
-  print("gone")
-  time.sleep(5.0)

common/tests/test_simple_kalman.py

@@ -24,6 +24,6 @@ class TestSimpleKalman:
     self.kf.set_x([[1.0], [1.0]])
     assert self.kf.x == [[1.0], [1.0]]
 
-  def update_returns_state(self):
+  def test_update_returns_state(self):
     x = self.kf.update(100)
-    assert x == self.kf.x
+    assert x == [i[0] for i in self.kf.x]

common/text_window.py

@@ -1,63 +0,0 @@
-#!/usr/bin/env python3
-import os
-import time
-import subprocess
-from openpilot.common.basedir import BASEDIR
-
-
-class TextWindow:
-  def __init__(self, text):
-    try:
-      self.text_proc = subprocess.Popen(["./text", text],
-                                        stdin=subprocess.PIPE,
-                                        cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
-                                        close_fds=True)
-    except OSError:
-      self.text_proc = None
-
-  def get_status(self):
-    if self.text_proc is not None:
-      self.text_proc.poll()
-      return self.text_proc.returncode
-    return None
-
-  def __enter__(self):
-    return self
-
-  def close(self):
-    if self.text_proc is not None:
-      self.text_proc.terminate()
-      self.text_proc = None
-
-  def wait_for_exit(self):
-    if self.text_proc is not None:
-      while True:
-        if self.get_status() == 1:
-          return
-        time.sleep(0.1)
-
-  def __del__(self):
-    self.close()
-
-  def __exit__(self, exc_type, exc_value, traceback):
-    self.close()
-
-
-if __name__ == "__main__":
-  text = """Traceback (most recent call last):
-  File "./controlsd.py", line 608, in <module>
-    main()
-  File "./controlsd.py", line 604, in main
-    controlsd_thread(sm, pm, logcan)
-  File "./controlsd.py", line 455, in controlsd_thread
-    1/0
-ZeroDivisionError: division by zero"""
-  print(text)
-
-  with TextWindow(text) as s:
-    for _ in range(100):
-      if s.get_status() == 1:
-        print("Got exit button")
-        break
-      time.sleep(0.1)
-  print("gone")

docs/CARS.md

@@ -4,19 +4,20 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 304 Supported Cars
+# 311 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
-|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
-|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
+|Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2016-18">Buy Here</a></sub></details>||
+|Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2019">Buy Here</a></sub></details>||
+|Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
 |Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2019-21">Buy Here</a></sub></details>||
-|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
-|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
-|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
-|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
-|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
+|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
+|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
+|Audi|Q2 2018|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.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
+|Audi|Q3 2019-23|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.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
+|Audi|RS3 2018|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.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
+|Audi|S3 2015-17|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.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>||
 |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Equinox 2019-22">Buy Here</a></sub></details>||
@@ -28,21 +29,26 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 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.html?make=Chrysler&model=Pacifica Hybrid 2017-18">Buy Here</a></sub></details>||
 |Chrysler|Pacifica Hybrid 2019-24|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.html?make=Chrysler&model=Pacifica Hybrid 2019-24">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||
-|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
+|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.html?make=CUPRA&model=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.html?make=Dodge&model=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.html?make=Ford&model=Bronco Sport 2021-24">Buy Here</a></sub></details>||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 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.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
+|Ford|Escape 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<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.html?make=Ford&model=Escape 2023-24">Buy Here</a></sub></details>||
 |Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 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.html?make=Ford&model=Escape Hybrid 2020-22">Buy Here</a></sub></details>||
+|Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<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.html?make=Ford&model=Escape Hybrid 2023-24">Buy Here</a></sub></details>||
 |Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 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.html?make=Ford&model=Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
+|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<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.html?make=Ford&model=Escape Plug-in Hybrid 2023-24">Buy Here</a></sub></details>||
 |Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 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.html?make=Ford&model=Explorer 2020-24">Buy Here</a></sub></details>||
 |Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 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.html?make=Ford&model=Explorer Hybrid 2020-24">Buy Here</a></sub></details>||
 |Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=F-150 2021-23">Buy Here</a></sub></details>||
 |Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=F-150 Hybrid 2021-23">Buy Here</a></sub></details>||
 |Ford|Focus 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 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.html?make=Ford&model=Focus 2018">Buy Here</a></sub></details>||
 |Ford|Focus Hybrid 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 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.html?make=Ford&model=Focus Hybrid 2018">Buy Here</a></sub></details>||
-|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 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.html?make=Ford&model=Kuga 2020-22">Buy Here</a></sub></details>||
-|Ford|Kuga Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 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.html?make=Ford&model=Kuga Hybrid 2020-22">Buy Here</a></sub></details>||
-|Ford|Kuga Plug-in Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 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.html?make=Ford&model=Kuga Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
+|Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 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.html?make=Ford&model=Kuga 2020-23">Buy Here</a></sub></details>||
+|Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 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.html?make=Ford&model=Kuga Hybrid 2020-23">Buy Here</a></sub></details>||
+|Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<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.html?make=Ford&model=Kuga Hybrid 2024">Buy Here</a></sub></details>||
+|Ford|Kuga Plug-in Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 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.html?make=Ford&model=Kuga Plug-in Hybrid 2020-23">Buy Here</a></sub></details>||
+|Ford|Kuga Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<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.html?make=Ford&model=Kuga Plug-in Hybrid 2024">Buy Here</a></sub></details>||
 |Ford|Maverick 2022|LARIAT Luxury|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.html?make=Ford&model=Maverick 2022">Buy Here</a></sub></details>||
 |Ford|Maverick 2023-24|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.html?make=Ford&model=Maverick 2023-24">Buy Here</a></sub></details>||
 |Ford|Maverick Hybrid 2022|LARIAT Luxury|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.html?make=Ford&model=Maverick Hybrid 2022">Buy Here</a></sub></details>||
@@ -80,7 +86,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Fit 2018-20">Buy Here</a></sub></details>||
 |Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Freed 2020">Buy Here</a></sub></details>||
 |Honda|HR-V 2019-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2019-22">Buy Here</a></sub></details>||
-|Honda|HR-V 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2023">Buy Here</a></sub></details>||
+|Honda|HR-V 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2023-25">Buy Here</a></sub></details>||
 |Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Insight 2019-22">Buy Here</a></sub></details>||
 |Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Inspire 2018">Buy Here</a></sub></details>||
 |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Odyssey 2018-20">Buy Here</a></sub></details>||
@@ -186,6 +192,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Lexus&model=NX Hybrid 2018-19">Buy Here</a></sub></details>||
 |Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Lexus&model=NX Hybrid 2020-21">Buy Here</a></sub></details>||
 |Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Lexus&model=RC 2018-20">Buy Here</a></sub></details>||
+|Lexus|RC 2023|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Lexus&model=RC 2023">Buy Here</a></sub></details>||
 |Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Lexus&model=RX 2016">Buy Here</a></sub></details>||
 |Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Lexus&model=RX 2017-19">Buy Here</a></sub></details>||
 |Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Lexus&model=RX 2020-22">Buy Here</a></sub></details>||
@@ -195,8 +202,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Lexus&model=UX Hybrid 2019-24">Buy Here</a></sub></details>||
 |Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 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.html?make=Lincoln&model=Aviator 2020-24">Buy Here</a></sub></details>||
 |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 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.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>||
-|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 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 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 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 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 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.html?make=Mazda&model=CX-5 2022-25">Buy Here</a></sub></details>||
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 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.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Nissan[<sup>7</sup>](#footnotes)|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<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.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
@@ -206,8 +213,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ram 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.html?make=Ram&model=1500 2019-24">Buy Here</a></sub></details>||
 |Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Rivian&model=R1S 2022-24">Buy Here</a></sub></details>||
 |Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Rivian&model=R1T 2022-24">Buy Here</a></sub></details>||
-|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=SEAT&model=Ateca 2016-23">Buy Here</a></sub></details>||
-|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
+|SEAT|Ateca 2016-23|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.html?make=SEAT&model=Ateca 2016-23">Buy Here</a></sub></details>||
+|SEAT|Leon 2014-20|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.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
 |Subaru|Ascent 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru 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.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
 |Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru 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.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru 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.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
@@ -218,19 +225,19 @@ A supported vehicle is one that just works when you install a comma device. All
 |Subaru|Outback 2020-22|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
 |Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru 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.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru 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.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Škoda|Fabia 2022-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)||
-|Škoda|Kamiq 2021-23[<sup>12,14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)||
-|Škoda|Karoq 2019-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
-|Škoda|Kodiaq 2017-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
-|Škoda|Octavia 2015-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
-|Škoda|Octavia RS 2016[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
-|Škoda|Octavia Scout 2017-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Škoda&model=Octavia Scout 2017-19">Buy Here</a></sub></details>||
-|Škoda|Scala 2020-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)||
-|Škoda|Superb 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
-|Tesla|Model 3 (with HW3) 2019-23[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<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.html?make=Tesla&model=Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>||
-|Tesla|Model 3 (with HW4) 2024-25[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<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.html?make=Tesla&model=Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>||
-|Tesla|Model Y (with HW3) 2020-23[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<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.html?make=Tesla&model=Model Y (with HW3) 2020-23">Buy Here</a></sub></details>||
-|Tesla|Model Y (with HW4) 2024[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<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.html?make=Tesla&model=Model Y (with HW4) 2024">Buy Here</a></sub></details>||
+|Škoda|Fabia 2022-23[<sup>15</sup>](#footnotes)|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.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)||
+|Škoda|Kamiq 2021-23[<sup>13,15</sup>](#footnotes)|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.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)||
+|Škoda|Karoq 2019-23[<sup>15</sup>](#footnotes)|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.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
+|Škoda|Kodiaq 2017-23[<sup>15</sup>](#footnotes)|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.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
+|Škoda|Octavia 2015-19[<sup>15</sup>](#footnotes)|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.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
+|Škoda|Octavia RS 2016[<sup>15</sup>](#footnotes)|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.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
+|Škoda|Octavia Scout 2017-19[<sup>15</sup>](#footnotes)|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.html?make=Škoda&model=Octavia Scout 2017-19">Buy Here</a></sub></details>||
+|Škoda|Scala 2020-23[<sup>15</sup>](#footnotes)|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.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)||
+|Škoda|Superb 2015-22[<sup>15</sup>](#footnotes)|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.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
+|Tesla[<sup>11</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<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.html?make=Tesla&model=Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>||
+|Tesla[<sup>11</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<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.html?make=Tesla&model=Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>||
+|Tesla[<sup>11</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<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.html?make=Tesla&model=Model Y (with HW3) 2020-23">Buy Here</a></sub></details>||
+|Tesla[<sup>11</sup>](#footnotes)|Model Y (with HW4) 2024[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<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.html?make=Tesla&model=Model Y (with HW4) 2024">Buy Here</a></sub></details>||
 |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>||
 |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Toyota&model=Alphard Hybrid 2021">Buy Here</a></sub></details>||
 |Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Toyota&model=Avalon 2016">Buy Here</a></sub></details>||
@@ -243,8 +250,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Toyota&model=C-HR 2021">Buy Here</a></sub></details>||
 |Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Toyota&model=C-HR Hybrid 2017-20">Buy Here</a></sub></details>||
 |Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Toyota&model=C-HR Hybrid 2021-22">Buy Here</a></sub></details>||
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Toyota&model=Camry 2021-24">Buy Here</a></sub></details>||
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>12</sup>](#footnotes)|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.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>12</sup>](#footnotes)|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.html?make=Toyota&model=Camry 2021-24">Buy Here</a></sub></details>||
 |Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Toyota&model=Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Toyota&model=Camry Hybrid 2021-24">Buy Here</a></sub></details>||
 |Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Toyota&model=Corolla 2017-19">Buy Here</a></sub></details>||
@@ -276,42 +283,42 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Volkswagen&model=Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
-|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
-|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
-|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
-|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Volkswagen&model=Jetta 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Volkswagen&model=Jetta GLI 2021-23">Buy Here</a></sub></details>||
-|Volkswagen|Passat 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)||
-|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Volkswagen&model=T-Roc 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
-|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
-|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
-|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
+|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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.html?make=Volkswagen&model=Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Atlas Cross Sport 2020-22|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.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
+|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 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 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
+|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 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 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
+|Volkswagen|CC 2018-22|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.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 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 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 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 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf 2015-20|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-empty.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.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.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.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTD 2015-20|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.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTE 2015-20|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.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTI 2015-21|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-empty.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.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
+|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
+|Volkswagen|Golf SportsVan 2015-20|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.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 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 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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.html?make=Volkswagen&model=Jetta 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Jetta GLI 2021-23|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.html?make=Volkswagen&model=Jetta GLI 2021-23">Buy Here</a></sub></details>||
+|Volkswagen|Passat 2015-22[<sup>14</sup>](#footnotes)|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.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat Alltrack 2015-22|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.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat GTE 2015-22|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.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Polo 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.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)||
+|Volkswagen|Polo GTI 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.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)||
+|Volkswagen|T-Cross 2021|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.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)||
+|Volkswagen|T-Roc 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.html?make=Volkswagen&model=T-Roc 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Taos 2022-23|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.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
+|Volkswagen|Teramont 2018-22|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.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
+|Volkswagen|Teramont Cross Sport 2021-22|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.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan 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.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan eHybrid 2021-23|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.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
+|Volkswagen|Touran 2016-23|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.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
 
 ### Footnotes
 <sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `nightly-dev`. <br />
@@ -324,12 +331,13 @@ A supported vehicle is one that just works when you install a comma device. All
 <sup>8</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
 <sup>9</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
 <sup>10</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
-<sup>11</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>12</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>13</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>14</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality. <br />
-<sup>15</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
-<sup>16</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
+<sup>11</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
+<sup>12</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>13</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>14</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>15</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality. <br />
+<sup>16</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
+<sup>17</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
 
 ## Community Maintained Cars
 Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).

docs/SAFETY.md

@@ -25,9 +25,9 @@ ensuring two main safety requirements.
    by stepping on the brake pedal or by pressing the cancel button.
 2. The vehicle must not alter its trajectory too quickly for the driver to safely
    react. This means that while the system is engaged, the actuators are constrained
-   to operate within reasonable limits[^1]. 
+   to operate within reasonable limits[^1].
 
-For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [panda/board/safety/](https://github.com/commaai/panda/tree/master/board/safety).
+For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [opendbc/safety/safety](https://github.com/commaai/opendbc/tree/master/opendbc/safety/safety).
 
 **Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
   not fully meeting the above requirements.

docs/assets/three-back.svg

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a5245f9458982b608fee67fc689d899ca638a405ff62bf9db5e4978b177ef3e
+size 121394

docs/how-to/connect-to-comma.md

@@ -32,9 +32,13 @@ For doing development work on device, it's recommended to use [SSH agent forward
 
 ## ADB
 
-In order to use ADB on your device, you'll need to enable it in the device's settings.
+In order to use ADB on your device, you'll need to perform the following steps using the image below for reference:
 
+![comma 3/3x back](../assets/three-back.svg)
+
+* Plug your device into constant power using port 2, letting the device boot up
 * Enable ADB in your device's settings
+* Plug in your device to your PC using port 1
 * Connect to your device
     * `adb shell` over USB
     * `adb connect` over WiFi

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

@@ -20,7 +20,7 @@ source .venv/bin/activate
 
 Then, compile openpilot:
 ```bash
-scons -j8
+scons -j$(nproc)
 ```
 
 ## 2. Run replay
@@ -38,61 +38,77 @@ The openpilot UI should launch and show a replay of the demo route.
 
 If you have your own comma device, you can replace `--demo` with one of your own routes from comma connect.
 
+
 ## 3. Make the speed blue
 
-Search for “mph” with git grep in the `ui` folder.
-```bash
-$ git grep "mph" selfdrive/ui/
-paint.cc:  ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular");
-```
+Now let’s update the speed display color in the UI.
 
-The line right above contains the actual speed. Unfortunately, COLOR_BLUE isn’t defined, but a git grep of COLOR_WHITE shows it’s nvgRGBA(255, 255, 255, 255). Personally, I like a lighter blue, so I went with #8080FF.
+Search for the function responsible for rendering UI text:
 ```bash
-$ git diff
-diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
-index 821d95115..cc996eaa1 100644
---- a/selfdrive/ui/paint.cc
-+++ b/selfdrive/ui/paint.cc
-@@ -175,8 +175,8 @@ static void ui_draw_vision_speed(UIState *s) {
-   const float speed = std::max(0.0, (*s->sm)["carState"].getCarState().getVEgo() * (s->scene.is_metric ? 3.6 : 2.2369363));
-   const std::string speed_str = std::to_string((int)std::nearbyint(speed));
-   nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
--  ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, COLOR_WHITE, "sans-bold");
--  ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular");
-+  ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, nvgRGBA(128, 128, 255, 255), "sans-bold");
-+  ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, nvgRGBA(128, 128, 255, 200), "sans-regular");
- }
-
- static void ui_draw_vision_event(UIState *s) {
+git grep "drawText" selfdrive/ui/qt/onroad/hud.cc
 ```
 
+You’ll find the relevant code inside `selfdrive/ui/qt/onroad/hud.cc`, in this function:
 
-## 4. Rebuild UI, and admire your work
+```cpp
+void HudRenderer::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
+  QRect real_rect = p.fontMetrics().boundingRect(text);
+  real_rect.moveCenter({x, y - real_rect.height() / 2});
 
+  p.setPen(QColor(0xff, 0xff, 0xff, alpha));  // <- this sets the speed text color
+  p.drawText(real_rect.x(), real_rect.bottom(), text);
+}
 ```
-scons -j8 && selfdrive/ui/ui
+
+Change the `QColor(...)` line to make it **blue** instead of white. A nice soft blue is `#8080FF`, which translates to:
+
+```diff
+- p.setPen(QColor(0xff, 0xff, 0xff, alpha));
++ p.setPen(QColor(0x80, 0x80, 0xFF, alpha));
 ```
 
+This change will tint all speed-related UI text to blue with the same transparency (`alpha`).
+
+---
+
+## 4. Rebuild the UI
+
+After making changes, rebuild Openpilot so your new UI is compiled:
+```bash
+scons -j$(nproc) && selfdrive/ui/ui
+```
 ![](https://blog.comma.ai/img/blue_speed_ui.png)
 
+You should now see the speed displayed in a nice blue shade during the demo replay.
+
+---
+
 ## 5. Push your fork to GitHub
 
-Click fork on GitHub. Then, push with:
+Click **"Fork"** on the [Openpilot GitHub repo](https://github.com/commaai/openpilot). Then push with:
 ```bash
 git remote rm origin
 git remote add origin git@github.com:<your-github-username>/openpilot.git
 git add .
-git commit -m "Make the speed blue."
+git commit -m "Make the speed display blue"
 git push --set-upstream origin master
 ```
 
-## 6. Run your fork on device in your car!
+---
 
-Uninstall openpilot from your device through the settings. Then, enter the URL for your very own installer:
+## 6. Run your fork on your comma device
+
+Uninstall Openpilot through the settings on your device.
+
+Then reinstall using your own GitHub-hosted fork:
 ```
 installer.comma.ai/<your-github-username>/master
 ```
 
-## 7. Admire your work IRL
+---
+
+## 7. Admire your work IRL 🚗💨
+
+You’ve now successfully modified Openpilot’s UI and deployed it to your own car!
 
 ![](https://blog.comma.ai/img/c3_blue_ui.jpg)

launch_env.sh

@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="11.13"
+  export AGNOS_VERSION="12.1"
 fi
 
 export STAGING_ROOT="/data/safe_staging"

opendbc_repo

@@ -1 +1 @@
-Subproject commit 3b33a71a2bf08b57dd5b2bf77e26cc376dcd7cc9
+Subproject commit 7faa3a0811ddc7bf7ba38f1c8e2d1b6c17342a30

panda

@@ -1 +1 @@
-Subproject commit d319ea2bbae4ee0f5dea12d7ca5456cd34288d55
+Subproject commit 6adac802b5dce739e35b734b81b8d20fca4bf700

pyproject.toml

@@ -47,6 +47,7 @@ dependencies = [
   # logging
   "pyzmq",
   "sentry-sdk",
+  "xattr", # used in place of 'os.getxattr' for macos compatibility
 
   # athena
   "PyJWT",
@@ -170,7 +171,7 @@ quiet-level = 3
 # if you've got a short variable name that's getting flagged, add it here
 ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl"
 builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
-skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.ts, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*"
+skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.ts, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*"
 
 [tool.mypy]
 python_version = "3.11"

scripts/reporter.py

@@ -0,0 +1,31 @@
+#!/usr/bin/env python3
+import os
+import glob
+import onnx
+
+BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
+MASTER_PATH = os.getenv("MASTER_PATH", BASEDIR)
+MODEL_PATH = "/selfdrive/modeld/models/"
+
+def get_checkpoint(f):
+  model = onnx.load(f)
+  metadata = {prop.key: prop.value for prop in model.metadata_props}
+  return metadata['model_checkpoint'].split('/')[0]
+
+if __name__ == "__main__":
+  print("| | master | PR branch |")
+  print("|-| -----  | --------- |")
+
+  for f in glob.glob(BASEDIR + MODEL_PATH + "/*.onnx"):
+    # TODO: add checkpoint to DM
+    if "dmonitoring" in f:
+      continue
+
+    fn = os.path.basename(f)
+    master = get_checkpoint(MASTER_PATH + MODEL_PATH + fn)
+    pr = get_checkpoint(BASEDIR + MODEL_PATH + fn)
+    print(
+      "|", fn, "|",
+      f"[{master}](https://reporter.comma.life/experiment/{master})", "|",
+      f"[{pr}](https://reporter.comma.life/experiment/{pr})", "|"
+    )

selfdrive/car/car_specific.py

@@ -191,6 +191,8 @@ class CarSpecificEvents:
       events.add(EventName.accFaulted)
     if CS.steeringPressed:
       events.add(EventName.steerOverride)
+    if CS.steeringDisengage and not CS_prev.steeringDisengage:
+      events.add(EventName.steerDisengage)
     if CS.brakePressed and CS.standstill:
       events.add(EventName.preEnableStandstill)
     if CS.gasPressed:

selfdrive/car/card.py

@@ -17,7 +17,6 @@ from opendbc.car.carlog import carlog
 from opendbc.car.fw_versions import ObdCallback
 from opendbc.car.car_helpers import get_car, interfaces
 from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase
-from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car.cruise import VCruiseHelper
 from openpilot.selfdrive.car.car_specific import MockCarState
@@ -108,16 +107,9 @@ class Car:
       self.CI, self.CP = CI, CI.CP
       self.RI = RI
 
-    # set alternative experiences from parameters
-    disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
     self.CP.alternativeExperience = 0
-    if not disengage_on_accelerator:
-      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
-
     openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
-
     controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly
-
     self.CP.passive = not controller_available or self.CP.dashcamOnly
     if self.CP.passive:
       safety_config = structs.CarParams.SafetyConfig()

selfdrive/car/tests/test_docs.py

@@ -4,7 +4,7 @@ from openpilot.common.basedir import BASEDIR
 from opendbc.car.docs import generate_cars_md, get_all_car_docs
 from openpilot.selfdrive.debug.dump_car_docs import dump_car_docs
 from openpilot.selfdrive.debug.print_docs_diff import print_car_docs_diff
-from openpilot.selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE
+from openpilot.selfdrive.car.docs import CARS_MD_TEMPLATE
 
 
 class TestCarDocs:
@@ -13,11 +13,7 @@ class TestCarDocs:
     cls.all_cars = get_all_car_docs()
 
   def test_generator(self):
-    generated_cars_md = generate_cars_md(self.all_cars, CARS_MD_TEMPLATE)
-    with open(CARS_MD_OUT) as f:
-      current_cars_md = f.read()
-
-    assert generated_cars_md == current_cars_md, "Run selfdrive/car/docs.py to update the compatibility documentation"
+    generate_cars_md(self.all_cars, CARS_MD_TEMPLATE)
 
   def test_docs_diff(self):
     dump_path = os.path.join(BASEDIR, "selfdrive", "car", "tests", "cars_dump")

selfdrive/car/tests/test_models.py

@@ -330,6 +330,7 @@ class TestCarModelBase(unittest.TestCase):
       prev_panda_gas = self.safety.get_gas_pressed_prev()
       prev_panda_brake = self.safety.get_brake_pressed_prev()
       prev_panda_regen_braking = self.safety.get_regen_braking_prev()
+      prev_panda_steering_disengage = self.safety.get_steering_disengage_prev()
       prev_panda_vehicle_moving = self.safety.get_vehicle_moving()
       prev_panda_vehicle_speed_min = self.safety.get_vehicle_speed_min()
       prev_panda_vehicle_speed_max = self.safety.get_vehicle_speed_max()
@@ -357,6 +358,9 @@ class TestCarModelBase(unittest.TestCase):
       if self.safety.get_regen_braking_prev() != prev_panda_regen_braking:
         self.assertEqual(CS.regenBraking, self.safety.get_regen_braking_prev())
 
+      if self.safety.get_steering_disengage_prev() != prev_panda_steering_disengage:
+        self.assertEqual(CS.steeringDisengage, self.safety.get_steering_disengage_prev())
+
       if self.safety.get_vehicle_moving() != prev_panda_vehicle_moving:
         self.assertEqual(not CS.standstill, self.safety.get_vehicle_moving())
 
@@ -432,6 +436,7 @@ class TestCarModelBase(unittest.TestCase):
           brake_pressed = False
       checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
       checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
+      checks['steeringDisengage'] += CS.steeringDisengage != self.safety.get_steering_disengage_prev()
 
       if self.CP.pcmCruise:
         # On most pcmCruise cars, openpilot's state is always tied to the PCM's cruise state.

selfdrive/controls/controlsd.py

@@ -141,6 +141,7 @@ class Controls:
 
     # Orientation and angle rates can be useful for carcontroller
     # Only calibrated (car) frame is relevant for the carcontroller
+    CC.currentCurvature = self.curvature
     if self.calibrated_pose is not None:
       CC.orientationNED = self.calibrated_pose.orientation.xyz.tolist()
       CC.angularVelocity = self.calibrated_pose.angular_velocity.xyz.tolist()

selfdrive/controls/lib/drive_helpers.py

@@ -19,6 +19,9 @@ def clamp(val, min_val, max_val):
   clamped_val = float(np.clip(val, min_val, max_val))
   return clamped_val, clamped_val != val
 
+def smooth_value(val, prev_val, tau, dt=DT_MDL):
+  alpha = 1 - np.exp(-dt/tau) if tau > 0 else 1
+  return alpha * val + (1 - alpha) * prev_val
 
 def clip_curvature(v_ego, prev_curvature, new_curvature, roll):
   # This function respects ISO lateral jerk and acceleration limits + a max curvature
@@ -59,3 +62,13 @@ def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.
   should_stop = (v_target < vEgoStopping and
                  v_target_1sec < vEgoStopping)
   return a_target, should_stop
+
+def curv_from_psis(psi_target, psi_rate, vego, action_t):
+  vego = np.clip(vego, MIN_SPEED, np.inf)
+  curv_from_psi = psi_target / (vego * action_t)
+  return 2*curv_from_psi - psi_rate / vego
+
+def get_curvature_from_plan(yaws, yaw_rates, t_idxs, vego, action_t):
+  psi_target = np.interp(action_t, t_idxs, yaws)
+  psi_rate = yaw_rates[0]
+  return curv_from_psis(psi_target, psi_rate, vego, action_t)

selfdrive/controls/lib/longitudinal_planner.py

@@ -52,6 +52,7 @@ class LongitudinalPlanner:
   def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
     self.CP = CP
     self.mpc = LongitudinalMpc(dt=dt)
+    self.mpc.mode = 'acc'
     self.fcw = False
     self.dt = dt
     self.allow_throttle = True
@@ -89,15 +90,14 @@ class LongitudinalPlanner:
     return x, v, a, j, throttle_prob
 
   def update(self, sm):
-    self.mpc.mode = 'acc'
-    self.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
+    self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
 
     if len(sm['carControl'].orientationNED) == 3:
       accel_coast = get_coast_accel(sm['carControl'].orientationNED[1])
     else:
       accel_coast = ACCEL_MAX
 
-    v_ego = sm['modelV2'].velocity.x[0]
+    v_ego = sm['carState'].vEgo
     v_cruise_kph = min(sm['carState'].vCruise, V_CRUISE_MAX)
     v_cruise = v_cruise_kph * CV.KPH_TO_MS
     v_cruise_initialized = sm['carState'].vCruise != V_CRUISE_UNSET
@@ -113,7 +113,7 @@ class LongitudinalPlanner:
     # No change cost when user is controlling the speed, or when standstill
     prev_accel_constraint = not (reset_state or sm['carState'].standstill)
 
-    if self.mode == 'acc':
+    if self.mpc.mode == 'acc':
       accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
       steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
       accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
@@ -129,7 +129,7 @@ class LongitudinalPlanner:
     self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))
     # Compute model v_ego error
     self.v_model_error = get_speed_error(sm['modelV2'], v_ego)
-    x, v, a, j, throttle_prob = self.parse_model(sm['modelV2'], 0)
+    x, v, a, j, throttle_prob = self.parse_model(sm['modelV2'], self.v_model_error)
     # Don't clip at low speeds since throttle_prob doesn't account for creep
     self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= MIN_ALLOW_THROTTLE_SPEED
 
@@ -160,17 +160,8 @@ class LongitudinalPlanner:
     self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0
 
     action_t =  self.CP.longitudinalActuatorDelay + DT_MDL
-    output_a_target_mpc, output_should_stop_mpc = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX,
+    output_a_target, self.output_should_stop = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX,
                                                                         action_t=action_t, vEgoStopping=self.CP.vEgoStopping)
-    output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
-    output_should_stop_e2e = sm['modelV2'].action.shouldStop
-
-    if self.mode == 'acc':
-      output_a_target = output_a_target_mpc
-      self.output_should_stop = output_should_stop_mpc
-    else:
-      output_a_target = min(output_a_target_mpc, output_a_target_e2e)
-      self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc
 
     for idx in range(2):
       accel_clip[idx] = np.clip(accel_clip[idx], self.prev_accel_clip[idx] - 0.05, self.prev_accel_clip[idx] + 0.05)

selfdrive/locationd/paramsd.py

@@ -248,6 +248,7 @@ def retrieve_initial_vehicle_params(params: Params, CP: car.CarParams, replay: b
         retrieve_success = True
     except Exception as e:
       cloudlog.error(f"Failed to retrieve initial values: {e}")
+      params.remove("LiveParametersV2")
 
   if not replay:
     # When driving in wet conditions the stiffness can go down, and then be too low on the next drive

selfdrive/locationd/torqued.py

@@ -52,7 +52,7 @@ class TorqueBuckets(PointBuckets):
 class TorqueEstimator(ParameterEstimator):
   def __init__(self, CP, decimated=False, track_all_points=False):
     self.hist_len = int(HISTORY / DT_MDL)
-    self.lag = CP.steerActuatorDelay + .2  # from controlsd
+    self.lag = 0.0
     self.track_all_points = track_all_points  # for offline analysis, without max lateral accel or max steer torque filters
     if decimated:
       self.min_bucket_points = MIN_BUCKET_POINTS / 10
@@ -175,7 +175,8 @@ class TorqueEstimator(ParameterEstimator):
       self.raw_points["steer_override"].append(msg.steeringPressed)
     elif which == "liveCalibration":
       self.calibrator.feed_live_calib(msg)
-
+    elif which == "liveDelay":
+      self.lag = msg.lateralDelay
     # calculate lateral accel from past steering torque
     elif which == "livePose":
       if len(self.raw_points['steer_torque']) == self.hist_len:
@@ -241,7 +242,7 @@ def main(demo=False):
   config_realtime_process([0, 1, 2, 3], 5)
 
   pm = messaging.PubMaster(['liveTorqueParameters'])
-  sm = messaging.SubMaster(['carControl', 'carOutput', 'carState', 'liveCalibration', 'livePose'], poll='livePose')
+  sm = messaging.SubMaster(['carControl', 'carOutput', 'carState', 'liveCalibration', 'livePose', 'liveDelay'], poll='livePose')
 
   params = Params()
   estimator = TorqueEstimator(messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams))

selfdrive/modeld/SConscript

@@ -1,3 +1,4 @@
+import os
 import glob
 
 Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'transformations')
@@ -13,7 +14,6 @@ common_src = [
   "transforms/transform.cc",
 ]
 
-
 # OpenCL is a framework on Mac
 if arch == "Darwin":
   frameworks += ['OpenCL']
@@ -40,15 +40,16 @@ for model_name in ['driving_vision', 'driving_policy']:
 
 # Compile tinygrad model
 pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
-if arch == 'larch64':
-  device_string = 'QCOM=1'
-elif arch == 'Darwin':
-  device_string = 'CLANG=1 IMAGE=0'
-else:
-  device_string = 'LLVM=1 LLVMOPT=1 BEAM=0 IMAGE=0'
-
 for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
+  if "USBGPU" in os.environ and not model_name.startswith("dmon"):
+    device_string = "AMD=1 AMD_LLVM=1 NOLOCALS=0 IMAGE=0"
+  elif arch == 'larch64':
+    device_string = 'QCOM=1'
+  elif arch == 'Darwin':
+    device_string = 'CLANG=1 IMAGE=0 JIT=2'
+  else:
+    device_string = 'LLVM=1 LLVMOPT=1 BEAM=0 IMAGE=0 JIT=2'
+
   fn = File(f"models/{model_name}").abspath
   cmd = f'{pythonpath_string} {device_string} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl'
   lenv.Command(fn + "_tinygrad.pkl", [fn + ".onnx"] + tinygrad_files, cmd)
-

selfdrive/modeld/fill_model_msg.py

@@ -90,11 +90,11 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   fill_xyzt(modelV2.orientationRate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
 
   # temporal pose
-  #temporal_pose = modelV2.temporalPose
-  #temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist()
-  #temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist()
-  #temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist()
-  #temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist()
+  temporal_pose = modelV2.temporalPose
+  temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist()
+  temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist()
+  temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist()
+  temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist()
 
   # poly path
   fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)

selfdrive/modeld/modeld.py

@@ -1,13 +1,17 @@
 #!/usr/bin/env python3
 import os
 from openpilot.system.hardware import TICI
-from tinygrad.tensor import Tensor
-from tinygrad.dtype import dtypes
-if TICI:
+USBGPU = "USBGPU" in os.environ
+if USBGPU:
+  os.environ['AMD'] = '1'
+elif TICI:
   from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
   os.environ['QCOM'] = '1'
 else:
   os.environ['LLVM'] = '1'
+  os.environ['JIT'] = '2'
+from tinygrad.tensor import Tensor
+from tinygrad.dtype import dtypes
 import time
 import pickle
 import numpy as np
@@ -26,15 +30,13 @@ from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.system import sentry
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
-from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan
+from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext
 
 
-
-
 PROCESS_NAME = "selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
@@ -43,16 +45,13 @@ POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl'
 VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl'
 POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl'
 
-LAT_SMOOTH_SECONDS = 0.3
-LONG_SMOOTH_SECONDS = 0.3
-
-def smooth_value(val, prev_val, tau):
-  alpha = 1 - np.exp(-DT_MDL / tau) if tau > 0 else 1
-  return alpha * val + (1 - alpha) * prev_val
+LAT_SMOOTH_SECONDS = 0.0
+LONG_SMOOTH_SECONDS = 0.0
+MIN_LAT_CONTROL_SPEED = 0.3
 
 
 def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
-                          lat_action_t: float, long_action_t: float,) -> log.ModelDataV2.Action:
+                          lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
     plan = model_output['plan'][0]
     desired_accel, should_stop = get_accel_from_plan(plan[:,Plan.VELOCITY][:,0],
                                                      plan[:,Plan.ACCELERATION][:,0],
@@ -61,7 +60,10 @@ def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.
     desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS)
 
     desired_curvature = model_output['desired_curvature'][0, 0]
-    desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS)
+    if v_ego > MIN_LAT_CONTROL_SPEED:
+      desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS)
+    else:
+      desired_curvature = prev_action.desiredCurvature
 
     return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature),
                                   desiredAcceleration=float(desired_accel),
@@ -148,7 +150,7 @@ class ModelState:
     imgs_cl = {'input_imgs': self.frames['input_imgs'].prepare(buf, transform.flatten()),
                'big_input_imgs': self.frames['big_input_imgs'].prepare(wbuf, transform_wide.flatten())}
 
-    if TICI:
+    if TICI and not USBGPU:
       # The imgs tensors are backed by opencl memory, only need init once
       for key in imgs_cl:
         if key not in self.vision_inputs:
@@ -174,7 +176,7 @@ class ModelState:
     # TODO model only uses last value now
     self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:]
     self.full_prev_desired_curv[0,-1,:] = policy_outputs_dict['desired_curvature'][0, :]
-    self.numpy_inputs['prev_desired_curv'][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs]
+    self.numpy_inputs['prev_desired_curv'][:] = self.full_prev_desired_curv[0, self.temporal_idxs]
 
     combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
     if SEND_RAW_PRED:
@@ -189,7 +191,10 @@ def main(demo=False):
   sentry.set_tag("daemon", PROCESS_NAME)
   cloudlog.bind(daemon=PROCESS_NAME)
   setproctitle(PROCESS_NAME)
-  config_realtime_process(7, 54)
+  if not USBGPU:
+    # USB GPU currently saturates a core so can't do this yet,
+    # also need to move the aux USB interrupts for good timings
+    config_realtime_process(7, 54)
 
   cloudlog.warning("setting up CL context")
   cl_context = CLContext()
@@ -222,7 +227,7 @@ def main(demo=False):
 
   # messaging
   pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"])
-  sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl"])
+  sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])
 
   publish_state = PublishState()
   params = Params()
@@ -249,7 +254,6 @@ def main(demo=False):
 
   # TODO this needs more thought, use .2s extra for now to estimate other delays
   # TODO Move smooth seconds to action function
-  lat_delay = CP.steerActuatorDelay + .2 + LAT_SMOOTH_SECONDS
   long_delay = CP.longitudinalActuatorDelay + LONG_SMOOTH_SECONDS
   prev_action = log.ModelDataV2.Action()
 
@@ -293,6 +297,7 @@ def main(demo=False):
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
     v_ego = max(sm["carState"].vEgo, 0.)
+    lat_delay = sm["liveDelay"].lateralDelay + LAT_SMOOTH_SECONDS
     lateral_control_params = np.array([v_ego, lat_delay], dtype=np.float32)
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
@@ -337,7 +342,7 @@ def main(demo=False):
       drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
 
-      action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL)
+      action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
       prev_action = action
       fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,

selfdrive/modeld/models/driving_policy.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:fa00a07a4307b0f1638a10ec33b651d8a102e38371289b744f43215c89dfd342
-size 15578328
+oid sha256:98f0121ccb6f850077b04cc91bd33d370fc6cbdc2bd35f1ab55628a15a813f36
+size 15966721

selfdrive/modeld/models/driving_vision.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f222d2c528f1763828de01bb55e8979b1e4056e1dbb41350f521d2d2bb09d177
-size 46265585
+oid sha256:897f80d0388250f99bba69b6a8434560cc0fd83157cbeb0bc134c67fe4e64624
+size 34882971

selfdrive/modeld/parse_model_outputs.py

@@ -88,12 +88,6 @@ class Parser:
     self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
     self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
     self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
-    self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
-    self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
-    self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
-                   out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
-    for k in ['lead_prob', 'lane_lines_prob']:
-      self.parse_binary_crossentropy(k, outs)
     self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
     self.parse_binary_crossentropy('meta', outs)
     return outs
@@ -101,10 +95,17 @@ class Parser:
   def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
     self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
                    out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
+    self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
+    self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
+    self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
+    self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
+                   out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
     if 'lat_planner_solution' in outs:
       self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
     if 'desired_curvature' in outs:
       self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
+    for k in ['lead_prob', 'lane_lines_prob']:
+      self.parse_binary_crossentropy(k, outs)
     self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
     return outs
 

selfdrive/pandad/pandad.cc

@@ -456,7 +456,12 @@ void pandad_run(std::vector<Panda *> &pandas) {
     for (auto *panda : pandas) {
       std::string log = panda->serial_read();
       if (!log.empty()) {
-        LOGD("%s", log.c_str());
+        if (log.find("Register 0x") != std::string::npos) {
+          // Log register divergent faults as errors
+          LOGE("%s", log.c_str());
+        } else {
+          LOGD("%s", log.c_str());
+        }
       }
     }
 

selfdrive/selfdrived/events.py

@@ -670,6 +670,11 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
                               visual_alert=VisualAlert.brakePressed),
   },
 
+  EventName.steerDisengage: {
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
+    ET.NO_ENTRY: NoEntryAlert("Steering Pressed"),
+  },
+
   EventName.preEnableStandstill: {
     ET.PRE_ENABLE: Alert(
       "Release Brake to Engage",
@@ -889,7 +894,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   # causing the connection to the panda to be lost
   EventName.usbError: {
     ET.SOFT_DISABLE: soft_disable_alert("USB Error: Reboot Your Device"),
-    ET.PERMANENT: NormalPermanentAlert("USB Error: Reboot Your Device", ""),
+    ET.PERMANENT: NormalPermanentAlert("USB Error: Reboot Your Device"),
     ET.NO_ENTRY: NoEntryAlert("USB Error: Reboot Your Device"),
   },
 
@@ -977,6 +982,9 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.WARNING: personality_changed_alert,
   },
 
+  EventName.userFlag: {
+    ET.PERMANENT: NormalPermanentAlert("Bookmark Saved", duration=1.5),
+  },
 }
 
 

selfdrive/selfdrived/selfdrived.py

@@ -7,7 +7,6 @@ import cereal.messaging as messaging
 
 from cereal import car, log
 from msgq.visionipc import VisionIpcClient, VisionStreamType
-from opendbc.safety import ALTERNATIVE_EXPERIENCE
 
 
 from openpilot.common.params import Params
@@ -55,7 +54,6 @@ class SelfdriveD:
       self.CP = CP
 
     self.car_events = CarSpecificEvents(self.CP)
-    self.disengage_on_accelerator = not (self.CP.alternativeExperience & ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS)
 
     # Setup sockets
     self.pm = messaging.PubMaster(['selfdriveState', 'onroadEvents'])
@@ -77,7 +75,7 @@ class SelfdriveD:
     self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
                                    'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay',
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
-                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug'] + \
+                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userFlag'] + \
                                    self.camera_packets + self.sensor_packets + self.gps_packets,
                                   ignore_alive=ignore, ignore_avg_freq=ignore,
                                   ignore_valid=ignore, frequency=int(1/DT_CTRL))
@@ -85,6 +83,7 @@ class SelfdriveD:
     # read params
     self.is_metric = self.params.get_bool("IsMetric")
     self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
+    self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
 
     car_recognized = self.CP.brand != 'mock'
 
@@ -159,7 +158,11 @@ class SelfdriveD:
       self.events.add(EventName.selfdriveInitializing)
       return
 
-    # no more events while in dashcam mode
+    # Check for user flag (bookmark) press
+    if self.sm.updated['userFlag']:
+      self.events.add(EventName.userFlag)
+
+    # Don't add any more events while in dashcam mode
     if self.CP.passive:
       return
 
@@ -365,7 +368,7 @@ class SelfdriveD:
       if self.sm['modelV2'].frameDropPerc > 20:
         self.events.add(EventName.modeldLagging)
 
-    # decrement personality on distance button press
+    # Decrement personality on distance button press
     if self.CP.openpilotLongitudinalControl:
       if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents):
         self.personality = (self.personality - 1) % 3
@@ -482,6 +485,7 @@ class SelfdriveD:
   def params_thread(self, evt):
     while not evt.is_set():
       self.is_metric = self.params.get_bool("IsMetric")
+      self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
       self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
       self.personality = self.read_personality_param()
       time.sleep(0.1)

selfdrive/test/process_replay/process_replay.py

@@ -17,7 +17,6 @@ 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.car_helpers import get_car, interfaces
-from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from openpilot.common.params import Params
 from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.common.timeout import Timeout
@@ -365,9 +364,6 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
 
     CP = get_car(*can_callbacks, lambda obd: None, Params().get_bool("AlphaLongitudinalEnabled"), cached_params=cached_params).CP
 
-    if not params.get_bool("DisengageOnAccelerator"):
-      CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
-
   params.put("CarParams", CP.to_bytes())
 
 
@@ -568,7 +564,7 @@ CONFIGS = [
   ),
   ProcessConfig(
     proc_name="torqued",
-    pubs=["livePose", "liveCalibration", "carState", "carControl", "carOutput"],
+    pubs=["livePose", "liveCalibration", "liveDelay", "carState", "carControl", "carOutput"],
     subs=["liveTorqueParameters"],
     ignore=["logMonoTime"],
     init_callback=get_car_params_callback,
@@ -577,7 +573,7 @@ CONFIGS = [
   ),
   ProcessConfig(
     proc_name="modeld",
-    pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState", "carState", "carControl"],
+    pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "liveDelay", "driverMonitoringState", "carState", "carControl"],
     subs=["modelV2", "drivingModelData", "cameraOdometry"],
     ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime", "drivingModelData.frameDropPerc", "drivingModelData.modelExecutionTime"],
     should_recv_callback=ModeldCameraSyncRcvCallback(),
@@ -769,9 +765,6 @@ def generate_params_config(lr=None, CP=None, fingerprint=None, custom_params=Non
     params_dict["IsRhdDetected"] = is_rhd
 
   if CP is not None:
-    if CP.alternativeExperience == ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS:
-      params_dict["DisengageOnAccelerator"] = False
-
     if fingerprint is None:
       if CP.fingerprintSource == "fw":
         params_dict["CarParamsCache"] = CP.as_builder().to_bytes()

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-0800e73b5d9c801f161b9559557c0559b0682fec
+61bfff810e45b7a1577cfbb572a7b3c233f8551b

selfdrive/test/process_replay/test_processes.py

@@ -35,6 +35,7 @@ source_segments = [
   ("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--4"),       # MAZDA.MAZDA_CX9_2021
   ("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"),        # FORD.FORD_BRONCO_SPORT_MK1
   ("RIVIAN", "bc095dc92e101734|000000db--ee9fe46e57--1"),      # RIVIAN.RIVIAN_R1_GEN1
+  ("TESLA", "2c912ca5de3b1ee9|0000025d--6eb6bcbca4--4"),       # TESLA.TESLA_MODEL_Y
 
   # Enable when port is tested and dashcamOnly is no longer set
   #("VOLKSWAGEN2", "3cfdec54aa035f3f|2022-07-19--23-45-10--2"),  # VOLKSWAGEN.VOLKSWAGEN_PASSAT_NMS
@@ -58,6 +59,7 @@ segments = [
   ("MAZDA", "regenACF84CCF482|2024-08-30--03-21-55--0"),
   ("FORD", "regen755D8CB1E1F|2025-04-08--23-13-43--0"),
   ("RIVIAN", "regen5FCAC896BBE|2025-04-08--23-13-35--0"),
+  ("TESLA", "2c912ca5de3b1ee9|0000025d--6eb6bcbca4--4"),
 ]
 
 # dashcamOnly makes don't need to be tested until a full port is done
@@ -195,7 +197,7 @@ if __name__ == "__main__":
           continue
 
         # to speed things up, we only test all segments on card
-        if cfg.proc_name != 'card' and car_brand not in ('HYUNDAI', 'TOYOTA', 'HONDA', 'SUBARU', 'FORD', 'RIVIAN'):
+        if cfg.proc_name != 'card' and car_brand not in ('HYUNDAI', 'TOYOTA', 'HONDA', 'SUBARU', 'FORD', 'RIVIAN', 'TESLA'):
           continue
 
         cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.zst")

selfdrive/test/setup_device_ci.sh

@@ -18,6 +18,9 @@ if [ -z "$TEST_DIR" ]; then
   exit 1
 fi
 
+# prevent storage from filling up
+rm -rf /data/media/0/realdata/*
+
 rm -rf /data/safe_staging/ || true
 if [ -d /data/safe_staging/ ]; then
   sudo umount /data/safe_staging/merged/ || true

selfdrive/test/test_onroad.py

@@ -398,7 +398,7 @@ class TestOnroad:
       ("modelV2", 0.06, 0.040),
 
       # can miss cycles here and there, just important the avg frequency is 20Hz
-      ("driverStateV2", 0.2, 0.05),
+      ("driverStateV2", 0.3, 0.05),
     ]
     for (s, instant_max, avg_max) in cfgs:
       ts = [getattr(m, s).modelExecutionTime for m in self.msgs[s]]

selfdrive/ui/.gitignore

@@ -3,9 +3,6 @@ moc_*
 
 translations/main_test_en.*
 
-_text
-_spinner
-
 ui
 mui
 watch3

selfdrive/ui/SConscript

@@ -66,10 +66,6 @@ if GetOption('extras'):
 
   qt_env.SharedLibrary("qt/python_helpers", ["qt/qt_window.cc"], LIBS=qt_libs)
 
-  # spinner and text window
-  qt_env.Program("_text", ["qt/text.cc"], LIBS=qt_libs)
-  qt_env.Program("_spinner", ["qt/spinner.cc"], LIBS=qt_libs)
-
   # setup and factory resetter
   qt_env.Program("qt/setup/reset", ["qt/setup/reset.cc"], LIBS=qt_libs)
   qt_env.Program("qt/setup/setup", ["qt/setup/setup.cc", asset_obj],

selfdrive/ui/qt/network/wifi_manager.cc

@@ -439,7 +439,7 @@ void WifiManager::addTetheringConnection() {
   address["prefix"] = 24u;
   connection["ipv4"]["address-data"] = QVariant::fromValue(IpConfig() << address);
   connection["ipv4"]["gateway"] = "192.168.43.1";
-  connection["ipv4"]["route-metric"] = 1100;
+  connection["ipv4"]["never-default"] = true;
   connection["ipv6"]["method"] = "ignore";
 
   asyncCall(NM_DBUS_PATH_SETTINGS, NM_DBUS_INTERFACE_SETTINGS, "AddConnection", QVariant::fromValue(connection));

selfdrive/ui/qt/offroad/settings.cc

@@ -194,6 +194,9 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
     if (ConfirmationDialog::confirm(tr("Are you sure you want to reset calibration?"), tr("Reset"), this)) {
       params.remove("CalibrationParams");
       params.remove("LiveTorqueParameters");
+      params.remove("LiveParameters");
+      params.remove("LiveParametersV2");
+      params.remove("LiveDelay");
     }
   });
   addItem(resetCalibBtn);
@@ -326,7 +329,7 @@ void SettingsWindow::setCurrentPanel(int index, const QString &param) {
     if (param.endsWith("Panel")) {
       QString panelName = param;
       panelName.chop(5); // Remove "Panel" suffix
-      
+
       // Find the panel by name
       for (int i = 0; i < nav_btns->buttons().size(); i++) {
         if (nav_btns->buttons()[i]->text() == tr(panelName.toStdString().c_str())) {
@@ -338,7 +341,7 @@ void SettingsWindow::setCurrentPanel(int index, const QString &param) {
       emit expandToggleDescription(param);
     }
   }
-  
+
   panel_widget->setCurrentIndex(index);
   nav_btns->buttons()[index]->setChecked(true);
 }

selfdrive/ui/qt/spinner.cc

@@ -1,120 +0,0 @@
-#include "selfdrive/ui/qt/spinner.h"
-
-#include <algorithm>
-#include <cstdio>
-#include <iostream>
-#include <string>
-
-#include <QApplication>
-#include <QGridLayout>
-#include <QPainter>
-#include <QString>
-#include <QTransform>
-
-#include "system/hardware/hw.h"
-#include "selfdrive/ui/qt/qt_window.h"
-#include "selfdrive/ui/qt/util.h"
-
-TrackWidget::TrackWidget(QWidget *parent) : QWidget(parent) {
-  setAttribute(Qt::WA_OpaquePaintEvent);
-  setFixedSize(spinner_size);
-
-  // pre-compute all the track imgs. make this a gif instead?
-  QPixmap comma_img = loadPixmap("../assets/img_spinner_comma.png", spinner_size);
-  QPixmap track_img = loadPixmap("../assets/img_spinner_track.png", spinner_size);
-
-  QTransform transform(1, 0, 0, 1, width() / 2, height() / 2);
-  QPixmap pm(spinner_size);
-  QPainter p(&pm);
-  p.setRenderHint(QPainter::SmoothPixmapTransform);
-  for (int i = 0; i < track_imgs.size(); ++i) {
-    p.resetTransform();
-    p.fillRect(0, 0, spinner_size.width(), spinner_size.height(), Qt::black);
-    p.drawPixmap(0, 0, comma_img);
-    p.setTransform(transform.rotate(360 / spinner_fps));
-    p.drawPixmap(-width() / 2, -height() / 2, track_img);
-    track_imgs[i] = pm.copy();
-  }
-
-  m_anim.setDuration(1000);
-  m_anim.setStartValue(0);
-  m_anim.setEndValue(int(track_imgs.size() -1));
-  m_anim.setLoopCount(-1);
-  m_anim.start();
-  connect(&m_anim, SIGNAL(valueChanged(QVariant)), SLOT(update()));
-}
-
-void TrackWidget::paintEvent(QPaintEvent *event) {
-  QPainter painter(this);
-  painter.drawPixmap(0, 0, track_imgs[m_anim.currentValue().toInt()]);
-}
-
-// Spinner
-
-Spinner::Spinner(QWidget *parent) : QWidget(parent) {
-  QGridLayout *main_layout = new QGridLayout(this);
-  main_layout->setSpacing(0);
-  main_layout->setMargin(200);
-
-  main_layout->addWidget(new TrackWidget(this), 0, 0, Qt::AlignHCenter | Qt::AlignVCenter);
-
-  text = new QLabel();
-  text->setWordWrap(true);
-  text->setVisible(false);
-  text->setAlignment(Qt::AlignCenter);
-  main_layout->addWidget(text, 1, 0, Qt::AlignHCenter);
-
-  progress_bar = new QProgressBar();
-  progress_bar->setRange(5, 100);
-  progress_bar->setTextVisible(false);
-  progress_bar->setVisible(false);
-  progress_bar->setFixedHeight(20);
-  main_layout->addWidget(progress_bar, 1, 0, Qt::AlignHCenter);
-
-  setStyleSheet(R"(
-    Spinner {
-      background-color: black;
-    }
-    QLabel {
-      color: white;
-      font-size: 80px;
-      background-color: transparent;
-    }
-    QProgressBar {
-      background-color: #373737;
-      width: 1000px;
-      border solid white;
-      border-radius: 10px;
-    }
-    QProgressBar::chunk {
-      border-radius: 10px;
-      background-color: white;
-    }
-  )");
-
-  notifier = new QSocketNotifier(fileno(stdin), QSocketNotifier::Read);
-  QObject::connect(notifier, &QSocketNotifier::activated, this, &Spinner::update);
-}
-
-void Spinner::update(int n) {
-  std::string line;
-  std::getline(std::cin, line);
-
-  if (line.length()) {
-    bool number = std::all_of(line.begin(), line.end(), ::isdigit);
-    text->setVisible(!number);
-    progress_bar->setVisible(number);
-    text->setText(QString::fromStdString(line));
-    if (number) {
-      progress_bar->setValue(std::stoi(line));
-    }
-  }
-}
-
-int main(int argc, char *argv[]) {
-  initApp(argc, argv);
-  QApplication a(argc, argv);
-  Spinner spinner;
-  setMainWindow(&spinner);
-  return a.exec();
-}

selfdrive/ui/qt/spinner.h

@@ -1,37 +0,0 @@
-#include <array>
-
-#include <QLabel>
-#include <QPixmap>
-#include <QProgressBar>
-#include <QSocketNotifier>
-#include <QVariantAnimation>
-#include <QWidget>
-
-constexpr int spinner_fps = 30;
-constexpr QSize spinner_size = QSize(360, 360);
-
-class TrackWidget : public QWidget  {
-  Q_OBJECT
-public:
-  TrackWidget(QWidget *parent = nullptr);
-
-private:
-  void paintEvent(QPaintEvent *event) override;
-  std::array<QPixmap, spinner_fps> track_imgs;
-  QVariantAnimation m_anim;
-};
-
-class Spinner : public QWidget {
-  Q_OBJECT
-
-public:
-  explicit Spinner(QWidget *parent = 0);
-
-private:
-  QLabel *text;
-  QProgressBar *progress_bar;
-  QSocketNotifier *notifier;
-
-public slots:
-  void update(int n);
-};

selfdrive/ui/qt/spinner_larch64

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:81d7073d16e8ddc40d4d81fc88f8fc11c434df241593b455e2787935371383e4
-size 3821728

selfdrive/ui/qt/text.cc

@@ -1,64 +0,0 @@
-#include <QApplication>
-#include <QLabel>
-#include <QPushButton>
-#include <QScrollBar>
-#include <QVBoxLayout>
-#include <QWidget>
-
-#include "system/hardware/hw.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/qt/qt_window.h"
-#include "selfdrive/ui/qt/widgets/scrollview.h"
-
-int main(int argc, char *argv[]) {
-  initApp(argc, argv);
-  QApplication a(argc, argv);
-  QWidget window;
-  setMainWindow(&window);
-
-  QGridLayout *main_layout = new QGridLayout(&window);
-  main_layout->setMargin(50);
-
-  QLabel *label = new QLabel(argv[1]);
-  label->setWordWrap(true);
-  label->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding);
-  ScrollView *scroll = new ScrollView(label);
-  scroll->setVerticalScrollBarPolicy(Qt::ScrollBarAsNeeded);
-  main_layout->addWidget(scroll, 0, 0, Qt::AlignTop);
-
-  // Scroll to the bottom
-  QObject::connect(scroll->verticalScrollBar(), &QAbstractSlider::rangeChanged, [=]() {
-    scroll->verticalScrollBar()->setValue(scroll->verticalScrollBar()->maximum());
-  });
-
-  QPushButton *btn = new QPushButton();
-#ifdef __aarch64__
-  btn->setText(QObject::tr("Reboot"));
-  QObject::connect(btn, &QPushButton::clicked, [=]() {
-    Hardware::reboot();
-  });
-#else
-  btn->setText(QObject::tr("Exit"));
-  QObject::connect(btn, &QPushButton::clicked, &a, &QApplication::quit);
-#endif
-  main_layout->addWidget(btn, 0, 0, Qt::AlignRight | Qt::AlignBottom);
-
-  window.setStyleSheet(R"(
-    * {
-      outline: none;
-      color: white;
-      background-color: black;
-      font-size: 60px;
-    }
-    QPushButton {
-      padding: 50px;
-      padding-right: 100px;
-      padding-left: 100px;
-      border: 2px solid white;
-      border-radius: 20px;
-      margin-right: 40px;
-    }
-  )");
-
-  return a.exec();
-}

selfdrive/ui/qt/text_larch64

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:61f539845ebfc9568c8d28867f1e5642e882f52ead8862c9b2224b7139f4a552
-size 3787480

selfdrive/ui/spinner

@@ -1,7 +0,0 @@
-#!/bin/sh
-
-if [ -f /TICI ] && [ ! -f _spinner ]; then
-  cp qt/spinner_larch64 _spinner
-fi
-
-exec ./_spinner "$1"

selfdrive/ui/text

@@ -1,7 +0,0 @@
-#!/bin/sh
-
-if [ -f /TICI ] && [ ! -f _text ]; then
-  cp qt/text_larch64 _text
-fi
-
-exec ./_text "$1"

selfdrive/ui/translations/main_ar.ts

@@ -582,14 +582,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>إعادة التشغيل</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>إغلاق</translation>
-    </message>
     <message>
         <source>openpilot</source>
         <translation>openpilot</translation>

selfdrive/ui/translations/main_de.ts

@@ -3,14 +3,14 @@
 <TS version="2.1" language="de_DE">
 <context>
     <name>AbstractAlert</name>
-<message>
+    <message>
         <source>Close</source>
         <translation>Schließen</translation>
-</message>
-<message>
+    </message>
+    <message>
         <source>Snooze Update</source>
         <translation>Update pausieren</translation>
-</message>
+    </message>
     <message>
         <source>Reboot and Update</source>
         <translation>Aktualisieren und neu starten</translation>
@@ -66,26 +66,26 @@
         <source>Prevent large data uploads when on a metered connection</source>
         <translation>Hochladen großer Dateien über getaktete Verbindungen unterbinden</translation>
     </message>
-<message>
-    <source>Hidden Network</source>
-    <translation>Verborgenes Netzwerk</translation>
-</message>
-<message>
-    <source>CONNECT</source>
-    <translation>VERBINDEN</translation>
-</message>
-<message>
-    <source>Enter SSID</source>
-    <translation>SSID eingeben</translation>
-</message>
-<message>
-    <source>Enter password</source>
-    <translation>Passwort eingeben</translation>
-</message>
-<message>
-    <source>for &quot;%1&quot;</source>
-    <translation>für "%1"</translation>
-</message>
+    <message>
+        <source>Hidden Network</source>
+        <translation>Verborgenes Netzwerk</translation>
+    </message>
+    <message>
+        <source>CONNECT</source>
+        <translation>VERBINDEN</translation>
+    </message>
+    <message>
+        <source>Enter SSID</source>
+        <translation>SSID eingeben</translation>
+    </message>
+    <message>
+        <source>Enter password</source>
+        <translation>Passwort eingeben</translation>
+    </message>
+    <message>
+        <source>for &quot;%1&quot;</source>
+        <translation>für &quot;%1&quot;</translation>
+    </message>
 </context>
 <context>
     <name>ConfirmationDialog</name>
@@ -115,34 +115,34 @@
 </context>
 <context>
     <name>DeveloperPanel</name>
-<message>
-    <source>Joystick Debug Mode</source>
-    <translation>Joystick Debug-Modus</translation>
-</message>
-<message>
-    <source>Longitudinal Maneuver Mode</source>
-    <translation>Längsmanöver-Modus</translation>
-</message>
-<message>
-    <source>openpilot Longitudinal Control (Alpha)</source>
-    <translation>openpilot Längsregelung (Alpha)</translation>
-</message>
-<message>
-    <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-    <translation>WARNUNG: Die openpilot Längsregelung befindet sich für dieses Fahrzeug im Alpha-Stadium und deaktiviert das automatische Notbremsen (AEB).</translation>
-</message>
-<message>
-    <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-    <translation>Bei diesem Fahrzeug verwendet openpilot standardmäßig den eingebauten Tempomaten anstelle der openpilot Längsregelung. Aktiviere diese Option, um auf die openpilot Längsregelung umzuschalten. Es wird empfohlen, den experimentellen Modus zu aktivieren, wenn die openpilot Längsregelung (Alpha) aktiviert wird.</translation>
-</message>
-<message>
-    <source>Enable ADB</source>
-    <translation>ADB aktivieren</translation>
-</message>
-<message>
-    <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
-    <translation>ADB (Android Debug Bridge) ermöglicht die Verbindung zu deinem Gerät über USB oder Netzwerk. Siehe https://docs.comma.ai/how-to/connect-to-comma für weitere Informationen.</translation>
-</message>
+    <message>
+        <source>Joystick Debug Mode</source>
+        <translation>Joystick Debug-Modus</translation>
+    </message>
+    <message>
+        <source>Longitudinal Maneuver Mode</source>
+        <translation>Längsmanöver-Modus</translation>
+    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation>openpilot Längsregelung (Alpha)</translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation>WARNUNG: Die openpilot Längsregelung befindet sich für dieses Fahrzeug im Alpha-Stadium und deaktiviert das automatische Notbremsen (AEB).</translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation>Bei diesem Fahrzeug verwendet openpilot standardmäßig den eingebauten Tempomaten anstelle der openpilot Längsregelung. Aktiviere diese Option, um auf die openpilot Längsregelung umzuschalten. Es wird empfohlen, den experimentellen Modus zu aktivieren, wenn die openpilot Längsregelung (Alpha) aktiviert wird.</translation>
+    </message>
+    <message>
+        <source>Enable ADB</source>
+        <translation>ADB aktivieren</translation>
+    </message>
+    <message>
+        <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
+        <translation>ADB (Android Debug Bridge) ermöglicht die Verbindung zu deinem Gerät über USB oder Netzwerk. Siehe https://docs.comma.ai/how-to/connect-to-comma für weitere Informationen.</translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -278,14 +278,14 @@
         <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
         <translation>Koppele dein Gerät mit Comma Connect (connect.comma.ai) und sichere dir dein Comma Prime Angebot.</translation>
     </message>
-<message>
-    <source>Pair Device</source>
-    <translation>Gerät koppeln</translation>
-</message>
-<message>
-    <source>PAIR</source>
-    <translation>KOPPELN</translation>
-</message>
+    <message>
+        <source>Pair Device</source>
+        <translation>Gerät koppeln</translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation>KOPPELN</translation>
+    </message>
 </context>
 <context>
     <name>DriverViewWindow</name>
@@ -307,41 +307,41 @@
 </context>
 <context>
     <name>FirehosePanel</name>
-<message>
-    <source>🔥 Firehose Mode 🔥</source>
-    <translation>🔥 Firehose-Modus 🔥</translation>
-</message>
-<message>
-    <source>openpilot learns to drive by watching humans, like you, drive.
+    <message>
+        <source>🔥 Firehose Mode 🔥</source>
+        <translation>🔥 Firehose-Modus 🔥</translation>
+    </message>
+    <message>
+        <source>openpilot learns to drive by watching humans, like you, drive.
 
 Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
-    <translation>openpilot lernt das Fahren, indem es Menschen wie dir beim Fahren zuschaut.
+        <translation>openpilot lernt das Fahren, indem es Menschen wie dir beim Fahren zuschaut.
 
 Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximieren, um die Fahrmodelle von openpilot zu verbessern. Mehr Daten bedeuten größere Modelle, was zu einem besseren Experimentellen Modus führt.</translation>
-</message>
-<message>
-    <source>Firehose Mode: ACTIVE</source>
-    <translation>Firehose-Modus: AKTIV</translation>
-</message>
-<message>
-    <source>ACTIVE</source>
-    <translation>AKTIV</translation>
-</message>
-<message>
-    <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
-    <translation>Für maximale Effektivität bring dein Gerät jede Woche nach drinnen und verbinde es mit einem guten USB-C-Adapter und WLAN.&lt;br&gt;&lt;br&gt;Der Firehose-Modus funktioniert auch während der Fahrt, wenn das Gerät mit einem Hotspot oder einer ungedrosselten SIM-Karte verbunden ist.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Häufig gestellte Fragen&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Spielt es eine Rolle, wie oder wo ich fahre?&lt;/i&gt; Nein, fahre einfach wie gewohnt.&lt;br&gt;&lt;br&gt;&lt;i&gt;Werden im Firehose-Modus alle meine Segmente hochgeladen?&lt;/i&gt; Nein, wir wählen selektiv nur einen Teil deiner Segmente aus.&lt;br&gt;&lt;br&gt;&lt;i&gt;Welcher USB-C-Adapter ist gut?&lt;/i&gt; Jedes Schnellladegerät für Handy oder Laptop sollte ausreichen.&lt;br&gt;&lt;br&gt;&lt;i&gt;Spielt es eine Rolle, welche Software ich nutze?&lt;/i&gt; Ja, nur das offizielle Upstream‑openpilot (und bestimmte Forks) kann für das Training verwendet werden.</translation>
-</message>
-<message numerus="yes">
-    <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
-    <translation>
-        <numerusform>&lt;b&gt;%n Segment&lt;/b&gt; deiner Fahrten ist bisher im Trainingsdatensatz.</numerusform>
-        <numerusform>&lt;b&gt;%n Segmente&lt;/b&gt; deiner Fahrten sind bisher im Trainingsdatensatz.</numerusform>
-    </translation>
-</message>
-<message>
-    <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
-    <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INAKTIV&lt;/span&gt;: Verbinde dich mit einem ungedrosselten Netzwerk</translation>
-</message>
+    </message>
+    <message>
+        <source>Firehose Mode: ACTIVE</source>
+        <translation>Firehose-Modus: AKTIV</translation>
+    </message>
+    <message>
+        <source>ACTIVE</source>
+        <translation>AKTIV</translation>
+    </message>
+    <message>
+        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
+        <translation>Für maximale Effektivität bring dein Gerät jede Woche nach drinnen und verbinde es mit einem guten USB-C-Adapter und WLAN.&lt;br&gt;&lt;br&gt;Der Firehose-Modus funktioniert auch während der Fahrt, wenn das Gerät mit einem Hotspot oder einer ungedrosselten SIM-Karte verbunden ist.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Häufig gestellte Fragen&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Spielt es eine Rolle, wie oder wo ich fahre?&lt;/i&gt; Nein, fahre einfach wie gewohnt.&lt;br&gt;&lt;br&gt;&lt;i&gt;Werden im Firehose-Modus alle meine Segmente hochgeladen?&lt;/i&gt; Nein, wir wählen selektiv nur einen Teil deiner Segmente aus.&lt;br&gt;&lt;br&gt;&lt;i&gt;Welcher USB-C-Adapter ist gut?&lt;/i&gt; Jedes Schnellladegerät für Handy oder Laptop sollte ausreichen.&lt;br&gt;&lt;br&gt;&lt;i&gt;Spielt es eine Rolle, welche Software ich nutze?&lt;/i&gt; Ja, nur das offizielle Upstream‑openpilot (und bestimmte Forks) kann für das Training verwendet werden.</translation>
+    </message>
+    <message numerus="yes">
+        <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
+        <translation>
+            <numerusform>&lt;b&gt;%n Segment&lt;/b&gt; deiner Fahrten ist bisher im Trainingsdatensatz.</numerusform>
+            <numerusform>&lt;b&gt;%n Segmente&lt;/b&gt; deiner Fahrten sind bisher im Trainingsdatensatz.</numerusform>
+        </translation>
+    </message>
+    <message>
+        <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
+        <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INAKTIV&lt;/span&gt;: Verbinde dich mit einem ungedrosselten Netzwerk</translation>
+    </message>
 </context>
 <context>
     <name>HudRenderer</name>
@@ -419,44 +419,44 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere
         <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
         <translation>Verbinde dich mit dem Internet, um nach Updates zu suchen. openpilot startet nicht automatisch, bis eine Internetverbindung besteht und nach Updates gesucht wurde.</translation>
     </message>
-<message>
-    <source>Unable to download updates
+    <message>
+        <source>Unable to download updates
 %1</source>
-    <translation>Updates konnten nicht heruntergeladen werden
+        <translation>Updates konnten nicht heruntergeladen werden
 %1</translation>
-</message>
-<message>
-    <source>Taking camera snapshots. System won&apos;t start until finished.</source>
-    <translation>Kamera-Snapshots werden aufgenommen. Das System startet erst, wenn dies abgeschlossen ist.</translation>
-</message>
-<message>
-    <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
-    <translation>Ein Update für das Betriebssystem deines Geräts wird im Hintergrund heruntergeladen. Du wirst aufgefordert, das Update zu installieren, sobald es bereit ist.</translation>
-</message>
-<message>
-    <source>Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.</source>
-    <translation>Gerät konnte nicht registriert werden. Es wird keine Verbindung zu den comma.ai-Servern herstellen oder Daten hochladen und erhält keinen Support von comma.ai. Wenn dies ein offizielles Gerät ist, besuche https://comma.ai/support.</translation>
-</message>
-<message>
-    <source>NVMe drive not mounted.</source>
-    <translation>NVMe-Laufwerk nicht gemounted.</translation>
-</message>
-<message>
-    <source>Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.</source>
-    <translation>Nicht unterstütztes NVMe-Laufwerk erkannt. Das Gerät kann dadurch deutlich mehr Strom verbrauchen und überhitzen.</translation>
-</message>
-<message>
-    <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
-    <translation>openpilot konnte dein Auto nicht identifizieren. Dein Auto wird entweder nicht unterstützt oder die Steuergeräte (ECUs) werden nicht erkannt. Bitte reiche einen Pull Request ein, um die Firmware-Versionen für das richtige Fahrzeug hinzuzufügen. Hilfe findest du auf discord.comma.ai.</translation>
-</message>
-<message>
-    <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
-    <translation>openpilot hat eine Änderung der Montageposition des Geräts erkannt. Stelle sicher, dass das Gerät vollständig in der Halterung sitzt und die Halterung fest an der Windschutzscheibe befestigt ist.</translation>
-</message>
-<message>
-    <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
-    <translation>Gerätetemperatur zu hoch. Das System kühlt ab, bevor es startet. Aktuelle interne Komponententemperatur: %1</translation>
-</message>
+    </message>
+    <message>
+        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
+        <translation>Kamera-Snapshots werden aufgenommen. Das System startet erst, wenn dies abgeschlossen ist.</translation>
+    </message>
+    <message>
+        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
+        <translation>Ein Update für das Betriebssystem deines Geräts wird im Hintergrund heruntergeladen. Du wirst aufgefordert, das Update zu installieren, sobald es bereit ist.</translation>
+    </message>
+    <message>
+        <source>Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.</source>
+        <translation>Gerät konnte nicht registriert werden. Es wird keine Verbindung zu den comma.ai-Servern herstellen oder Daten hochladen und erhält keinen Support von comma.ai. Wenn dies ein offizielles Gerät ist, besuche https://comma.ai/support.</translation>
+    </message>
+    <message>
+        <source>NVMe drive not mounted.</source>
+        <translation>NVMe-Laufwerk nicht gemounted.</translation>
+    </message>
+    <message>
+        <source>Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.</source>
+        <translation>Nicht unterstütztes NVMe-Laufwerk erkannt. Das Gerät kann dadurch deutlich mehr Strom verbrauchen und überhitzen.</translation>
+    </message>
+    <message>
+        <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
+        <translation>openpilot konnte dein Auto nicht identifizieren. Dein Auto wird entweder nicht unterstützt oder die Steuergeräte (ECUs) werden nicht erkannt. Bitte reiche einen Pull Request ein, um die Firmware-Versionen für das richtige Fahrzeug hinzuzufügen. Hilfe findest du auf discord.comma.ai.</translation>
+    </message>
+    <message>
+        <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
+        <translation>openpilot hat eine Änderung der Montageposition des Geräts erkannt. Stelle sicher, dass das Gerät vollständig in der Halterung sitzt und die Halterung fest an der Windschutzscheibe befestigt ist.</translation>
+    </message>
+    <message>
+        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
+        <translation>Gerätetemperatur zu hoch. Das System kühlt ab, bevor es startet. Aktuelle interne Komponententemperatur: %1</translation>
+    </message>
 </context>
 <context>
     <name>OffroadHome</name>
@@ -475,26 +475,26 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere
 </context>
 <context>
     <name>OnroadAlerts</name>
-<message>
-    <source>openpilot Unavailable</source>
-    <translation>openpilot nicht verfügbar</translation>
-</message>
-<message>
-    <source>TAKE CONTROL IMMEDIATELY</source>
-    <translation>ÜBERNIMM SOFORT DIE KONTROLLE</translation>
-</message>
-<message>
-    <source>Reboot Device</source>
-    <translation>Gerät neu starten</translation>
-</message>
-<message>
-    <source>Waiting to start</source>
-    <translation>Warten auf Start</translation>
-</message>
-<message>
-    <source>System Unresponsive</source>
-    <translation>System reagiert nicht</translation>
-</message>
+    <message>
+        <source>openpilot Unavailable</source>
+        <translation>openpilot nicht verfügbar</translation>
+    </message>
+    <message>
+        <source>TAKE CONTROL IMMEDIATELY</source>
+        <translation>ÜBERNIMM SOFORT DIE KONTROLLE</translation>
+    </message>
+    <message>
+        <source>Reboot Device</source>
+        <translation>Gerät neu starten</translation>
+    </message>
+    <message>
+        <source>Waiting to start</source>
+        <translation>Warten auf Start</translation>
+    </message>
+    <message>
+        <source>System Unresponsive</source>
+        <translation>System reagiert nicht</translation>
+    </message>
 </context>
 <context>
     <name>PairingPopup</name>
@@ -514,10 +514,10 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere
         <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
         <translation>Füge connect.comma.ai als Lesezeichen auf deinem Homescreen hinzu um es wie eine App zu verwenden</translation>
     </message>
-<message>
-    <source>Please connect to Wi-Fi to complete initial pairing</source>
-    <translation>Bitte verbinde dich mit WLAN, um die Koppelung abzuschließen.</translation>
-</message>
+    <message>
+        <source>Please connect to Wi-Fi to complete initial pairing</source>
+        <translation>Bitte verbinde dich mit WLAN, um die Koppelung abzuschließen.</translation>
+    </message>
 </context>
 <context>
     <name>ParamControl</name>
@@ -548,18 +548,18 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere
         <source>Remote access</source>
         <translation>Fernzugriff</translation>
     </message>
-<message>
-    <source>24/7 LTE connectivity</source>
-    <translation>24/7 LTE-Verbindung</translation>
-</message>
-<message>
-    <source>1 year of drive storage</source>
-    <translation>Fahrdaten-Speicherung für 1 Jahr</translation>
-</message>
-<message>
-    <source>Remote snapshots</source>
-    <translation>Remote-Snapshots</translation>
-</message>
+    <message>
+        <source>24/7 LTE connectivity</source>
+        <translation>24/7 LTE-Verbindung</translation>
+    </message>
+    <message>
+        <source>1 year of drive storage</source>
+        <translation>Fahrdaten-Speicherung für 1 Jahr</translation>
+    </message>
+    <message>
+        <source>Remote snapshots</source>
+        <translation>Remote-Snapshots</translation>
+    </message>
 </context>
 <context>
     <name>PrimeUserWidget</name>
@@ -574,14 +574,6 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>Neustart</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>Verlassen</translation>
-    </message>
     <message>
         <source>openpilot</source>
         <translation>openpilot</translation>
@@ -607,10 +599,10 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere
             <numerusform>vor %n Tagen</numerusform>
         </translation>
     </message>
-<message>
-    <source>now</source>
-    <translation>jetzt</translation>
-</message>
+    <message>
+        <source>now</source>
+        <translation>jetzt</translation>
+    </message>
 </context>
 <context>
     <name>Reset</name>
@@ -638,20 +630,20 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere
         <source>Confirm</source>
         <translation>Bestätigen</translation>
     </message>
-<message>
-    <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
-    <translation>Datenpartition konnte nicht gemounted werden. Die Partition ist möglicherweise beschädigt. Drücke Bestätigen, um das Gerät zu löschen und zurückzusetzen.</translation>
-</message>
-<message>
-    <source>Resetting device...
+    <message>
+        <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
+        <translation>Datenpartition konnte nicht gemounted werden. Die Partition ist möglicherweise beschädigt. Drücke Bestätigen, um das Gerät zu löschen und zurückzusetzen.</translation>
+    </message>
+    <message>
+        <source>Resetting device...
 This may take up to a minute.</source>
-    <translation>Gerät wird zurückgesetzt...
+        <translation>Gerät wird zurückgesetzt...
 Dies kann bis zu einer Minute dauern.</translation>
-</message>
-<message>
-    <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-    <translation>System-Reset ausgelöst. Drücke Bestätigen, um alle Inhalte und Einstellungen zu löschen. Drücke Abbrechen, um den Startvorgang fortzusetzen.</translation>
-</message>
+    </message>
+    <message>
+        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <translation>System-Reset ausgelöst. Drücke Bestätigen, um alle Inhalte und Einstellungen zu löschen. Drücke Abbrechen, um den Startvorgang fortzusetzen.</translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -675,14 +667,14 @@ Dies kann bis zu einer Minute dauern.</translation>
         <source>Software</source>
         <translation>Software</translation>
     </message>
-<message>
-    <source>Developer</source>
-    <translation>Entwickler</translation>
-</message>
-<message>
-    <source>Firehose</source>
-    <translation>Firehose</translation>
-</message>
+    <message>
+        <source>Developer</source>
+        <translation>Entwickler</translation>
+    </message>
+    <message>
+        <source>Firehose</source>
+        <translation>Firehose</translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -754,30 +746,30 @@ Dies kann bis zu einer Minute dauern.</translation>
         <source>Start over</source>
         <translation>Von neuem beginnen</translation>
     </message>
-<message>
-    <source>No custom software found at this URL.</source>
-    <translation>Keine benutzerdefinierte Software unter dieser URL gefunden.</translation>
-</message>
-<message>
-    <source>Something went wrong. Reboot the device.</source>
-    <translation>Etwas ist schiefgelaufen. Starte das Gerät neu.</translation>
-</message>
+    <message>
+        <source>No custom software found at this URL.</source>
+        <translation>Keine benutzerdefinierte Software unter dieser URL gefunden.</translation>
+    </message>
+    <message>
+        <source>Something went wrong. Reboot the device.</source>
+        <translation>Etwas ist schiefgelaufen. Starte das Gerät neu.</translation>
+    </message>
     <message>
         <source>Select a language</source>
         <translation>Sprache wählen</translation>
     </message>
-<message>
-    <source>Choose Software to Install</source>
-    <translation>Wähle die zu installierende Software</translation>
-</message>
-<message>
-    <source>openpilot</source>
-    <translation>openpilot</translation>
-</message>
-<message>
-    <source>Custom Software</source>
-    <translation>Benutzerdefinierte Software</translation>
-</message>
+    <message>
+        <source>Choose Software to Install</source>
+        <translation>Wähle die zu installierende Software</translation>
+    </message>
+    <message>
+        <source>openpilot</source>
+        <translation>openpilot</translation>
+    </message>
+    <message>
+        <source>Custom Software</source>
+        <translation>Benutzerdefinierte Software</translation>
+    </message>
 </context>
 <context>
     <name>SetupWidget</name>
@@ -925,26 +917,26 @@ Dies kann bis zu einer Minute dauern.</translation>
         <source>Uninstall</source>
         <translation>Deinstallieren</translation>
     </message>
-<message>
-    <source>failed to check for update</source>
-    <translation>Update-Prüfung fehlgeschlagen</translation>
-</message>
-<message>
-    <source>up to date, last checked %1</source>
-    <translation>Auf dem neuesten Stand, zuletzt geprüft am %1</translation>
-</message>
-<message>
-    <source>DOWNLOAD</source>
-    <translation>HERUNTERLADEN</translation>
-</message>
-<message>
-    <source>update available</source>
-    <translation>Update verfügbar</translation>
-</message>
-<message>
-    <source>never</source>
-    <translation>nie</translation>
-</message>
+    <message>
+        <source>failed to check for update</source>
+        <translation>Update-Prüfung fehlgeschlagen</translation>
+    </message>
+    <message>
+        <source>up to date, last checked %1</source>
+        <translation>Auf dem neuesten Stand, zuletzt geprüft am %1</translation>
+    </message>
+    <message>
+        <source>DOWNLOAD</source>
+        <translation>HERUNTERLADEN</translation>
+    </message>
+    <message>
+        <source>update available</source>
+        <translation>Update verfügbar</translation>
+    </message>
+    <message>
+        <source>never</source>
+        <translation>nie</translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -1002,14 +994,14 @@ Dies kann bis zu einer Minute dauern.</translation>
         <source>Agree</source>
         <translation>Zustimmen</translation>
     </message>
-<message>
-    <source>Welcome to openpilot</source>
-    <translation>Willkommen bei openpilot</translation>
-</message>
-<message>
-    <source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
-    <translation>Du musst die Nutzungsbedingungen akzeptieren, um openpilot zu verwenden. Lies die aktuellen Bedingungen unter &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt;, bevor du fortfährst.</translation>
-</message>
+    <message>
+        <source>Welcome to openpilot</source>
+        <translation>Willkommen bei openpilot</translation>
+    </message>
+    <message>
+        <source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
+        <translation>Du musst die Nutzungsbedingungen akzeptieren, um openpilot zu verwenden. Lies die aktuellen Bedingungen unter &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt;, bevor du fortfährst.</translation>
+    </message>
 </context>
 <context>
     <name>TogglesPanel</name>
@@ -1073,54 +1065,54 @@ Dies kann bis zu einer Minute dauern.</translation>
         <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
         <translation>Der experimentelle Modus ist momentan für dieses Auto nicht verfügbar da es den eingebauten adaptiven Tempomaten des Autos benutzt.</translation>
     </message>
-<message>
-    <source>Aggressive</source>
-    <translation>Aggressiv</translation>
-</message>
-<message>
-    <source>Standard</source>
-    <translation>Standard</translation>
-</message>
-<message>
-    <source>Relaxed</source>
-    <translation>Entspannt</translation>
-</message>
-<message>
-    <source>Driving Personality</source>
-    <translation>Fahrstil</translation>
-</message>
-<message>
-    <source>End-to-End Longitudinal Control</source>
-    <translation>Ende-zu-Ende Längsregelung</translation>
-</message>
-<message>
-    <source>openpilot longitudinal control may come in a future update.</source>
-    <translation>Die openpilot Längsregelung könnte in einem zukünftigen Update verfügbar sein.</translation>
-</message>
-<message>
-    <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-    <translation>Eine Alpha-Version der openpilot Längsregelung kann zusammen mit dem Experimentellen Modus auf non-stable Branches getestet werden.</translation>
-</message>
-<message>
-    <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
-    <translation>Aktiviere den Schalter für openpilot Längsregelung (Alpha), um den Experimentellen Modus zu erlauben.</translation>
-</message>
-<message>
-    <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
-    <translation>Standard wird empfohlen. Im aggressiven Modus folgt openpilot vorausfahrenden Fahrzeugen enger und ist beim Gasgeben und Bremsen aggressiver. Im entspannten Modus hält openpilot mehr Abstand zu vorausfahrenden Fahrzeugen. Bei unterstützten Fahrzeugen kannst du mit der Abstandstaste am Lenkrad zwischen diesen Fahrstilen wechseln.</translation>
-</message>
-<message>
-    <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
-    <translation>Die Fahrvisualisierung wechselt bei niedrigen Geschwindigkeiten auf die nach vorne gerichtete Weitwinkelkamera, um Kurven besser darzustellen. Das Logo des Experimentellen Modus wird außerdem oben rechts angezeigt.</translation>
-</message>
-<message>
-    <source>Always-On Driver Monitoring</source>
-    <translation>Dauerhaft aktive Fahrerüberwachung</translation>
-</message>
-<message>
-    <source>Enable driver monitoring even when openpilot is not engaged.</source>
-    <translation>Fahrerüberwachung auch aktivieren, wenn openpilot nicht aktiv ist.</translation>
-</message>
+    <message>
+        <source>Aggressive</source>
+        <translation>Aggressiv</translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation>Standard</translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation>Entspannt</translation>
+    </message>
+    <message>
+        <source>Driving Personality</source>
+        <translation>Fahrstil</translation>
+    </message>
+    <message>
+        <source>End-to-End Longitudinal Control</source>
+        <translation>Ende-zu-Ende Längsregelung</translation>
+    </message>
+    <message>
+        <source>openpilot longitudinal control may come in a future update.</source>
+        <translation>Die openpilot Längsregelung könnte in einem zukünftigen Update verfügbar sein.</translation>
+    </message>
+    <message>
+        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation>Eine Alpha-Version der openpilot Längsregelung kann zusammen mit dem Experimentellen Modus auf non-stable Branches getestet werden.</translation>
+    </message>
+    <message>
+        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <translation>Aktiviere den Schalter für openpilot Längsregelung (Alpha), um den Experimentellen Modus zu erlauben.</translation>
+    </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <translation>Standard wird empfohlen. Im aggressiven Modus folgt openpilot vorausfahrenden Fahrzeugen enger und ist beim Gasgeben und Bremsen aggressiver. Im entspannten Modus hält openpilot mehr Abstand zu vorausfahrenden Fahrzeugen. Bei unterstützten Fahrzeugen kannst du mit der Abstandstaste am Lenkrad zwischen diesen Fahrstilen wechseln.</translation>
+    </message>
+    <message>
+        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
+        <translation>Die Fahrvisualisierung wechselt bei niedrigen Geschwindigkeiten auf die nach vorne gerichtete Weitwinkelkamera, um Kurven besser darzustellen. Das Logo des Experimentellen Modus wird außerdem oben rechts angezeigt.</translation>
+    </message>
+    <message>
+        <source>Always-On Driver Monitoring</source>
+        <translation>Dauerhaft aktive Fahrerüberwachung</translation>
+    </message>
+    <message>
+        <source>Enable driver monitoring even when openpilot is not engaged.</source>
+        <translation>Fahrerüberwachung auch aktivieren, wenn openpilot nicht aktiv ist.</translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
@@ -1159,18 +1151,18 @@ Dies kann bis zu einer Minute dauern.</translation>
 </context>
 <context>
     <name>WiFiPromptWidget</name>
-<message>
-    <source>Open</source>
-    <translation>Öffnen</translation>
-</message>
-<message>
-    <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
-    <translation>Maximiere deine Trainingsdaten-Uploads, um die Fahrmodelle von openpilot zu verbessern.</translation>
-</message>
-<message>
-    <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
-    <translation>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose-Modus &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</translation>
-</message>
+    <message>
+        <source>Open</source>
+        <translation>Öffnen</translation>
+    </message>
+    <message>
+        <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
+        <translation>Maximiere deine Trainingsdaten-Uploads, um die Fahrmodelle von openpilot zu verbessern.</translation>
+    </message>
+    <message>
+        <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
+        <translation>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose-Modus &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</translation>
+    </message>
 </context>
 <context>
     <name>WifiUI</name>

selfdrive/ui/translations/main_es.ts

@@ -574,14 +574,6 @@ El Modo Firehose te permite maximizar las subidas de datos de entrenamiento para
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>Reiniciar</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>Salir</translation>
-    </message>
     <message>
         <source>openpilot</source>
         <translation>openpilot</translation>

selfdrive/ui/translations/main_fr.ts

@@ -572,14 +572,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>Redémarrer</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>Quitter</translation>
-    </message>
     <message>
         <source>openpilot</source>
         <translation>openpilot</translation>

selfdrive/ui/translations/main_ja.ts

@@ -572,14 +572,6 @@ Firehoseモードを有効にすると、学習データを最大限アップロ
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>再起動</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>閉じる</translation>
-    </message>
     <message>
         <source>openpilot</source>
         <translation>openpilot</translation>

selfdrive/ui/translations/main_ko.ts

@@ -572,14 +572,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>재부팅</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>종료</translation>
-    </message>
     <message>
         <source>openpilot</source>
         <translation>오픈파일럿</translation>

selfdrive/ui/translations/main_pt-BR.ts

@@ -574,14 +574,6 @@ O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>Reiniciar</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>Sair</translation>
-    </message>
     <message>
         <source>openpilot</source>
         <translation>openpilot</translation>

selfdrive/ui/translations/main_th.ts

@@ -572,14 +572,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>รีบูต</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>ปิด</translation>
-    </message>
     <message>
         <source>openpilot</source>
         <translation>openpilot</translation>

selfdrive/ui/translations/main_tr.ts

@@ -569,14 +569,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>Yeniden başlat</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>Çık</translation>
-    </message>
     <message>
         <source>openpilot</source>
         <translation>openpilot</translation>

selfdrive/ui/translations/main_zh-CHS.ts

@@ -572,14 +572,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>重启</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>退出</translation>
-    </message>
     <message>
         <source>openpilot</source>
         <translation>openpilot</translation>

selfdrive/ui/translations/main_zh-CHT.ts

@@ -572,14 +572,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>重新啟動</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>離開</translation>
-    </message>
     <message>
         <source>openpilot</source>
         <translation>openpilot</translation>

system/athena/athenad.py

@@ -776,8 +776,11 @@ def ws_manage(ws: WebSocket, end_event: threading.Event) -> None:
         # While not sending data, onroad, we can expect to time out in 7 + (7 * 2) = 21s
         #                         offroad, we can expect to time out in 30 + (10 * 3) = 60s
         # FIXME: TCP_USER_TIMEOUT is effectively 2x for some reason (32s), so it's mostly unused
-        sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_USER_TIMEOUT, 16000 if onroad else 0)
-        sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 7 if onroad else 30)
+        if sys.platform == 'linux':
+          sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_USER_TIMEOUT, 16000 if onroad else 0)
+          sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 7 if onroad else 30)
+        elif sys.platform == 'darwin':
+          sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPALIVE, 7 if onroad else 30)
         sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPINTVL, 7 if onroad else 10)
         sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPCNT, 2 if onroad else 3)
 

system/athena/registration.py

@@ -7,7 +7,6 @@ from pathlib import Path
 from datetime import datetime, timedelta, UTC
 from openpilot.common.api import api_get
 from openpilot.common.params import Params
-from openpilot.common.spinner import Spinner
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
 from openpilot.system.hardware import HARDWARE, PC
 from openpilot.system.hardware.hw import Paths
@@ -45,6 +44,7 @@ def register(show_spinner=False) -> str | None:
     cloudlog.warning(f"missing public key: {pubkey}")
   elif dongle_id is None:
     if show_spinner:
+      from openpilot.system.ui.spinner import Spinner
       spinner = Spinner()
       spinner.update("registering device")
 

system/camerad/sensors/os04c10_registers.h

@@ -197,6 +197,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x370b, 0x48},
   {0x370c, 0x01},
   {0x370f, 0x00},
+  {0x3714, 0x28},
   {0x3716, 0x04},
   {0x3719, 0x11},
   {0x371a, 0x1e},
@@ -228,6 +229,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x37bd, 0x01},
   {0x37bf, 0x26},
   {0x37c0, 0x11},
+  {0x37c2, 0x14},
   {0x37cd, 0x19},
   {0x37e0, 0x08},
   {0x37e6, 0x04},
@@ -237,9 +239,14 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x37d8, 0x02},
   {0x37e2, 0x10},
   {0x3739, 0x10},
+  {0x3662, 0x08},
   {0x37e4, 0x20},
   {0x37e3, 0x08},
+  {0x37d9, 0x04},
   {0x4040, 0x00},
+  {0x4041, 0x03},
+  {0x4008, 0x01},
+  {0x4009, 0x06},
 
   // FSIN
   {0x3002, 0x22},
@@ -260,11 +267,20 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x3802, 0x00}, {0x3803, 0x00},
   {0x3804, 0x0a}, {0x3805, 0x8f},
   {0x3806, 0x05}, {0x3807, 0xff},
+  {0x3808, 0x05}, {0x3809, 0x40},
+  {0x380a, 0x02}, {0x380b, 0xf8},
   {0x3811, 0x08},
   {0x3813, 0x08},
+  {0x3814, 0x03},
   {0x3815, 0x01},
+  {0x3816, 0x03},
   {0x3817, 0x01},
 
+  {0x380c, 0x0b}, {0x380d, 0xac}, // HTS
+  {0x380e, 0x06}, {0x380f, 0x9c}, // VTS
+
+  {0x3820, 0xb3},
+  {0x3821, 0x01},
   {0x3880, 0x00},
   {0x3882, 0x20},
   {0x3c91, 0x0b},
@@ -313,27 +329,11 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   // r
   {0x5104, 0x08}, {0x5105, 0xd6},
   {0x5144, 0x08}, {0x5145, 0xd6},
-
-  {0x3714, 0x28},
-  {0x37c2, 0x14},
-  {0x3662, 0x08},
-  {0x37d9, 0x04},
-  {0x4041, 0x03},
-  {0x4008, 0x01},
-  {0x4009, 0x06},
-  {0x3808, 0x05}, {0x3809, 0x40},
-  {0x380a, 0x02}, {0x380b, 0xf8},
-  {0x3814, 0x03},
-  {0x3816, 0x03},
-  {0x380c, 0x0b}, {0x380d, 0xac}, // HTS
-  {0x380e, 0x06}, {0x380f, 0x9c}, // VTS
-  {0x3820, 0xb3},
-  {0x3821, 0x01},
 };
 
 const struct i2c_random_wr_payload ife_downscale_override_array_os04c10[] = {
   // OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz
-  {0x3829, 0x03},
+  {0x3c8c, 0x40},
   {0x3714, 0x24},
   {0x37c2, 0x04},
   {0x3662, 0x10},

system/hardware/base.py

@@ -33,6 +33,7 @@ class ThermalZone:
 class ThermalConfig:
   cpu: list[ThermalZone] | None = None
   gpu: list[ThermalZone] | None = None
+  dsp: ThermalZone | None = None
   pmic: list[ThermalZone] | None = None
   memory: ThermalZone | None = None
   intake: ThermalZone | None = None
@@ -130,6 +131,9 @@ class HardwareBase(ABC):
   def get_thermal_config(self):
     return ThermalConfig()
 
+  def set_display_power(self, on: bool):
+    pass
+
   @abstractmethod
   def set_screen_brightness(self, percentage):
     pass

system/hardware/tici/agnos.json

@@ -56,29 +56,29 @@
   },
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892.img.xz",
-    "hash": "9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892",
-    "hash_raw": "9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-3d8e848796924081f5a6b3d745808b1117ae2ec41c03f2d41ee2e75633bd6425.img.xz",
+    "hash": "3d8e848796924081f5a6b3d745808b1117ae2ec41c03f2d41ee2e75633bd6425",
+    "hash_raw": "3d8e848796924081f5a6b3d745808b1117ae2ec41c03f2d41ee2e75633bd6425",
     "size": 18479104,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "41d31b862fec1b87879b508c405adb9d7b5c0a3324f7350bd904f451605b06cf"
+    "ondevice_hash": "2075104847d1c96a06f07e85efb9f48d0e792d75a059047eae7ba4b463ffeadf"
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde.img.xz",
-    "hash": "c56256a64e6d7e16886e39a4263ffb686ed0f03d3a665c3552f54a39723f8824",
-    "hash_raw": "02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde",
-    "size": 4404019200,
+    "url": "https://commadist.azureedge.net/agnosupdate/system-b22bd239c6f9527596fd49b98b7d521a563f99b90953ce021ee36567498e99c7.img.xz",
+    "hash": "cb9bfde1e995b97f728f5d5ad8d7a0f7a01544db5d138ead9b2350f222640939",
+    "hash_raw": "b22bd239c6f9527596fd49b98b7d521a563f99b90953ce021ee36567498e99c7",
+    "size": 5368709120,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "ed2e11f52beb8559223bf9fb989fd4ef5d2ce66eeb11ae0053fff8e41903a533",
+    "ondevice_hash": "e92a1f34158c60364c8d47b8ebbb6e59edf8d4865cd5edfeb2355d6f54f617fc",
     "alt": {
-      "hash": "02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde.img",
-      "size": 4404019200
+      "hash": "b22bd239c6f9527596fd49b98b7d521a563f99b90953ce021ee36567498e99c7",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-b22bd239c6f9527596fd49b98b7d521a563f99b90953ce021ee36567498e99c7.img",
+      "size": 5368709120
     }
   }
 ]

system/hardware/tici/all-partitions.json

@@ -339,62 +339,62 @@
   },
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892.img.xz",
-    "hash": "9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892",
-    "hash_raw": "9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-3d8e848796924081f5a6b3d745808b1117ae2ec41c03f2d41ee2e75633bd6425.img.xz",
+    "hash": "3d8e848796924081f5a6b3d745808b1117ae2ec41c03f2d41ee2e75633bd6425",
+    "hash_raw": "3d8e848796924081f5a6b3d745808b1117ae2ec41c03f2d41ee2e75633bd6425",
     "size": 18479104,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "41d31b862fec1b87879b508c405adb9d7b5c0a3324f7350bd904f451605b06cf"
+    "ondevice_hash": "2075104847d1c96a06f07e85efb9f48d0e792d75a059047eae7ba4b463ffeadf"
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde.img.xz",
-    "hash": "c56256a64e6d7e16886e39a4263ffb686ed0f03d3a665c3552f54a39723f8824",
-    "hash_raw": "02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde",
-    "size": 4404019200,
+    "url": "https://commadist.azureedge.net/agnosupdate/system-b22bd239c6f9527596fd49b98b7d521a563f99b90953ce021ee36567498e99c7.img.xz",
+    "hash": "cb9bfde1e995b97f728f5d5ad8d7a0f7a01544db5d138ead9b2350f222640939",
+    "hash_raw": "b22bd239c6f9527596fd49b98b7d521a563f99b90953ce021ee36567498e99c7",
+    "size": 5368709120,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "ed2e11f52beb8559223bf9fb989fd4ef5d2ce66eeb11ae0053fff8e41903a533",
+    "ondevice_hash": "e92a1f34158c60364c8d47b8ebbb6e59edf8d4865cd5edfeb2355d6f54f617fc",
     "alt": {
-      "hash": "02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde.img",
-      "size": 4404019200
+      "hash": "b22bd239c6f9527596fd49b98b7d521a563f99b90953ce021ee36567498e99c7",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-b22bd239c6f9527596fd49b98b7d521a563f99b90953ce021ee36567498e99c7.img",
+      "size": 5368709120
     }
   },
   {
     "name": "userdata_90",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-175a5d3353daa5e7b7d9939cb51a2f1d7e6312b4708ad654c351da2f1ef4f108.img.xz",
-    "hash": "ff01a0ca5a2ea6661f836248043a211cd8d71c3269c139cb574b56855fabc3f4",
-    "hash_raw": "175a5d3353daa5e7b7d9939cb51a2f1d7e6312b4708ad654c351da2f1ef4f108",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-4bb7239f7e82c846e4d2584c0c433f03c582a80950de4094e6c190563d6d84ac.img.xz",
+    "hash": "b18001a2a87caa070fabf6321f8215ac353d6444564e3f86329b4dccc039ce54",
+    "hash_raw": "4bb7239f7e82c846e4d2584c0c433f03c582a80950de4094e6c190563d6d84ac",
     "size": 96636764160,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "2f3d69e5015a45a18c3553f2edc5706aacd6d84a4b3d5010a3d76a1a3aa910b0"
+    "ondevice_hash": "15ce16f2349d5b4d5fec6ad1e36222b1ae744ed10b8930bc9af75bd244dccb3c"
   },
   {
     "name": "userdata_89",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-61bdaf82d3036af6e45e86adbaab02918b41debd5b58b6708d7987084d514d1b.img.xz",
-    "hash": "714970777e02bb53a71640735bdb84b3071ecbc0346b978ce12eb667d75634ec",
-    "hash_raw": "61bdaf82d3036af6e45e86adbaab02918b41debd5b58b6708d7987084d514d1b",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-e36b59bf9ff755b6ca488df2ba1e20da8f7dab6b8843129f3fdcccd7ff2ff7d8.img.xz",
+    "hash": "12682cf54596ab1bd1c2464c4ca85888e4e06b47af5ff7d0432399e9907e2f64",
+    "hash_raw": "e36b59bf9ff755b6ca488df2ba1e20da8f7dab6b8843129f3fdcccd7ff2ff7d8",
     "size": 95563022336,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "95e6889a808b8d266660990e67e917cf3b63179f23588565af7f2fa54f70ac76"
+    "ondevice_hash": "e4df9dea47ff04967d971263d50c17460ef240457e8d814e7c4f409f7493eb8a"
   },
   {
     "name": "userdata_30",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-a40553d3fd339cb0107f1cc55fd532820f192a7a9a90d05243ad00fcbf804997.img.xz",
-    "hash": "33e5ab398620f147b885a9627b2608591bd9e1c9aa481eb705dc86707d706ea2",
-    "hash_raw": "a40553d3fd339cb0107f1cc55fd532820f192a7a9a90d05243ad00fcbf804997",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-fe1d86f5322c675c58b3ae9753a4670abf44a25746bf6ac822aed108bb577282.img.xz",
+    "hash": "fa471703be0f0647617d183312d5209d23407f1628e4ab0934e6ec54b1a6b263",
+    "hash_raw": "fe1d86f5322c675c58b3ae9753a4670abf44a25746bf6ac822aed108bb577282",
     "size": 32212254720,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "cd6291dea40968123f7af0b831cbfbbd6e515b676f2e427ae47ff358f6ac148e"
+    "ondevice_hash": "0b5b2402c9caa1ed7b832818e66580c974251e735bda91f2f226c41499d5616e"
   }
-]
+]

system/hardware/tici/hardware.py

@@ -335,12 +335,20 @@ class Tici(HardwareBase):
     return ThermalConfig(cpu=[ThermalZone(f"cpu{i}-silver-usr") for i in range(4)] +
                              [ThermalZone(f"cpu{i}-gold-usr") for i in range(4)],
                          gpu=[ThermalZone("gpu0-usr"), ThermalZone("gpu1-usr")],
+                         dsp=ThermalZone("compute-hvx-usr"),
                          memory=ThermalZone("ddr-usr"),
                          pmic=[ThermalZone("pm8998_tz"), ThermalZone("pm8005_tz")],
                          intake=intake,
                          exhaust=exhaust,
                          case=case)
 
+  def set_display_power(self, on):
+    try:
+      with open("/sys/class/backlight/panel0-backlight/bl_power", "w") as f:
+        f.write("0" if on else "4")
+    except Exception:
+      pass
+
   def set_screen_brightness(self, percentage):
     try:
       with open("/sys/class/backlight/panel0-backlight/max_brightness") as f:

system/hardware/tici/tests/test_power_draw.py

@@ -56,10 +56,10 @@ class TestPowerDraw:
   def valid_msg_count(self, proc, msg_counts):
     msgs_received = sum(msg_counts[msg] for msg in proc.msgs)
     msgs_expected = self.get_expected_messages(proc)
-    return np.core.numeric.isclose(msgs_expected, msgs_received, rtol=.02, atol=2)
+    return np.isclose(msgs_expected, msgs_received, rtol=.02, atol=2)
 
   def valid_power_draw(self, proc, used):
-    return np.core.numeric.isclose(used, proc.power, rtol=proc.rtol, atol=proc.atol)
+    return np.isclose(used, proc.power, rtol=proc.rtol, atol=proc.atol)
 
   def tabulate_msg_counts(self, msgs_and_power):
     msg_counts = defaultdict(int)

system/loggerd/loggerd.cc

@@ -203,7 +203,7 @@ void handle_user_flag(LoggerdState *s) {
 
   // mark route for uploading
   Params params;
-  std::string routes = Params().get("AthenadRecentlyViewedRoutes");
+  std::string routes = params.get("AthenadRecentlyViewedRoutes");
   params.put("AthenadRecentlyViewedRoutes", routes + "," + s->logger.routeName());
 
   prev_segment = s->logger.segment();

system/loggerd/uploader.py

@@ -89,7 +89,7 @@ class Uploader:
 
   def list_upload_files(self, metered: bool) -> Iterator[tuple[str, str, str]]:
     r = self.params.get("AthenadRecentlyViewedRoutes", encoding="utf8")
-    requested_routes = [] if r is None else r.split(",")
+    requested_routes = [] if r is None else [route for route in r.split(",") if route]
 
     for logdir in listdir_by_creation(self.root):
       path = os.path.join(self.root, logdir)

system/loggerd/xattr_cache.py

@@ -1,16 +1,17 @@
-import os
 import errno
 
+import xattr
+
 _cached_attributes: dict[tuple, bytes | None] = {}
 
 def getxattr(path: str, attr_name: str) -> bytes | None:
   key = (path, attr_name)
   if key not in _cached_attributes:
     try:
-      response = os.getxattr(path, attr_name)
+      response = xattr.getxattr(path, attr_name)
     except OSError as e:
-      # ENODATA means attribute hasn't been set
-      if e.errno == errno.ENODATA:
+      # ENODATA (Linux) or ENOATTR (macOS) means attribute hasn't been set
+      if e.errno == errno.ENODATA or (hasattr(errno, 'ENOATTR') and e.errno == errno.ENOATTR):
         response = None
       else:
         raise
@@ -19,4 +20,4 @@ def getxattr(path: str, attr_name: str) -> bytes | None:
 
 def setxattr(path: str, attr_name: str, attr_value: bytes) -> None:
   _cached_attributes.pop((path, attr_name), None)
-  return os.setxattr(path, attr_name, attr_value)
+  xattr.setxattr(path, attr_name, attr_value)

system/manager/build.py

@@ -5,10 +5,10 @@ from pathlib import Path
 
 # NOTE: Do NOT import anything here that needs be built (e.g. params)
 from openpilot.common.basedir import BASEDIR
-from openpilot.common.spinner import Spinner
-from openpilot.common.text_window import TextWindow
-from openpilot.system.hardware import HARDWARE, AGNOS
 from openpilot.common.swaglog import cloudlog, add_file_handler
+from openpilot.system.hardware import HARDWARE, AGNOS
+from openpilot.system.ui.spinner import Spinner
+from openpilot.system.ui.text import TextWindow
 from openpilot.system.version import get_build_metadata
 
 MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9
@@ -88,7 +88,7 @@ def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None:
 
 
 if __name__ == "__main__":
-  spinner = Spinner()
-  spinner.update_progress(0, 100)
-  build_metadata = get_build_metadata()
-  build(spinner, build_metadata.openpilot.is_dirty, minimal = AGNOS)
+  with Spinner() as spinner:
+    spinner.update_progress(0, 100)
+    build_metadata = get_build_metadata()
+    build(spinner, build_metadata.openpilot.is_dirty, minimal = AGNOS)

system/manager/manager.py

@@ -9,7 +9,6 @@ from cereal import log
 import cereal.messaging as messaging
 import openpilot.system.sentry as sentry
 from openpilot.common.params import Params, ParamKeyType
-from openpilot.common.text_window import TextWindow
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog
 from openpilot.system.manager.process import ensure_running
@@ -203,6 +202,8 @@ def main() -> None:
 
 
 if __name__ == "__main__":
+  from openpilot.system.ui.text import TextWindow
+
   unblock_stdout()
 
   try:

system/micd.py

@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 import numpy as np
 from functools import cache
+import threading
 
 from cereal import messaging
 from openpilot.common.realtime import Ratekeeper
@@ -52,12 +53,18 @@ class Mic:
     self.sound_pressure_weighted = 0
     self.sound_pressure_level_weighted = 0
 
+    self.lock = threading.Lock()
+
   def update(self):
-    msg = messaging.new_message('microphone', valid=True)
-    msg.microphone.soundPressure = float(self.sound_pressure)
-    msg.microphone.soundPressureWeighted = float(self.sound_pressure_weighted)
+    with self.lock:
+      sound_pressure = self.sound_pressure
+      sound_pressure_weighted = self.sound_pressure_weighted
+      sound_pressure_level_weighted = self.sound_pressure_level_weighted
 
-    msg.microphone.soundPressureWeightedDb = float(self.sound_pressure_level_weighted)
+    msg = messaging.new_message('microphone', valid=True)
+    msg.microphone.soundPressure = float(sound_pressure)
+    msg.microphone.soundPressureWeighted = float(sound_pressure_weighted)
+    msg.microphone.soundPressureWeightedDb = float(sound_pressure_level_weighted)
 
     self.pm.send('microphone', msg)
     self.rk.keep_time()
@@ -69,17 +76,17 @@ class Mic:
 
     Logged A-weighted equivalents are rough approximations of the human-perceived loudness.
     """
+    with self.lock:
+      self.measurements = np.concatenate((self.measurements, indata[:, 0]))
 
-    self.measurements = np.concatenate((self.measurements, indata[:, 0]))
-
-    while self.measurements.size >= FFT_SAMPLES:
-      measurements = self.measurements[:FFT_SAMPLES]
+      while self.measurements.size >= FFT_SAMPLES:
+        measurements = self.measurements[:FFT_SAMPLES]
 
-      self.sound_pressure, _ = calculate_spl(measurements)
-      measurements_weighted = apply_a_weighting(measurements)
-      self.sound_pressure_weighted, self.sound_pressure_level_weighted = calculate_spl(measurements_weighted)
+        self.sound_pressure, _ = calculate_spl(measurements)
+        measurements_weighted = apply_a_weighting(measurements)
+        self.sound_pressure_weighted, self.sound_pressure_level_weighted = calculate_spl(measurements_weighted)
 
-      self.measurements = self.measurements[FFT_SAMPLES:]
+        self.measurements = self.measurements[FFT_SAMPLES:]
 
   @retry(attempts=7, delay=3)
   def get_stream(self, sd):

system/ui/lib/application.py

@@ -5,6 +5,7 @@ import pyray as rl
 from enum import IntEnum
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.swaglog import cloudlog
+from openpilot.system.hardware import HARDWARE
 
 DEFAULT_FPS = 60
 FPS_LOG_INTERVAL = 5  # Seconds between logging FPS drops
@@ -38,10 +39,21 @@ class GuiApplication:
     self._textures: list[rl.Texture] = []
     self._target_fps: int = DEFAULT_FPS
     self._last_fps_log_time: float = time.monotonic()
+    self._window_close_requested = False
+    self._trace_log_callback = None
 
-  def init_window(self, title: str, fps: int=DEFAULT_FPS):
+  def request_close(self):
+    self._window_close_requested = True
+
+  def init_window(self, title: str, fps: int = DEFAULT_FPS):
     atexit.register(self.close)  # Automatically call close() on exit
 
+    HARDWARE.set_display_power(True)
+    HARDWARE.set_screen_brightness(65)
+
+    self._set_log_callback()
+
+    rl.set_trace_log_level(rl.TraceLogLevel.LOG_ALL)
     rl.set_config_flags(rl.ConfigFlags.FLAG_MSAA_4X_HINT | rl.ConfigFlags.FLAG_VSYNC_HINT)
     rl.init_window(self._width, self._height, title)
     rl.set_target_fps(fps)
@@ -50,9 +62,11 @@ class GuiApplication:
     self._set_styles()
     self._load_fonts()
 
-  def load_texture_from_image(self, file_name: str, width: int, height: int):
+  def load_texture_from_image(self, file_name: str, width: int, height: int, alpha_premultiply = False):
     """Load and resize a texture, storing it for later automatic unloading."""
     image = rl.load_image(file_name)
+    if alpha_premultiply:
+      rl.image_alpha_premultiply(image)
     rl.image_resize(image, width, height)
     texture = rl.load_texture_from_image(image)
     # Set texture filtering to smooth the result
@@ -78,7 +92,7 @@ class GuiApplication:
     rl.close_window()
 
   def render(self):
-    while not rl.window_should_close():
+    while not (self._window_close_requested or rl.window_should_close()):
       rl.begin_drawing()
       rl.clear_background(rl.BLACK)
 
@@ -127,6 +141,29 @@ class GuiApplication:
     rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiControlProperty.TEXT_COLOR_NORMAL, rl.color_to_int(DEFAULT_TEXT_COLOR))
     rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiControlProperty.BASE_COLOR_NORMAL, rl.color_to_int(rl.Color(50, 50, 50, 255)))
 
+  def _set_log_callback(self):
+    @rl.ffi.callback("void(int, char *, void *)")
+    def trace_log_callback(log_level, text, args):
+      try:
+        text_str = rl.ffi.string(text).decode('utf-8')
+      except (TypeError, UnicodeDecodeError):
+        text_str = str(text)
+
+      if log_level == rl.TraceLogLevel.LOG_ERROR:
+        cloudlog.error(f"raylib: {text_str}")
+      elif log_level == rl.TraceLogLevel.LOG_WARNING:
+        cloudlog.warning(f"raylib: {text_str}")
+      elif log_level == rl.TraceLogLevel.LOG_INFO:
+        cloudlog.info(f"raylib: {text_str}")
+      elif log_level == rl.TraceLogLevel.LOG_DEBUG:
+        cloudlog.debug(f"raylib: {text_str}")
+      else:
+        cloudlog.error(f"raylib: Unknown level {log_level}: {text_str}")
+
+    # Store callback reference
+    self._trace_log_callback = trace_log_callback
+    rl.set_trace_log_callback(self._trace_log_callback)
+
   def _monitor_fps(self):
     fps = rl.get_fps()
 

system/ui/lib/button.py

@@ -10,6 +10,12 @@ class ButtonStyle(IntEnum):
   TRANSPARENT = 3  # For buttons with transparent background and border
 
 
+class TextAlignment(IntEnum):
+  LEFT = 0
+  CENTER = 1
+  RIGHT = 2
+
+
 DEFAULT_BUTTON_FONT_SIZE = 60
 BUTTON_ENABLED_TEXT_COLOR = rl.Color(228, 228, 228, 255)
 BUTTON_DISABLED_TEXT_COLOR = rl.Color(228, 228, 228, 51)
@@ -38,6 +44,8 @@ def gui_button(
   button_style: ButtonStyle = ButtonStyle.NORMAL,
   is_enabled: bool = True,
   border_radius: int = 10,  # Corner rounding in pixels
+  text_alignment: TextAlignment = TextAlignment.CENTER,
+  text_padding: int = 20,  # Padding for left/right alignment
 ) -> int:
   result = 0
 
@@ -58,11 +66,16 @@ def gui_button(
     rl.draw_rectangle_rounded_lines_ex(rect, roundness, 20, 2, rl.WHITE)
 
   font = gui_app.font(font_weight)
-  # Center text in the button
   text_size = rl.measure_text_ex(font, text, font_size, 0)
-  text_pos = rl.Vector2(
-    rect.x + (rect.width - text_size.x) // 2, rect.y + (rect.height - text_size.y) // 2
-  )
+  text_pos = rl.Vector2(0, rect.y + (rect.height - text_size.y) // 2)  # Vertical centering
+
+  # Horizontal alignment
+  if text_alignment == TextAlignment.LEFT:
+    text_pos.x = rect.x + text_padding
+  elif text_alignment == TextAlignment.CENTER:
+    text_pos.x = rect.x + (rect.width - text_size.x) // 2
+  elif text_alignment == TextAlignment.RIGHT:
+    text_pos.x = rect.x + rect.width - text_size.x - text_padding
 
   # Draw the button text
   text_color = BUTTON_ENABLED_TEXT_COLOR if is_enabled else BUTTON_DISABLED_TEXT_COLOR

system/ui/lib/inputbox.py

@@ -0,0 +1,157 @@
+import pyray as rl
+from openpilot.system.ui.lib.application import gui_app
+
+
+class InputBox:
+  def __init__(self, max_text_size=255, password_mode=False):
+    self._max_text_size = max_text_size
+    self._input_text = ""
+    self._cursor_position = 0
+    self._password_mode = password_mode
+    self._blink_counter = 0
+    self._show_cursor = False
+    self._last_key_pressed = 0
+    self._key_press_time = 0
+    self._repeat_delay = 30
+    self._repeat_rate = 5
+
+  @property
+  def text(self):
+    return self._input_text
+
+  @text.setter
+  def text(self, value):
+    self._input_text = value[: self._max_text_size]
+    self._cursor_position = len(self._input_text)
+
+  def set_password_mode(self, password_mode):
+    self._password_mode = password_mode
+
+  def clear(self):
+    self._input_text = ''
+    self._cursor_position = 0
+
+  def set_cursor_position(self, position):
+    """Set the cursor position and reset the blink counter."""
+    if 0 <= position <= len(self._input_text):
+      self._cursor_position = position
+      self._blink_counter = 0
+      self._show_cursor = True
+
+  def add_char_at_cursor(self, char):
+    """Add a character at the current cursor position."""
+    if len(self._input_text) < self._max_text_size:
+      self._input_text = self._input_text[: self._cursor_position] + char + self._input_text[self._cursor_position :]
+      self.set_cursor_position(self._cursor_position + 1)
+      return True
+    return False
+
+  def delete_char_before_cursor(self):
+    """Delete the character before the cursor position (backspace)."""
+    if self._cursor_position > 0:
+      self._input_text = self._input_text[: self._cursor_position - 1] + self._input_text[self._cursor_position :]
+      self.set_cursor_position(self._cursor_position - 1)
+      return True
+    return False
+
+  def delete_char_at_cursor(self):
+    """Delete the character at the cursor position (delete)."""
+    if self._cursor_position < len(self._input_text):
+      self._input_text = self._input_text[: self._cursor_position] + self._input_text[self._cursor_position + 1 :]
+      self.set_cursor_position(self._cursor_position)
+      return True
+    return False
+
+  def render(self, rect, color=rl.LIGHTGRAY, border_color=rl.DARKGRAY, text_color=rl.BLACK, font_size=80):
+    # Handle mouse input
+    self._handle_mouse_input(rect, font_size)
+
+    # Draw input box
+    rl.draw_rectangle_rec(rect, color)
+    rl.draw_rectangle_lines_ex(rect, 1, border_color)
+
+    # Process keyboard input
+    self._handle_keyboard_input()
+
+    # Update cursor blink
+    self._blink_counter += 1
+    if self._blink_counter >= 30:
+      self._show_cursor = not self._show_cursor
+      self._blink_counter = 0
+
+    # Display text
+    font = gui_app.font()
+    display_text = "•" * len(self._input_text) if self._password_mode else self._input_text
+    padding = 10
+    rl.draw_text_ex(
+      font,
+      display_text,
+      rl.Vector2(int(rect.x + padding), int(rect.y + rect.height / 2 - font_size / 2)),
+      font_size,
+      0,
+      text_color,
+    )
+
+    # Draw cursor
+    if self._show_cursor:
+      cursor_x = rect.x + padding
+      if len(display_text) > 0 and self._cursor_position > 0:
+        cursor_x += rl.measure_text_ex(font, display_text[: self._cursor_position], font_size, 0).x
+
+      cursor_height = font_size + 4
+      cursor_y = rect.y + rect.height / 2 - cursor_height / 2
+      rl.draw_line(int(cursor_x), int(cursor_y), int(cursor_x), int(cursor_y + cursor_height), rl.BLACK)
+
+  def _handle_mouse_input(self, rect, font_size):
+    """Handle mouse clicks to position cursor."""
+    mouse_pos = rl.get_mouse_position()
+    if rl.is_mouse_button_pressed(rl.MOUSE_LEFT_BUTTON) and rl.check_collision_point_rec(mouse_pos, rect):
+      # Calculate cursor position from click
+      if len(self._input_text) > 0:
+        text_width = rl.measure_text_ex(gui_app.font(), self._input_text, font_size, 0).x
+        text_pos_x = rect.x + 10
+
+        if mouse_pos.x - text_pos_x > text_width:
+          self.set_cursor_position(len(self._input_text))
+        else:
+          click_ratio = (mouse_pos.x - text_pos_x) / text_width
+          self.set_cursor_position(int(len(self._input_text) * click_ratio))
+      else:
+        self.set_cursor_position(0)
+
+  def _handle_keyboard_input(self):
+    """Process keyboard input."""
+    key = rl.get_key_pressed()
+
+    # Handle key repeats
+    if key == self._last_key_pressed and key != 0:
+      self._key_press_time += 1
+      if self._key_press_time > self._repeat_delay and self._key_press_time % self._repeat_rate == 0:
+        # Process repeated key
+        pass
+      else:
+        return  # Skip processing until repeat triggers
+    else:
+      self._last_key_pressed = key
+      self._key_press_time = 0
+
+    # Handle navigation keys
+    if key == rl.KEY_LEFT:
+      if self._cursor_position > 0:
+        self.set_cursor_position(self._cursor_position - 1)
+    elif key == rl.KEY_RIGHT:
+      if self._cursor_position < len(self._input_text):
+        self.set_cursor_position(self._cursor_position + 1)
+    elif key == rl.KEY_BACKSPACE:
+      self.delete_char_before_cursor()
+    elif key == rl.KEY_DELETE:
+      self.delete_char_at_cursor()
+    elif key == rl.KEY_HOME:
+      self.set_cursor_position(0)
+    elif key == rl.KEY_END:
+      self.set_cursor_position(len(self._input_text))
+
+    # Handle text input
+    char = rl.get_char_pressed()
+    if char != 0 and char >= 32:  # Filter out control characters
+      self.add_char_at_cursor(chr(char))

system/ui/lib/label.py

@@ -10,13 +10,27 @@ def gui_label(
   color: rl.Color = DEFAULT_TEXT_COLOR,
   font_weight: FontWeight = FontWeight.NORMAL,
   alignment: int = rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
-  alignment_vertical: int = rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE
+  alignment_vertical: int = rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE,
+  elide_right: bool = True
 ):
-  # Set font based on the provided weight
   font = gui_app.font(font_weight)
-
-  # Measure text size
   text_size = rl.measure_text_ex(font, text, font_size, 0)
+  display_text = text
+
+  # Elide text to fit within the rectangle
+  if elide_right and text_size.x > rect.width:
+    ellipsis = "..."
+    left, right = 0, len(text)
+    while left < right:
+      mid = (left + right) // 2
+      candidate = text[:mid] + ellipsis
+      candidate_size = rl.measure_text_ex(font, candidate, font_size, 0)
+      if candidate_size.x <= rect.width:
+        left = mid + 1
+      else:
+        right = mid
+    display_text = text[: left - 1] + ellipsis if left > 0 else ellipsis
+    text_size = rl.measure_text_ex(font, display_text, font_size, 0)
 
   # Calculate horizontal position based on alignment
   text_x = rect.x + {
@@ -33,7 +47,7 @@ def gui_label(
   }.get(alignment_vertical, 0)
 
   # Draw the text in the specified rectangle
-  rl.draw_text_ex(font, text, rl.Vector2(text_x, text_y), font_size, 0, color)
+  rl.draw_text_ex(font, display_text, rl.Vector2(text_x, text_y), font_size, 0, color)
 
 
 def gui_text_box(

system/ui/lib/scroll_panel.py

@@ -4,6 +4,7 @@ from enum import IntEnum
 MOUSE_WHEEL_SCROLL_SPEED = 30
 INERTIA_FRICTION = 0.95  # The rate at which the inertia slows down
 MIN_VELOCITY = 0.1  # Minimum velocity before stopping the inertia
+DRAG_THRESHOLD = 5  # Pixels of movement to consider it a drag, not a click
 
 
 class ScrollState(IntEnum):
@@ -16,10 +17,12 @@ class GuiScrollPanel:
   def __init__(self, show_vertical_scroll_bar: bool = False):
     self._scroll_state: ScrollState = ScrollState.IDLE
     self._last_mouse_y: float = 0.0
+    self._start_mouse_y: float = 0.0  # Track the initial mouse position for drag detection
     self._offset = rl.Vector2(0, 0)
     self._view = rl.Rectangle(0, 0, 0, 0)
     self._show_vertical_scroll_bar: bool = show_vertical_scroll_bar
     self._velocity_y = 0.0  # Velocity for inertia
+    self._is_dragging = False
 
   def handle_scroll(self, bounds: rl.Rectangle, content: rl.Rectangle) -> rl.Vector2:
     mouse_pos = rl.get_mouse_position()
@@ -35,20 +38,27 @@ class GuiScrollPanel:
             self._scroll_state = ScrollState.DRAGGING_SCROLLBAR
 
         self._last_mouse_y = mouse_pos.y
+        self._start_mouse_y = mouse_pos.y  # Record starting position
         self._velocity_y = 0.0  # Reset velocity when drag starts
+        self._is_dragging = False  # Reset dragging flag
 
     if self._scroll_state != ScrollState.IDLE:
       if rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT):
         delta_y = mouse_pos.y - self._last_mouse_y
 
+        # Check if movement exceeds the drag threshold
+        total_drag = abs(mouse_pos.y - self._start_mouse_y)
+        if total_drag > DRAG_THRESHOLD:
+          self._is_dragging = True
+
         if self._scroll_state == ScrollState.DRAGGING_CONTENT:
           self._offset.y += delta_y
-        else:
+        elif self._scroll_state == ScrollState.DRAGGING_SCROLLBAR:
           delta_y = -delta_y
 
         self._last_mouse_y = mouse_pos.y
         self._velocity_y = delta_y  # Update velocity during drag
-      else:
+      elif rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT):
         self._scroll_state = ScrollState.IDLE
 
     # Handle mouse wheel scrolling
@@ -73,3 +83,6 @@ class GuiScrollPanel:
     self._offset.y = max(min(self._offset.y, 0), -max_scroll_y)
 
     return self._offset
+
+  def is_click_valid(self) -> bool:
+    return self._scroll_state == ScrollState.IDLE and not self._is_dragging and rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT)

system/ui/lib/toggle.py

@@ -0,0 +1,53 @@
+import pyray as rl
+
+ON_COLOR = rl.GREEN
+OFF_COLOR = rl.Color(0x39, 0x39, 0x39, 255)
+KNOB_COLOR = rl.WHITE
+BG_HEIGHT = 60
+KNOB_HEIGHT = 80
+WIDTH = 160
+
+
+class Toggle:
+  def __init__(self, x, y, initial_state=False):
+    self._state = initial_state
+    self._rect = rl.Rectangle(x, y, WIDTH, KNOB_HEIGHT)
+
+  def handle_input(self):
+    if rl.is_mouse_button_pressed(rl.MOUSE_LEFT_BUTTON):
+      mouse_pos = rl.get_mouse_position()
+      if rl.check_collision_point_rec(mouse_pos, self._rect):
+        self._state = not self._state
+
+  def get_state(self):
+    return self._state
+
+  def render(self):
+    self._draw_background()
+    self._draw_knob()
+
+  def _draw_background(self):
+    bg_rect = rl.Rectangle(
+      self._rect.x + 5,
+      self._rect.y + (KNOB_HEIGHT - BG_HEIGHT) / 2,
+      self._rect.width - 10,
+      BG_HEIGHT,
+    )
+    rl.draw_rectangle_rounded(bg_rect, 1.0, 10, ON_COLOR if self._state else OFF_COLOR)
+
+  def _draw_knob(self):
+    knob_radius = KNOB_HEIGHT / 2
+    knob_x = self._rect.x + knob_radius if not self._state else self._rect.x + self._rect.width - knob_radius
+    knob_y = self._rect.y + knob_radius
+    rl.draw_circle(int(knob_x), int(knob_y), knob_radius, KNOB_COLOR)
+
+
+if __name__ == "__main__":
+  from openpilot.system.ui.lib.application import gui_app
+
+  gui_app.init_window("Text toggle example")
+  toggle = Toggle(100, 100)
+  for _ in gui_app.render():
+    toggle.handle_input()
+    toggle.render()
+

system/ui/lib/wifi_manager.py

@@ -0,0 +1,703 @@
+import asyncio
+import concurrent.futures
+import copy
+import threading
+import time
+import uuid
+from collections.abc import Callable
+from dataclasses import dataclass
+from enum import IntEnum
+from typing import TypeVar
+
+from dbus_next.aio import MessageBus
+from dbus_next import BusType, Variant, Message
+from dbus_next.errors import DBusError
+from dbus_next.constants import MessageType
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+
+T = TypeVar("T")
+
+# NetworkManager constants
+NM = "org.freedesktop.NetworkManager"
+NM_PATH = '/org/freedesktop/NetworkManager'
+NM_IFACE = 'org.freedesktop.NetworkManager'
+NM_SETTINGS_PATH = '/org/freedesktop/NetworkManager/Settings'
+NM_SETTINGS_IFACE = 'org.freedesktop.NetworkManager.Settings'
+NM_CONNECTION_IFACE = 'org.freedesktop.NetworkManager.Settings.Connection'
+NM_WIRELESS_IFACE = 'org.freedesktop.NetworkManager.Device.Wireless'
+NM_PROPERTIES_IFACE = 'org.freedesktop.DBus.Properties'
+NM_DEVICE_IFACE = "org.freedesktop.NetworkManager.Device"
+
+NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT = 8
+
+TETHERING_IP_ADDRESS = "192.168.43.1"
+DEFAULT_TETHERING_PASSWORD = "12345678"
+
+# NetworkManager device states
+class NMDeviceState(IntEnum):
+  DISCONNECTED = 30
+  PREPARE = 40
+  NEED_AUTH = 60
+  IP_CONFIG = 70
+  ACTIVATED = 100
+
+class SecurityType(IntEnum):
+  OPEN = 0
+  WPA = 1
+  WPA2 = 2
+  WPA3 = 3
+  UNSUPPORTED = 4
+
+@dataclass
+class NetworkInfo:
+  ssid: str
+  strength: int
+  is_connected: bool
+  security_type: SecurityType
+  path: str
+  bssid: str
+  is_saved: bool = False
+  # saved_path: str
+
+
+@dataclass
+class WifiManagerCallbacks:
+  need_auth: Callable[[str], None] | None = None
+  activated: Callable[[], None] | None = None
+  forgotten: Callable[[], None] | None = None
+  networks_updated: Callable[[list[NetworkInfo]], None] | None = None
+
+
+class WifiManager:
+  def __init__(self, callbacks):
+    self.callbacks: WifiManagerCallbacks = callbacks
+    self.networks: list[NetworkInfo] = []
+    self.bus: MessageBus = None
+    self.device_path: str = ""
+    self.device_proxy = None
+    self.saved_connections: dict[str, str] = {}
+    self.active_ap_path: str = ""
+    self.scan_task: asyncio.Task | None = None
+    # Set tethering ssid as "weedle" + first 4 characters of a dongle id
+    self._tethering_ssid = "weedle"
+    dongle_id = Params().get("DongleId", encoding="utf-8")
+    if dongle_id:
+      self._tethering_ssid += "-" + dongle_id[:4]
+    self.running: bool = True
+    self._current_connection_ssid: str | None = None
+
+  async def connect(self) -> None:
+    """Connect to the DBus system bus."""
+    try:
+      self.bus = await MessageBus(bus_type=BusType.SYSTEM).connect()
+      if not await self._find_wifi_device():
+        raise ValueError("No Wi-Fi device found")
+      await self._setup_signals(self.device_path)
+
+      self.active_ap_path = await self.get_active_access_point()
+      await self.add_tethering_connection(self._tethering_ssid, DEFAULT_TETHERING_PASSWORD)
+      self.saved_connections = await self._get_saved_connections()
+      self.scan_task = asyncio.create_task(self._periodic_scan())
+    except DBusError as e:
+      cloudlog.error(f"Failed to connect to DBus: {e}")
+      raise
+    except Exception as e:
+      cloudlog.error(f"Unexpected error during connect: {e}")
+      raise
+
+  async def shutdown(self) -> None:
+    self.running = False
+    if self.scan_task:
+      self.scan_task.cancel()
+      try:
+        await self.scan_task
+      except asyncio.CancelledError:
+        pass
+    if self.bus:
+      await self.bus.disconnect()
+
+  async def request_scan(self) -> None:
+    try:
+      interface = self.device_proxy.get_interface(NM_WIRELESS_IFACE)
+      await interface.call_request_scan({})
+    except DBusError as e:
+      cloudlog.warning(f"Scan request failed: {str(e)}")
+
+  async def get_active_access_point(self):
+    try:
+      props_iface = self.device_proxy.get_interface(NM_PROPERTIES_IFACE)
+      ap_path = await props_iface.call_get(NM_WIRELESS_IFACE, 'ActiveAccessPoint')
+      return ap_path.value
+    except DBusError as e:
+      cloudlog.error(f"Error fetching active access point: {str(e)}")
+      return ''
+
+  async def forget_connection(self, ssid: str) -> bool:
+    path = self.saved_connections.get(ssid)
+    if not path:
+      return False
+
+    try:
+      nm_iface = await self._get_interface(NM, path, NM_CONNECTION_IFACE)
+      await nm_iface.call_delete()
+      if self._current_connection_ssid == ssid:
+        self._current_connection_ssid = None
+
+      if ssid in self.saved_connections:
+        del self.saved_connections[ssid]
+
+      return True
+    except DBusError as e:
+      cloudlog.error(f"Failed to delete connection for SSID: {ssid}. Error: {e}")
+      return False
+
+  async def activate_connection(self, ssid: str) -> bool:
+    connection_path = self.saved_connections.get(ssid)
+    if not connection_path:
+      return False
+    try:
+      nm_iface = await self._get_interface(NM, NM_PATH, NM_IFACE)
+      await nm_iface.call_activate_connection(connection_path, self.device_path, "/")
+      return True
+    except DBusError as e:
+      cloudlog.error(f"Failed to activate connection {ssid}: {str(e)}")
+      return False
+
+  async def connect_to_network(self, ssid: str, password: str = None, bssid: str = None, is_hidden: bool = False) -> None:
+    """Connect to a selected Wi-Fi network."""
+    try:
+      self._current_connection_ssid = ssid
+
+      if ssid in self.saved_connections:
+        # Forget old connection if new password provided
+        if password:
+          await self.forget_connection(ssid)
+          await asyncio.sleep(0.2)  # NetworkManager delay
+        else:
+          # Just activate existing connection
+          await self.activate_connection(ssid)
+          return
+
+      connection = {
+        'connection': {
+          'type': Variant('s', '802-11-wireless'),
+          'uuid': Variant('s', str(uuid.uuid4())),
+          'id': Variant('s', ssid),
+          'autoconnect-retries': Variant('i', 0),
+        },
+        '802-11-wireless': {
+          'ssid': Variant('ay', ssid.encode('utf-8')),
+          'hidden': Variant('b', is_hidden),
+          'mode': Variant('s', 'infrastructure'),
+        },
+        'ipv4': {'method': Variant('s', 'auto')},
+        'ipv6': {'method': Variant('s', 'ignore')},
+      }
+
+      if bssid:
+        connection['802-11-wireless']['bssid'] = Variant('ay', bssid.encode('utf-8'))
+
+      if password:
+        connection['802-11-wireless-security'] = {
+          'key-mgmt': Variant('s', 'wpa-psk'),
+          'auth-alg': Variant('s', 'open'),
+          'psk': Variant('s', password),
+        }
+
+      nm_iface = await self._get_interface(NM, NM_PATH, NM_IFACE)
+      await nm_iface.call_add_and_activate_connection(connection, self.device_path, "/")
+      await self._update_connection_status()
+    except DBusError as e:
+      self._current_connection_ssid = None
+      cloudlog.error(f"Error connecting to network: {e}")
+
+  def is_saved(self, ssid: str) -> bool:
+    return ssid in self.saved_connections
+
+  async def _find_wifi_device(self) -> bool:
+    nm_iface = await self._get_interface(NM, NM_PATH, NM_IFACE)
+    devices = await nm_iface.get_devices()
+
+    for device_path in devices:
+      device = await self.bus.introspect(NM, device_path)
+      device_proxy = self.bus.get_proxy_object(NM, device_path, device)
+      device_interface = device_proxy.get_interface(NM_DEVICE_IFACE)
+      device_type = await device_interface.get_device_type()  # type: ignore[attr-defined]
+      if device_type == 2:  # Wi-Fi device
+        self.device_path = device_path
+        self.device_proxy = device_proxy
+        return True
+
+    return False
+
+  async def add_tethering_connection(self, ssid: str, password: str = "12345678") -> bool:
+    """Create a WiFi tethering connection."""
+    if len(password) < 8:
+      print("Tethering password must be at least 8 characters")
+      return False
+
+    try:
+      # First, check if a hotspot connection already exists
+      settings_iface = await self._get_interface(NM, NM_SETTINGS_PATH, NM_SETTINGS_IFACE)
+      connection_paths = await settings_iface.call_list_connections()
+
+      # Look for an existing hotspot connection
+      for path in connection_paths:
+        try:
+          settings = await self._get_connection_settings(path)
+          conn_type = settings.get('connection', {}).get('type', Variant('s', '')).value
+          wifi_mode = settings.get('802-11-wireless', {}).get('mode', Variant('s', '')).value
+
+          if conn_type == '802-11-wireless' and wifi_mode == 'ap':
+            # Extract the SSID to check
+            connection_ssid = self._extract_ssid(settings)
+            if connection_ssid == ssid:
+              return True
+        except DBusError:
+          continue
+
+      connection = {
+        'connection': {
+          'id': Variant('s', 'Hotspot'),
+          'uuid': Variant('s', str(uuid.uuid4())),
+          'type': Variant('s', '802-11-wireless'),
+          'interface-name': Variant('s', 'wlan0'),
+          'autoconnect': Variant('b', False),
+        },
+        '802-11-wireless': {
+          'band': Variant('s', 'bg'),
+          'mode': Variant('s', 'ap'),
+          'ssid': Variant('ay', ssid.encode('utf-8')),
+        },
+        '802-11-wireless-security': {
+          'group': Variant('as', ['ccmp']),
+          'key-mgmt': Variant('s', 'wpa-psk'),
+          'pairwise': Variant('as', ['ccmp']),
+          'proto': Variant('as', ['rsn']),
+          'psk': Variant('s', password),
+        },
+        'ipv4': {
+          'method': Variant('s', 'shared'),
+          'address-data': Variant('aa{sv}', [{'address': Variant('s', TETHERING_IP_ADDRESS), 'prefix': Variant('u', 24)}]),
+          'gateway': Variant('s', TETHERING_IP_ADDRESS),
+          'never-default': Variant('b', True),
+        },
+        'ipv6': {
+          'method': Variant('s', 'ignore'),
+        },
+      }
+
+      settings_iface = await self._get_interface(NM, NM_SETTINGS_PATH, NM_SETTINGS_IFACE)
+      new_connection = await settings_iface.call_add_connection(connection)
+      print(f"Added tethering connection with path: {new_connection}")
+      return True
+    except DBusError as e:
+      print(f"Failed to add tethering connection: {e}")
+      return False
+    except Exception as e:
+      print(f"Unexpected error adding tethering connection: {e}")
+      return False
+
+  async def get_tethering_password(self) -> str:
+    """Get the current tethering password."""
+    try:
+      hotspot_path = self.saved_connections.get(self._tethering_ssid)
+      if hotspot_path:
+        conn_iface = await self._get_interface(NM, hotspot_path, NM_CONNECTION_IFACE)
+        secrets = await conn_iface.call_get_secrets('802-11-wireless-security')
+        if secrets and '802-11-wireless-security' in secrets:
+          psk = secrets.get('802-11-wireless-security', {}).get('psk', Variant('s', '')).value
+          return str(psk) if psk is not None else ""
+      return ""
+    except DBusError as e:
+      print(f"Failed to get tethering password: {e}")
+      return ""
+    except Exception as e:
+      print(f"Unexpected error getting tethering password: {e}")
+      return ""
+
+  async def set_tethering_password(self, password: str) -> bool:
+    """Set the tethering password."""
+    if len(password) < 8:
+      cloudlog.error("Tethering password must be at least 8 characters")
+      return False
+
+    try:
+      hotspot_path = self.saved_connections.get(self._tethering_ssid)
+      if not hotspot_path:
+        print("No hotspot connection found")
+        return False
+
+      # Update the connection settings with new password
+      settings = await self._get_connection_settings(hotspot_path)
+      if '802-11-wireless-security' not in settings:
+        settings['802-11-wireless-security'] = {}
+      settings['802-11-wireless-security']['psk'] = Variant('s', password)
+
+      # Apply changes
+      conn_iface = await self._get_interface(NM, hotspot_path, NM_CONNECTION_IFACE)
+      await conn_iface.call_update(settings)
+
+      # Check if connection is active and restart if needed
+      is_active = False
+      nm_iface = await self._get_interface(NM, NM_PATH, NM_IFACE)
+      active_connections = await nm_iface.get_active_connections()
+
+      for conn_path in active_connections:
+        props_iface = await self._get_interface(NM, conn_path, NM_PROPERTIES_IFACE)
+        conn_id_path = await props_iface.call_get('org.freedesktop.NetworkManager.Connection.Active', 'Connection')
+        if conn_id_path.value == hotspot_path:
+          is_active = True
+          await nm_iface.call_deactivate_connection(conn_path)
+          break
+
+      if is_active:
+        await nm_iface.call_activate_connection(hotspot_path, self.device_path, "/")
+
+      print("Tethering password updated successfully")
+      return True
+    except DBusError as e:
+      print(f"Failed to set tethering password: {e}")
+      return False
+    except Exception as e:
+      print(f"Unexpected error setting tethering password: {e}")
+      return False
+
+  async def is_tethering_active(self) -> bool:
+    """Check if tethering is active for the specified SSID."""
+    try:
+      hotspot_path = self.saved_connections.get(self._tethering_ssid)
+      if not hotspot_path:
+        return False
+
+      nm_iface = await self._get_interface(NM, NM_PATH, NM_IFACE)
+      active_connections = await nm_iface.get_active_connections()
+
+      for conn_path in active_connections:
+        props_iface = await self._get_interface(NM, conn_path, NM_PROPERTIES_IFACE)
+        conn_id_path = await props_iface.call_get('org.freedesktop.NetworkManager.Connection.Active', 'Connection')
+
+        if conn_id_path.value == hotspot_path:
+          return True
+
+      return False
+    except Exception:
+      return False
+
+  async def _periodic_scan(self):
+    while self.running:
+      try:
+        await self.request_scan()
+        await self._get_available_networks()
+        await asyncio.sleep(30)
+      except asyncio.CancelledError:
+        break
+      except DBusError as e:
+        cloudlog.error(f"Scan failed: {e}")
+        await asyncio.sleep(5)
+
+  async def _setup_signals(self, device_path: str) -> None:
+    rules = [
+      f"type='signal',interface='{NM_PROPERTIES_IFACE}',member='PropertiesChanged',path='{device_path}'",
+      f"type='signal',interface='{NM_DEVICE_IFACE}',member='StateChanged',path='{device_path}'",
+      f"type='signal',interface='{NM_SETTINGS_IFACE}',member='NewConnection',path='{NM_SETTINGS_PATH}'",
+      f"type='signal',interface='{NM_SETTINGS_IFACE}',member='ConnectionRemoved',path='{NM_SETTINGS_PATH}'",
+    ]
+    for rule in rules:
+      await self._add_match_rule(rule)
+
+    # Set up signal handlers
+    self.device_proxy.get_interface(NM_PROPERTIES_IFACE).on_properties_changed(self._on_properties_changed)
+    self.device_proxy.get_interface(NM_DEVICE_IFACE).on_state_changed(self._on_state_changed)
+
+    settings_iface = await self._get_interface(NM, NM_SETTINGS_PATH, NM_SETTINGS_IFACE)
+    settings_iface.on_new_connection(self._on_new_connection)
+    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._get_available_networks())
+    elif interface == NM_WIRELESS_IFACE and "ActiveAccessPoint" in changed:
+      self.active_ap_path = changed["ActiveAccessPoint"].value
+      asyncio.create_task(self._get_available_networks())
+
+  def _on_state_changed(self, new_state: int, old_state: int, reason: int):
+    print(f"State changed: {old_state} -> {new_state}, reason: {reason}")
+    if new_state == NMDeviceState.ACTIVATED:
+      if self.callbacks.activated:
+        self.callbacks.activated()
+      asyncio.create_task(self._update_connection_status())
+      self._current_connection_ssid = None
+    elif new_state in (NMDeviceState.DISCONNECTED, NMDeviceState.NEED_AUTH):
+      for network in self.networks:
+        network.is_connected = False
+      if new_state == NMDeviceState.NEED_AUTH and reason == NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT and self.callbacks.need_auth:
+        if 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:
+              self.callbacks.need_auth(network.ssid)
+              break
+          else:
+            # Couldn't identify the network that needs auth
+            cloudlog.error("Network needs authentication but couldn't identify which one")
+
+  def _on_new_connection(self, path: str) -> None:
+    """Callback for NewConnection signal."""
+    print(f"New connection added: {path}")
+    asyncio.create_task(self._add_saved_connection(path))
+
+  def _on_connection_removed(self, path: str) -> None:
+    """Callback for ConnectionRemoved signal."""
+    print(f"Connection removed: {path}")
+    for ssid, p in list(self.saved_connections.items()):
+      if path == p:
+        del self.saved_connections[ssid]
+        if self.callbacks.forgotten:
+          self.callbacks.forgotten()
+        # Update network list to reflect the removed saved connection
+        asyncio.create_task(self._update_connection_status())
+        break
+
+  async def _add_saved_connection(self, path: str) -> None:
+    """Add a new saved connection to the dictionary."""
+    try:
+      settings = await self._get_connection_settings(path)
+      if ssid := self._extract_ssid(settings):
+        self.saved_connections[ssid] = path
+        await self._update_connection_status()
+    except DBusError as e:
+      cloudlog.error(f"Failed to add connection {path}: {e}")
+
+  def _extract_ssid(self, settings: dict) -> str | None:
+    """Extract SSID from connection settings."""
+    ssid_variant = settings.get('802-11-wireless', {}).get('ssid', Variant('ay', b'')).value
+    return ''.join(chr(b) for b in ssid_variant) if ssid_variant else None
+
+  async def _update_connection_status(self):
+    self.active_ap_path = await self.get_active_access_point()
+    await self._get_available_networks()
+
+  async def _add_match_rule(self, rule):
+    """Add a match rule on the bus."""
+    reply = await self.bus.call(
+      Message(
+        message_type=MessageType.METHOD_CALL,
+        destination='org.freedesktop.DBus',
+        interface="org.freedesktop.DBus",
+        path='/org/freedesktop/DBus',
+        member='AddMatch',
+        signature='s',
+        body=[rule],
+      )
+    )
+
+    assert reply.message_type == MessageType.METHOD_RETURN
+    return reply
+
+  async def _get_available_networks(self):
+    """Get a list of available networks via NetworkManager."""
+    wifi_iface = self.device_proxy.get_interface(NM_WIRELESS_IFACE)
+    access_points = await wifi_iface.get_access_points()
+    network_dict = {}
+    for ap_path in access_points:
+      try:
+        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)
+        if not ssid:
+          continue
+
+        bssid = properties.get('HwAddress', Variant('s', '')).value
+        strength = properties['Strength'].value
+        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)):
+          network_dict[ssid] = NetworkInfo(
+            ssid=ssid,
+            strength=strength,
+            security_type=self._get_security_type(flags, wpa_flags, rsn_flags),
+            path=ap_path,
+            bssid=bssid,
+            is_connected=self.active_ap_path == ap_path,
+            is_saved=ssid in self.saved_connections
+          )
+
+      except DBusError as e:
+        cloudlog.error(f"Error fetching networks: {e}")
+      except Exception as e:
+        cloudlog.error({e})
+
+    self.networks = sorted(
+      network_dict.values(),
+      key=lambda network: (
+        not network.is_connected,
+        -network.strength,  # Higher signal strength first
+        network.ssid.lower(),
+      ),
+    )
+
+    if self.callbacks.networks_updated:
+      self.callbacks.networks_updated(copy.deepcopy(self.networks))
+
+  async def _get_connection_settings(self, path):
+    """Fetch connection settings for a specific connection path."""
+    try:
+      connection_proxy = await self.bus.introspect(NM, path)
+      connection = self.bus.get_proxy_object(NM, path, connection_proxy)
+      settings = connection.get_interface(NM_CONNECTION_IFACE)
+      return await settings.call_get_settings()
+    except DBusError as e:
+      cloudlog.error(f"Failed to get settings for {path}: {str(e)}")
+      return {}
+
+  async def _process_chunk(self, paths_chunk):
+    """Process a chunk of connection paths."""
+    tasks = [self._get_connection_settings(path) for path in paths_chunk]
+    return await asyncio.gather(*tasks, return_exceptions=True)
+
+  async def _get_saved_connections(self) -> dict[str, str]:
+    try:
+      settings_iface = await self._get_interface(NM, NM_SETTINGS_PATH, NM_SETTINGS_IFACE)
+      connection_paths = await settings_iface.call_list_connections()
+      saved_ssids: dict[str, str] = {}
+      batch_size = 20
+      for i in range(0, len(connection_paths), batch_size):
+        chunk = connection_paths[i : i + batch_size]
+        results = await self._process_chunk(chunk)
+        for path, config in zip(chunk, results, strict=True):
+          if isinstance(config, dict) and '802-11-wireless' in config:
+            if ssid := self._extract_ssid(config):
+              saved_ssids[ssid] = path
+      return saved_ssids
+    except DBusError as e:
+      cloudlog.error(f"Error fetching saved connections: {str(e)}")
+      return {}
+
+  async def _get_interface(self, bus_name: str, path: str, name: str):
+    introspection = await self.bus.introspect(bus_name, path)
+    proxy = self.bus.get_proxy_object(bus_name, path, introspection)
+    return proxy.get_interface(name)
+
+  def _get_security_type(self, flags: int, wpa_flags: int, rsn_flags: int) -> SecurityType:
+    """Determine the security type based on flags."""
+    if flags == 0 and not (wpa_flags or rsn_flags):
+      return SecurityType.OPEN
+    if rsn_flags & 0x200:  # SAE (WPA3 Personal)
+      return SecurityType.WPA3
+    if rsn_flags:  # RSN indicates WPA2 or higher
+      return SecurityType.WPA2
+    if wpa_flags:  # WPA flags indicate WPA
+      return SecurityType.WPA
+    return SecurityType.UNSUPPORTED
+
+
+class WifiManagerWrapper:
+  def __init__(self):
+    self._manager: WifiManager | None = None
+    self._callbacks: WifiManagerCallbacks = WifiManagerCallbacks()
+
+    self._thread = threading.Thread(target=self._run, daemon=True)
+    self._loop: asyncio.EventLoop | None = None
+    self._running = False
+
+  def set_callbacks(self, callbacks: WifiManagerCallbacks):
+    self._callbacks = callbacks
+
+  def start(self) -> None:
+    if not self._running:
+      self._thread.start()
+      while self._thread is not None and not self._running:
+        time.sleep(0.1)
+
+  def _run(self):
+    self._loop = asyncio.new_event_loop()
+    asyncio.set_event_loop(self._loop)
+
+    try:
+      self._manager = WifiManager(self._callbacks)
+      self._running = True
+      self._loop.run_forever()
+    except Exception as e:
+      cloudlog.error(f"Error in WifiManagerWrapper thread: {e}")
+    finally:
+      if self._loop.is_running():
+        self._loop.stop()
+      self._running = False
+
+  def shutdown(self) -> None:
+    if self._running:
+      if self._manager is not None:
+        self._run_coroutine(self._manager.shutdown())
+      if self._loop and self._loop.is_running():
+        self._loop.call_soon_threadsafe(self._loop.stop)
+      if self._thread and self._thread.is_alive():
+        self._thread.join(timeout=2.0)
+      self._running = False
+
+  def is_saved(self, ssid: str) -> bool:
+    """Check if a network is saved."""
+    return self._run_coroutine_sync(lambda manager: manager.is_saved(ssid), default=False)
+
+  def connect(self):
+    """Connect to DBus and start Wi-Fi scanning."""
+    if not self._manager:
+      return
+    self._run_coroutine(self._manager.connect())
+
+  def request_scan(self):
+    """Request a scan for Wi-Fi networks."""
+    if not self._manager:
+      return
+    self._run_coroutine(self._manager.request_scan())
+
+  def forget_connection(self, ssid: str):
+    """Forget a saved Wi-Fi connection."""
+    if not self._manager:
+      return
+    self._run_coroutine(self._manager.forget_connection(ssid))
+
+  def activate_connection(self, ssid: str):
+    """Activate an existing Wi-Fi connection."""
+    if not self._manager:
+      return
+    self._run_coroutine(self._manager.activate_connection(ssid))
+
+  def connect_to_network(self, ssid: str, password: str = None, bssid: str = None, is_hidden: bool = False):
+    """Connect to a Wi-Fi network."""
+    if not self._manager:
+      return
+    self._run_coroutine(self._manager.connect_to_network(ssid, password, bssid, is_hidden))
+
+  def _run_coroutine(self, coro):
+    """Run a coroutine in the async thread."""
+    if not self._running or not self._loop:
+      cloudlog.error("WifiManager thread is not running")
+      return
+    asyncio.run_coroutine_threadsafe(coro, self._loop)
+
+  def _run_coroutine_sync(self, func: Callable[[WifiManager], T], default: T) -> T:
+    """Run a function synchronously in the async thread."""
+    if not self._running or not self._loop or not self._manager:
+      return default
+    future = concurrent.futures.Future[T]()
+
+    def wrapper(manager: WifiManager) -> None:
+      try:
+        future.set_result(func(manager))
+      except Exception as e:
+        future.set_exception(e)
+
+    try:
+      self._loop.call_soon_threadsafe(wrapper, self._manager)
+      return future.result(timeout=1.0)
+    except Exception as e:
+      cloudlog.error(f"WifiManagerWrapper property access failed: {e}")
+      return default

system/ui/lib/window.py

@@ -0,0 +1,58 @@
+import threading
+import time
+import os
+from typing import Generic, Protocol, TypeVar
+from openpilot.common.swaglog import cloudlog
+from openpilot.system.ui.lib.application import gui_app
+
+
+class RendererProtocol(Protocol):
+  def render(self): ...
+
+
+R = TypeVar("R", bound=RendererProtocol)
+
+
+class BaseWindow(Generic[R]):
+  def __init__(self, title: str):
+    self._title = title
+    self._renderer: R | None = None
+    self._stop_event = threading.Event()
+    self._thread = threading.Thread(target=self._run)
+    self._thread.start()
+
+    # wait for the renderer to be initialized
+    while self._renderer is None and self._thread.is_alive():
+      time.sleep(0.01)
+
+  def _create_renderer(self) -> R:
+    raise NotImplementedError()
+
+  def _run(self):
+    if os.getenv("CI") is not None:
+      return
+    gui_app.init_window(self._title)
+    self._renderer = self._create_renderer()
+    try:
+      for _ in gui_app.render():
+        if self._stop_event.is_set():
+          break
+        self._renderer.render()
+    finally:
+      gui_app.close()
+
+  def __enter__(self):
+    return self
+
+  def close(self):
+    if self._thread.is_alive():
+      self._stop_event.set()
+      self._thread.join(timeout=2.0)
+      if self._thread.is_alive():
+        cloudlog.warning(f"Failed to join {self._title} thread")
+
+  def __del__(self):
+    self.close()
+
+  def __exit__(self, exc_type, exc_val, exc_tb):
+    self.close()

system/ui/spinner.py

@@ -2,17 +2,21 @@
 import pyray as rl
 import os
 import threading
+import time
 
 from openpilot.common.basedir import BASEDIR
 from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.window import BaseWindow
+from openpilot.system.ui.text import wrap_text
 
 # Constants
 PROGRESS_BAR_WIDTH = 1000
 PROGRESS_BAR_HEIGHT = 20
-ROTATION_TIME_SECONDS = 1.0  # Time for one full circle
-MARGIN = 200
+DEGREES_PER_SECOND = 360.0  # one full rotation per second
+MARGIN_H = 100
 TEXTURE_SIZE = 360
-FONT_SIZE = 80
+FONT_SIZE = 96
+LINE_HEIGHT = 104
 DARKGRAY = (55, 55, 55, 255)
 
 
@@ -20,27 +24,47 @@ def clamp(value, min_value, max_value):
   return max(min(value, max_value), min_value)
 
 
-class Spinner:
+class SpinnerRenderer:
   def __init__(self):
     self._comma_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_comma.png"), TEXTURE_SIZE, TEXTURE_SIZE)
-    self._spinner_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_track.png"), TEXTURE_SIZE, TEXTURE_SIZE)
+    self._spinner_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_track.png"), TEXTURE_SIZE, TEXTURE_SIZE,
+                                                            alpha_premultiply=True)
     self._rotation = 0.0
-    self._text: str = ""
+    self._progress: int | None = None
+    self._wrapped_lines: list[str] = []
     self._lock = threading.Lock()
 
   def set_text(self, text: str) -> None:
     with self._lock:
-      self._text = text
+      if text.isdigit():
+        self._progress = clamp(int(text), 0, 100)
+        self._wrapped_lines = []
+      else:
+        self._progress = None
+        self._wrapped_lines = wrap_text(text, FONT_SIZE, gui_app.width - MARGIN_H)
 
   def render(self):
-    center = rl.Vector2(gui_app.width / 2.0, gui_app.height / 2.0)
+    with self._lock:
+      progress = self._progress
+      wrapped_lines = self._wrapped_lines
+
+    if wrapped_lines:
+      # Calculate total height required for spinner and text
+      spacing = 50
+      total_height = TEXTURE_SIZE + spacing + len(wrapped_lines) * LINE_HEIGHT
+      center_y = (gui_app.height - total_height) / 2.0 + TEXTURE_SIZE / 2.0
+    else:
+      # Center spinner vertically
+      spacing = 150
+      center_y = gui_app.height / 2.0
+    y_pos = center_y + TEXTURE_SIZE / 2.0 + spacing
+
+    center = rl.Vector2(gui_app.width / 2.0, center_y)
     spinner_origin = rl.Vector2(TEXTURE_SIZE / 2.0, TEXTURE_SIZE / 2.0)
     comma_position = rl.Vector2(center.x - TEXTURE_SIZE / 2.0, center.y - TEXTURE_SIZE / 2.0)
 
-    fps = rl.get_fps()
-    if fps > 0:
-      degrees_per_frame = 360.0 / (ROTATION_TIME_SECONDS * fps)
-      self._rotation = (self._rotation + degrees_per_frame) % 360.0
+    delta_time = rl.get_frame_time()
+    self._rotation = (self._rotation + DEGREES_PER_SECOND * delta_time) % 360.0
 
     # Draw rotating spinner and static comma logo
     rl.draw_texture_pro(self._spinner_texture, rl.Rectangle(0, 0, TEXTURE_SIZE, TEXTURE_SIZE),
@@ -48,29 +72,36 @@ class Spinner:
                         spinner_origin, self._rotation, rl.WHITE)
     rl.draw_texture_v(self._comma_texture, comma_position, rl.WHITE)
 
-    # Display progress bar or text based on user input
-    text = None
-    with self._lock:
-      text = self._text
+    # Display the progress bar or text based on user input
+    if progress is not None:
+      bar = rl.Rectangle(center.x - PROGRESS_BAR_WIDTH / 2.0, y_pos, PROGRESS_BAR_WIDTH, PROGRESS_BAR_HEIGHT)
+      rl.draw_rectangle_rounded(bar, 1, 10, DARKGRAY)
 
-    if text:
-      y_pos = rl.get_screen_height() - MARGIN - PROGRESS_BAR_HEIGHT
-      if text.isdigit():
-        progress = clamp(int(text), 0, 100)
-        bar = rl.Rectangle(center.x - PROGRESS_BAR_WIDTH / 2.0, y_pos, PROGRESS_BAR_WIDTH, PROGRESS_BAR_HEIGHT)
-        rl.draw_rectangle_rounded(bar, 1, 10, DARKGRAY)
+      bar.width *= progress / 100.0
+      rl.draw_rectangle_rounded(bar, 1, 10, rl.WHITE)
+    elif wrapped_lines:
+      for i, line in enumerate(wrapped_lines):
+        text_size = rl.measure_text_ex(gui_app.font(), line, FONT_SIZE, 0.0)
+        rl.draw_text_ex(gui_app.font(), line, rl.Vector2(center.x - text_size.x / 2, y_pos + i * LINE_HEIGHT),
+                        FONT_SIZE, 0.0, rl.WHITE)
 
-        bar.width *= progress / 100.0
-        rl.draw_rectangle_rounded(bar, 1, 10, rl.WHITE)
-      else:
-        text_size = rl.measure_text_ex(gui_app.font(), text, FONT_SIZE, 1.0)
-        rl.draw_text_ex(gui_app.font(), text,
-                        rl.Vector2(center.x - text_size.x / 2, y_pos), FONT_SIZE, 1.0, rl.WHITE)
+
+class Spinner(BaseWindow[SpinnerRenderer]):
+  def __init__(self):
+    super().__init__("Spinner")
+
+  def _create_renderer(self):
+    return SpinnerRenderer()
+
+  def update(self, spinner_text: str):
+    if self._renderer is not None:
+      self._renderer.set_text(spinner_text)
+
+  def update_progress(self, cur: float, total: float):
+    self.update(str(round(100 * cur / total)))
 
 
 if __name__ == "__main__":
-  gui_app.init_window("Spinner")
-  spinner = Spinner()
-  spinner.set_text("Spinner text")
-  for _ in gui_app.render():
-    spinner.render()
+  with Spinner() as s:
+    s.update("Spinner text")
+    time.sleep(5)

system/ui/text.py

@@ -1,14 +1,17 @@
 #!/usr/bin/env python3
+import re
+import time
 import pyray as rl
-from openpilot.system.hardware import HARDWARE
+from openpilot.system.hardware import HARDWARE, PC
 from openpilot.system.ui.lib.button import gui_button, ButtonStyle
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.window import BaseWindow
 
 MARGIN = 50
-SPACING = 50
-FONT_SIZE = 60
-LINE_HEIGHT = 64
+SPACING = 40
+FONT_SIZE = 72
+LINE_HEIGHT = 80
 BUTTON_SIZE = rl.Vector2(310, 160)
 
 DEMO_TEXT = """This is a sample text that will be wrapped and scrolled if necessary.
@@ -16,27 +19,39 @@ DEMO_TEXT = """This is a sample text that will be wrapped and scrolled if necess
 
 def wrap_text(text, font_size, max_width):
   lines = []
-  current_line = ""
   font = gui_app.font()
 
-  for word in text.split():
-    test_line = current_line + word + " "
-    if rl.measure_text_ex(font, test_line, font_size, 0).x <= max_width:
-      current_line = test_line
-    else:
+  for paragraph in text.split("\n"):
+    if not paragraph.strip():
+      # Don't add empty lines first, ensuring wrap_text("") returns []
+      if lines:
+        lines.append("")
+      continue
+    indent = re.match(r"^\s*", paragraph).group()
+    current_line = indent
+    words = re.split(r"(\s+)", paragraph[len(indent):])
+    while len(words):
+      word = words.pop(0)
+      test_line = current_line + word + (words.pop(0) if words else "")
+      if rl.measure_text_ex(font, test_line, font_size, 0).x <= max_width:
+        current_line = test_line
+      else:
+        lines.append(current_line)
+        current_line = word + " "
+    current_line = current_line.rstrip()
+    if current_line:
       lines.append(current_line)
-      current_line = word + " "
-  if current_line:
-    lines.append(current_line)
 
   return lines
 
-class TextWindow:
+
+class TextWindowRenderer:
   def __init__(self, text: str):
     self._textarea_rect = rl.Rectangle(MARGIN, MARGIN, gui_app.width - MARGIN * 2, gui_app.height - MARGIN * 2)
     self._wrapped_lines = wrap_text(text, FONT_SIZE, self._textarea_rect.width - 20)
     self._content_rect = rl.Rectangle(0, 0, self._textarea_rect.width - 20, len(self._wrapped_lines) * LINE_HEIGHT)
     self._scroll_panel = GuiScrollPanel(show_vertical_scroll_bar=True)
+    self._scroll_panel._offset.y = -max(self._content_rect.height - self._textarea_rect.height, 0)
 
   def render(self):
     scroll = self._scroll_panel.handle_scroll(self._textarea_rect, self._content_rect)
@@ -45,22 +60,32 @@ class TextWindow:
       position = rl.Vector2(self._textarea_rect.x + scroll.x, self._textarea_rect.y + scroll.y + i * LINE_HEIGHT)
       if position.y + LINE_HEIGHT < self._textarea_rect.y or position.y > self._textarea_rect.y + self._textarea_rect.height:
         continue
-      rl.draw_text_ex(gui_app.font(), line.strip(), position, FONT_SIZE, 0, rl.WHITE)
+      rl.draw_text_ex(gui_app.font(), line, position, FONT_SIZE, 0, rl.WHITE)
     rl.end_scissor_mode()
 
-    button_bounds = rl.Rectangle(gui_app.width - MARGIN - BUTTON_SIZE.x, gui_app.height - MARGIN - BUTTON_SIZE.y, BUTTON_SIZE.x, BUTTON_SIZE.y)
-    ret = gui_button(button_bounds, "Reboot", button_style=ButtonStyle.TRANSPARENT)
+    button_bounds = rl.Rectangle(gui_app.width - MARGIN - BUTTON_SIZE.x - SPACING, gui_app.height - MARGIN - BUTTON_SIZE.y, BUTTON_SIZE.x, BUTTON_SIZE.y)
+    ret = gui_button(button_bounds, "Exit" if PC else "Reboot", button_style=ButtonStyle.TRANSPARENT)
     if ret:
-      HARDWARE.reboot()
+      if PC:
+        gui_app.request_close()
+      else:
+        HARDWARE.reboot()
     return ret
 
 
-def show_text_in_window(text: str):
-  gui_app.init_window("Text")
-  text_window = TextWindow(text)
-  for _ in gui_app.render():
-    text_window.render()
+class TextWindow(BaseWindow[TextWindowRenderer]):
+  def __init__(self, text: str):
+    self._text = text
+    super().__init__("Text")
+
+  def _create_renderer(self):
+    return TextWindowRenderer(self._text)
+
+  def wait_for_exit(self):
+    while self._thread.is_alive():
+      time.sleep(0.01)
 
 
 if __name__ == "__main__":
-  show_text_in_window(DEMO_TEXT)
+  with TextWindow(DEMO_TEXT):
+    time.sleep(5)

system/ui/updater.py

@@ -0,0 +1,171 @@
+#!/usr/bin/env python3
+import sys
+import subprocess
+import threading
+import pyray as rl
+from enum import IntEnum
+
+from openpilot.system.hardware import HARDWARE
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.button import gui_button, ButtonStyle
+from openpilot.system.ui.lib.label import gui_text_box, gui_label
+from openpilot.system.ui.lib.wifi_manager import WifiManagerWrapper
+from openpilot.system.ui.widgets.network import WifiManagerUI
+
+
+# Constants
+MARGIN = 50
+BUTTON_HEIGHT = 160
+BUTTON_WIDTH = 400
+PROGRESS_BAR_HEIGHT = 72
+TITLE_FONT_SIZE = 80
+BODY_FONT_SIZE = 65
+BACKGROUND_COLOR = rl.BLACK
+PROGRESS_BG_COLOR = rl.Color(41, 41, 41, 255)
+PROGRESS_COLOR = rl.Color(54, 77, 239, 255)
+
+
+class Screen(IntEnum):
+  PROMPT = 0
+  WIFI = 1
+  PROGRESS = 2
+
+
+class Updater:
+  def __init__(self, updater_path, manifest_path):
+    self.updater = updater_path
+    self.manifest = manifest_path
+    self.current_screen = Screen.PROMPT
+
+    self.progress_value = 0
+    self.progress_text = "Loading..."
+    self.show_reboot_button = False
+    self.process = None
+    self.update_thread = None
+    self.wifi_manager = WifiManagerWrapper()
+    self.wifi_manager_ui = WifiManagerUI(self.wifi_manager)
+
+  def install_update(self):
+    self.current_screen = Screen.PROGRESS
+    self.progress_value = 0
+    self.progress_text = "Downloading..."
+    self.show_reboot_button = False
+
+    # Start the update process in a separate thread
+    self.update_thread = threading.Thread(target=self._run_update_process)
+    self.update_thread.daemon = True
+    self.update_thread.start()
+
+  def _run_update_process(self):
+    # TODO: just import it and run in a thread without a subprocess
+    cmd = [self.updater, "--swap", self.manifest]
+    self.process = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE,
+                                   text=True, bufsize=1, universal_newlines=True)
+
+    for line in self.process.stdout:
+      parts = line.strip().split(":")
+      if len(parts) == 2:
+        self.progress_text = parts[0]
+        try:
+          self.progress_value = int(float(parts[1]))
+        except ValueError:
+          pass
+
+    exit_code = self.process.wait()
+    if exit_code == 0:
+      HARDWARE.reboot()
+    else:
+      self.progress_text = "Update failed"
+      self.show_reboot_button = True
+
+  def render_prompt_screen(self):
+    # Title
+    title_rect = rl.Rectangle(MARGIN + 50, 250, gui_app.width - MARGIN * 2 - 100, TITLE_FONT_SIZE)
+    gui_label(title_rect, "Update Required", TITLE_FONT_SIZE, font_weight=FontWeight.BOLD)
+
+    # Description
+    desc_text = ("An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. " +
+                "The download size is approximately 1GB.")
+
+    desc_rect = rl.Rectangle(MARGIN + 50, 250 + TITLE_FONT_SIZE + 75, gui_app.width - MARGIN * 2 - 100, BODY_FONT_SIZE * 3)
+    gui_text_box(desc_rect, desc_text, BODY_FONT_SIZE)
+
+    # Buttons at the bottom
+    button_y = gui_app.height - MARGIN - BUTTON_HEIGHT
+    button_width = (gui_app.width - MARGIN * 3) // 2
+
+    # WiFi button
+    wifi_button_rect = rl.Rectangle(MARGIN, button_y, button_width, BUTTON_HEIGHT)
+    if gui_button(wifi_button_rect, "Connect to Wi-Fi"):
+      self.current_screen = Screen.WIFI
+      return  # Return to avoid processing other buttons after screen change
+
+    # Install button
+    install_button_rect = rl.Rectangle(MARGIN * 2 + button_width, button_y, button_width, BUTTON_HEIGHT)
+    if gui_button(install_button_rect, "Install", button_style=ButtonStyle.PRIMARY):
+      self.install_update()
+      return  # Return to avoid further processing after action
+
+  def render_wifi_screen(self):
+    # Draw the Wi-Fi manager UI
+    wifi_rect = rl.Rectangle(MARGIN + 50, MARGIN, gui_app.width - MARGIN * 2 - 100, gui_app.height - MARGIN * 2 - BUTTON_HEIGHT - 20)
+    self.wifi_manager_ui.render(wifi_rect)
+    if self.wifi_manager_ui.require_full_screen:
+      return
+
+    back_button_rect = rl.Rectangle(MARGIN, gui_app.height - MARGIN - BUTTON_HEIGHT, BUTTON_WIDTH, BUTTON_HEIGHT)
+    if gui_button(back_button_rect, "Back"):
+      self.current_screen = Screen.PROMPT
+      return  # Return to avoid processing other interactions after screen change
+
+  def render_progress_screen(self):
+    title_rect = rl.Rectangle(MARGIN + 100, 330, gui_app.width - MARGIN * 2 - 200, 100)
+    gui_label(title_rect, self.progress_text, 90, font_weight=FontWeight.SEMI_BOLD)
+
+    # Progress bar
+    bar_rect = rl.Rectangle(MARGIN + 100, 330 + 100 + 100, gui_app.width - MARGIN * 2 - 200, PROGRESS_BAR_HEIGHT)
+    rl.draw_rectangle_rounded(bar_rect, 0.5, 10, PROGRESS_BG_COLOR)
+
+    # Calculate the width of the progress chunk
+    progress_width = (bar_rect.width * self.progress_value) / 100
+    if progress_width > 0:
+      progress_rect = rl.Rectangle(bar_rect.x, bar_rect.y, progress_width, bar_rect.height)
+      rl.draw_rectangle_rounded(progress_rect, 0.5, 10, PROGRESS_COLOR)
+
+    # Show reboot button if needed
+    if self.show_reboot_button:
+      reboot_rect = rl.Rectangle(MARGIN + 100, gui_app.height - MARGIN - BUTTON_HEIGHT, BUTTON_WIDTH, BUTTON_HEIGHT)
+      if gui_button(reboot_rect, "Reboot"):
+        # Return True to signal main loop to exit before rebooting
+        HARDWARE.reboot()
+        return
+
+  def render(self):
+    if self.current_screen == Screen.PROMPT:
+      self.render_prompt_screen()
+    elif self.current_screen == Screen.WIFI:
+      self.render_wifi_screen()
+    elif self.current_screen == Screen.PROGRESS:
+      self.render_progress_screen()
+
+
+def main():
+  if len(sys.argv) < 3:
+    print("Usage: updater.py <updater_path> <manifest_path>")
+    sys.exit(1)
+
+  updater_path = sys.argv[1]
+  manifest_path = sys.argv[2]
+
+  try:
+    gui_app.init_window("System Update")
+    updater = Updater(updater_path, manifest_path)
+    for _ in gui_app.render():
+      updater.render()
+  finally:
+    # Make sure we clean up even if there's an error
+    gui_app.close()
+
+
+if __name__ == "__main__":
+  main()

system/ui/widgets/cameraview.py

@@ -0,0 +1,87 @@
+import pyray as rl
+from msgq.visionipc import VisionIpcClient, VisionStreamType
+from openpilot.system.ui.lib.application import gui_app
+
+FRAME_FRAGMENT_SHADER = """
+#version 330 core
+in vec2 fragTexCoord; uniform sampler2D texture0, texture1; out vec4 fragColor;
+void main() {
+  float y = texture(texture0, fragTexCoord).r;
+  vec2 uv = texture(texture1, fragTexCoord).ra - 0.5;
+  fragColor = vec4(y + 1.402*uv.y, y - 0.344*uv.x - 0.714*uv.y, y + 1.772*uv.x, 1.0);
+}"""
+
+
+class CameraView:
+  def __init__(self, name: str, stream_type: VisionStreamType):
+    self.client = VisionIpcClient(name, stream_type, False)
+    self.shader = rl.load_shader_from_memory(rl.ffi.NULL, FRAME_FRAGMENT_SHADER)
+    self.texture_y: rl.Texture | None = None
+    self.texture_uv: rl.Texture | None = None
+    self.frame = None
+
+  def close(self):
+    self._clear_textures()
+    if self.shader and self.shader.id:
+      rl.unload_shader(self.shader)
+
+  def render(self, rect: rl.Rectangle):
+    if not self._ensure_connection():
+      return
+
+    buffer = self.client.recv(timeout_ms=0)
+    self.frame = buffer if buffer else self.frame
+    if not self.frame or not self.texture_y or not self.texture_uv:
+      return
+
+    y_data = self.frame.data[: self.frame.uv_offset]
+    uv_data = self.frame.data[self.frame.uv_offset :]
+
+    rl.update_texture(self.texture_y, rl.ffi.cast("void *", y_data.ctypes.data))
+    rl.update_texture(self.texture_uv, rl.ffi.cast("void *", uv_data.ctypes.data))
+
+    # Calculate scaling to maintain aspect ratio
+    scale = min(rect.width / self.frame.width, rect.height / self.frame.height)
+    x_offset = rect.x + (rect.width - (self.frame.width * scale)) / 2
+    y_offset = rect.y + (rect.height - (self.frame.height * scale)) / 2
+    src_rect = rl.Rectangle(0, 0, float(self.frame.width), float(self.frame.height))
+    dst_rect = rl.Rectangle(x_offset, y_offset, self.frame.width * scale, self.frame.height * scale)
+
+    rl.begin_shader_mode(self.shader)
+    rl.set_shader_value_texture(self.shader, rl.get_shader_location(self.shader, "texture1"), self.texture_uv)
+    rl.draw_texture_pro(self.texture_y, src_rect, dst_rect, rl.Vector2(0, 0), 0.0, rl.WHITE)
+    rl.end_shader_mode()
+
+  def _ensure_connection(self) -> bool:
+    if not self.client.is_connected():
+      self.frame = None
+      if not self.client.connect(False) or not self.client.num_buffers:
+        return False
+
+      self._clear_textures()
+      self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride),
+        int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE))
+      self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2),
+        int(self.client.height // 2), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA))
+    return True
+
+  def _clear_textures(self):
+    if self.texture_y and self.texture_y.id:
+      rl.unload_texture(self.texture_y)
+    if self.texture_uv and self.texture_uv.id:
+      rl.unload_texture(self.texture_uv)
+
+if __name__ == "__main__":
+  gui_app.init_window("watch3")
+  road_camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD)
+  driver_camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER)
+  wide_road_camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD)
+  try:
+    for _ in gui_app.render():
+      road_camera_view.render(rl.Rectangle(gui_app.width // 4, 0, gui_app.width // 2, gui_app.height // 2))
+      driver_camera_view.render(rl.Rectangle(0, gui_app.height // 2, gui_app.width // 2, gui_app.height // 2))
+      wide_road_camera_view.render(rl.Rectangle(gui_app.width // 2, gui_app.height // 2, gui_app.width // 2, gui_app.height // 2))
+  finally:
+    road_camera_view.close()
+    driver_camera_view.close()
+    wide_road_camera_view.close()

system/ui/widgets/confirm_dialog.py

@@ -1,4 +1,5 @@
 import pyray as rl
+from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.button import gui_button, ButtonStyle
 from openpilot.system.ui.lib.label import gui_text_box
 
@@ -11,10 +12,9 @@ TEXT_AREA_HEIGHT_REDUCTION = 200
 BACKGROUND_COLOR = rl.Color(27, 27, 27, 255)
 
 
-def confirm_dialog(rect: rl.Rectangle, message: str, confirm_text: str, cancel_text: str = "Cancel") -> int:
-  # Calculate dialog position and size, centered within the parent rectangle
-  dialog_x = rect.x + (rect.width - DIALOG_WIDTH) / 2
-  dialog_y = rect.y + (rect.height - DIALOG_HEIGHT) / 2
+def confirm_dialog(message: str, confirm_text: str, cancel_text: str = "Cancel") -> int:
+  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)
 
   # Calculate button positions at the bottom of the dialog
@@ -27,13 +27,7 @@ def confirm_dialog(rect: rl.Rectangle, message: str, confirm_text: str, cancel_t
   yes_button = rl.Rectangle(yes_button_x, button_y, button_width, BUTTON_HEIGHT)
 
   # Draw the dialog background
-  rl.draw_rectangle(
-    int(dialog_rect.x),
-    int(dialog_rect.y),
-    int(dialog_rect.width),
-    int(dialog_rect.height),
-    BACKGROUND_COLOR,
-  )
+  rl.draw_rectangle_rec(dialog_rect, BACKGROUND_COLOR)
 
   # Draw the message in the dialog, centered
   text_rect = rl.Rectangle(dialog_rect.x, dialog_rect.y, dialog_rect.width, dialog_rect.height - TEXT_AREA_HEIGHT_REDUCTION)

system/ui/widgets/keyboard.py

@@ -1,8 +1,11 @@
 import pyray as rl
+from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.button import gui_button
+from openpilot.system.ui.lib.inputbox import InputBox
 from openpilot.system.ui.lib.label import gui_label
 
 # Constants for special keys
+CONTENT_MARGIN = 50
 BACKSPACE_KEY = "<-"
 ENTER_KEY = "Enter"
 SPACE_KEY = "  "
@@ -42,27 +45,29 @@ keyboard_layouts = {
 
 
 class Keyboard:
-  def __init__(self, max_text_size: int = 255):
+  def __init__(self, max_text_size: int = 255, min_text_size: int = 0):
     self._layout = keyboard_layouts["lowercase"]
-    self._input_text = ""
     self._max_text_size = max_text_size
+    self._min_text_size = min_text_size
+    self._input_box = InputBox(max_text_size)
 
   @property
-  def text(self) -> str:
-    return self._input_text
+  def text(self):
+    return self._input_box.text
 
   def clear(self):
-    self._input_text = ""
+    self._input_box.clear()
 
-  def render(self, rect, title, sub_title):
+  def render(self, title: str, sub_title: str):
+    rect = rl.Rectangle(CONTENT_MARGIN, CONTENT_MARGIN, gui_app.width - 2 * CONTENT_MARGIN, gui_app.height - 2 * CONTENT_MARGIN)
     gui_label(rl.Rectangle(rect.x, rect.y, rect.width, 95), title, 90)
     gui_label(rl.Rectangle(rect.x, rect.y + 95, rect.width, 60), sub_title, 55, rl.GRAY)
     if gui_button(rl.Rectangle(rect.x + rect.width - 300, rect.y, 300, 100), "Cancel"):
-      return -1
+      self.clear()
+      return 0
 
     # Text box for input
-    rl.gui_text_box(rl.Rectangle(rect.x, rect.y + 160, rect.width, 100), self._input_text, self._max_text_size, True)
-
+    self._input_box.render(rl.Rectangle(rect.x, rect.y + 160, rect.width, 100))
     h_space, v_space = 15, 15
     row_y_start = rect.y + 300  # Starting Y position for the first row
     key_height = (rect.height - 300 - 3 * v_space) / 4
@@ -81,13 +86,14 @@ class Keyboard:
         key_rect = rl.Rectangle(start_x, row_y_start + row * (key_height + v_space), new_width, key_height)
         start_x += new_width
 
-        if gui_button(key_rect, key):
+        is_enabled = key != ENTER_KEY or len(self._input_box.text) >= self._min_text_size
+        if gui_button(key_rect, key, is_enabled=is_enabled):
           if key == ENTER_KEY:
             return 1
           else:
             self.handle_key_press(key)
 
-    return 0
+    return -1
 
   def handle_key_press(self, key):
     if key in (SHIFT_DOWN_KEY, ABC_KEY):
@@ -98,7 +104,21 @@ class Keyboard:
       self._layout = keyboard_layouts["numbers"]
     elif key == SYMBOL_KEY:
       self._layout = keyboard_layouts["specials"]
-    elif key == BACKSPACE_KEY and len(self._input_text) > 0:
-      self._input_text = self._input_text[:-1]
-    elif key != BACKSPACE_KEY and len(self._input_text) < self._max_text_size:
-      self._input_text += key
+    elif key == BACKSPACE_KEY:
+      self._input_box.delete_char_before_cursor()
+    else:
+      self._input_box.add_char_at_cursor(key)
+
+
+if __name__ == "__main__":
+  gui_app.init_window("Keyboard")
+  keyboard = Keyboard(min_text_size=8)
+  for _ in gui_app.render():
+    result = keyboard.render("Keyboard", "Type here")
+    if result == 1:
+      print(f"You typed: {keyboard.text}")
+      gui_app.request_close()
+    elif result == 0:
+      print("Canceled")
+      gui_app.request_close()
+  gui_app.close()

system/ui/widgets/network.py

@@ -0,0 +1,194 @@
+from dataclasses import dataclass
+from typing import Literal
+
+import pyray as rl
+from openpilot.system.ui.lib.wifi_manager import NetworkInfo, WifiManagerCallbacks, WifiManagerWrapper
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.button import gui_button
+from openpilot.system.ui.lib.label import gui_label
+from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
+from openpilot.system.ui.widgets.keyboard import Keyboard
+from openpilot.system.ui.widgets.confirm_dialog import confirm_dialog
+
+NM_DEVICE_STATE_NEED_AUTH = 60
+MIN_PASSWORD_LENGTH = 8
+MAX_PASSWORD_LENGTH = 64
+ITEM_HEIGHT = 160
+
+
+@dataclass
+class StateIdle:
+  action: Literal["idle"] = "idle"
+
+@dataclass
+class StateConnecting:
+  network: NetworkInfo
+  action: Literal["connecting"] = "connecting"
+
+@dataclass
+class StateNeedsAuth:
+  network: NetworkInfo
+  action: Literal["needs_auth"] = "needs_auth"
+
+@dataclass
+class StateShowForgetConfirm:
+  network: NetworkInfo
+  action: Literal["show_forget_confirm"] = "show_forget_confirm"
+
+@dataclass
+class StateForgetting:
+  network: NetworkInfo
+  action: Literal["forgetting"] = "forgetting"
+
+UIState = StateIdle | StateConnecting | StateNeedsAuth | StateShowForgetConfirm | StateForgetting
+
+
+class WifiManagerUI:
+  def __init__(self, wifi_manager: WifiManagerWrapper):
+    self.state: UIState = StateIdle()
+    self.btn_width = 200
+    self.scroll_panel = GuiScrollPanel()
+    self.keyboard = Keyboard(max_text_size=MAX_PASSWORD_LENGTH, min_text_size=MIN_PASSWORD_LENGTH)
+
+    self._networks: list[NetworkInfo] = []
+
+    self.wifi_manager = wifi_manager
+    self.wifi_manager.set_callbacks(WifiManagerCallbacks(self._on_need_auth, self._on_activated, self._on_forgotten, self._on_network_updated))
+    self.wifi_manager.start()
+    self.wifi_manager.connect()
+
+  def render(self, rect: rl.Rectangle):
+    if not self._networks:
+      gui_label(rect, "Scanning Wi-Fi networks...", 72, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
+      return
+
+    match self.state:
+      case StateNeedsAuth(network):
+        result = self.keyboard.render("Enter password", f"for {network.ssid}")
+        if result == 1:
+          password = self.keyboard.text
+          self.keyboard.clear()
+
+          if len(password) >= MIN_PASSWORD_LENGTH:
+            self.connect_to_network(network, password)
+        elif result == 0:
+          self.state = StateIdle()
+
+      case StateShowForgetConfirm(network):
+        result = confirm_dialog(f'Forget Wi-Fi Network "{network.ssid}"?', "Forget")
+        if result == 1:
+          self.forget_network(network)
+        elif result == 0:
+          self.state = StateIdle()
+
+      case _:
+        self._draw_network_list(rect)
+
+  @property
+  def require_full_screen(self) -> bool:
+    """Check if the WiFi UI requires exclusive full-screen rendering."""
+    return isinstance(self.state, (StateNeedsAuth, StateShowForgetConfirm))
+
+  def _draw_network_list(self, rect: rl.Rectangle):
+    content_rect = rl.Rectangle(rect.x, rect.y, rect.width, len(self._networks) * ITEM_HEIGHT)
+    offset = self.scroll_panel.handle_scroll(rect, content_rect)
+    clicked = self.scroll_panel.is_click_valid()
+
+    rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height))
+    for i, network in enumerate(self._networks):
+      y_offset = rect.y + i * ITEM_HEIGHT + offset.y
+      item_rect = rl.Rectangle(rect.x, y_offset, rect.width, ITEM_HEIGHT)
+      if not rl.check_collision_recs(item_rect, rect):
+        continue
+
+      self._draw_network_item(item_rect, network, clicked)
+      if i < len(self._networks) - 1:
+        line_y = int(item_rect.y + item_rect.height - 1)
+        rl.draw_line(int(item_rect.x), int(line_y), int(item_rect.x + item_rect.width), line_y, rl.LIGHTGRAY)
+
+    rl.end_scissor_mode()
+
+  def _draw_network_item(self, rect, network: NetworkInfo, clicked: bool):
+    label_rect = rl.Rectangle(rect.x, rect.y, rect.width - self.btn_width * 2, ITEM_HEIGHT)
+    state_rect = rl.Rectangle(rect.x + rect.width - self.btn_width * 2 - 150, rect.y, 300, ITEM_HEIGHT)
+
+    gui_label(label_rect, network.ssid, 55)
+
+    status_text = ""
+    if network.is_connected:
+      status_text = "Connected"
+    match self.state:
+      case StateConnecting(network=connecting):
+        if connecting.ssid == network.ssid:
+          status_text = "CONNECTING..."
+      case StateForgetting(network=forgetting):
+        if forgetting.ssid == network.ssid:
+          status_text = "FORGETTING..."
+    if status_text:
+      rl.gui_label(state_rect, status_text)
+
+    # If the network is saved, show the "Forget" button
+    if network.is_saved:
+      forget_btn_rect = rl.Rectangle(
+        rect.x + rect.width - self.btn_width,
+        rect.y + (ITEM_HEIGHT - 80) / 2,
+        self.btn_width,
+        80,
+      )
+      if isinstance(self.state, StateIdle) and gui_button(forget_btn_rect, "Forget") and clicked:
+        self.state = StateShowForgetConfirm(network)
+
+    if isinstance(self.state, StateIdle) and rl.check_collision_point_rec(rl.get_mouse_position(), label_rect) and clicked:
+      if not network.is_saved:
+        self.state = StateNeedsAuth(network)
+      else:
+        self.connect_to_network(network)
+
+  def connect_to_network(self, network: NetworkInfo, password=''):
+    self.state = StateConnecting(network)
+    if network.is_saved and not password:
+      self.wifi_manager.activate_connection(network.ssid)
+    else:
+      self.wifi_manager.connect_to_network(network.ssid, password)
+
+  def forget_network(self, network: NetworkInfo):
+    self.state = StateForgetting(network)
+    network.is_saved = False
+    self.wifi_manager.forget_connection(network.ssid)
+
+  def _on_network_updated(self, networks: list[NetworkInfo]):
+    self._networks = networks
+
+  def _on_need_auth(self, ssid):
+    match self.state:
+      case StateConnecting(ssid):
+        self.state = StateNeedsAuth(ssid)
+      case _:
+        # Find network by SSID
+        network = next((n for n in self.wifi_manager.networks if n.ssid == ssid), None)
+        if network:
+          self.state = StateNeedsAuth(network)
+
+  def _on_activated(self):
+    if isinstance(self.state, StateConnecting):
+      self.state = StateIdle()
+
+  def _on_forgotten(self):
+    if isinstance(self.state, StateForgetting):
+      self.state = StateIdle()
+
+
+def main():
+  gui_app.init_window("Wi-Fi Manager")
+  wifi_manager = WifiManagerWrapper()
+  wifi_ui = WifiManagerUI(wifi_manager)
+
+  for _ in gui_app.render():
+    wifi_ui.render(rl.Rectangle(50, 50, gui_app.width - 100, gui_app.height - 100))
+
+  wifi_manager.shutdown()
+  gui_app.close()
+
+
+if __name__ == "__main__":
+  main()