From 2444970eee67d6b742acf267119c41bdf06b2956 Mon Sep 17 00:00:00 2001
From: thftgr <thftgr@gmail.com>
Date: Fri, 26 Jun 2026 21:11:35 +0900
Subject: [PATCH 01/61] restore c3

---
 system/camerad/SConscript                    |   2 +-
 system/camerad/cameras/spectra.cc            |   3 +-
 system/camerad/sensors/ar0231.cc             | 136 +++++++++++++++++++
 system/camerad/sensors/ar0231_registers.h    | 121 +++++++++++++++++
 system/camerad/sensors/sensor.h              |   9 ++
 system/hardware/base.h                       |   1 +
 system/hardware/pc/hardware.h                |   8 ++
 system/hardware/tici/amplifier.py            |  92 +++++++++----
 system/hardware/tici/hardware.h              |   7 +
 system/hardware/tici/hardware.py             |   4 +-
 system/hardware/tici/tests/test_amplifier.py |   5 +-
 11 files changed, 354 insertions(+), 34 deletions(-)
 create mode 100644 system/camerad/sensors/ar0231.cc
 create mode 100644 system/camerad/sensors/ar0231_registers.h

diff --git a/system/camerad/SConscript b/system/camerad/SConscript
index c28330b32c4..7f97590fc6f 100644
--- a/system/camerad/SConscript
+++ b/system/camerad/SConscript
@@ -4,7 +4,7 @@ libs = [common, messaging, visionipc]
 
 if arch != "Darwin":
   camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/spectra.cc',
-                           'cameras/cdm.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc'])
+                           'cameras/cdm.cc', 'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc'])
   env.Program('camerad', ['main.cc', camera_obj], LIBS=libs)
 
 if GetOption("extras") and arch == "x86_64":
diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index 0b5f5327f58..84de19aa93f 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -1046,7 +1046,8 @@ bool SpectraCamera::openSensor() {
   };
 
   // Figure out which sensor we have
-  if (!init_sensor_lambda(new OS04C10) &&
+  if (!init_sensor_lambda(new AR0231) &&
+      !init_sensor_lambda(new OS04C10) &&
       !init_sensor_lambda(new OX03C10)) {
     LOGE("** sensor %d FAILED bringup, disabling", cc.camera_num);
     enabled = false;
diff --git a/system/camerad/sensors/ar0231.cc b/system/camerad/sensors/ar0231.cc
new file mode 100644
index 00000000000..e4ae29f079c
--- /dev/null
+++ b/system/camerad/sensors/ar0231.cc
@@ -0,0 +1,136 @@
+#include <cassert>
+#include <cmath>
+
+#include "system/camerad/sensors/sensor.h"
+
+namespace {
+
+const size_t AR0231_REGISTERS_HEIGHT = 2;
+// TODO: this extra height is universal and doesn't apply per camera
+const size_t AR0231_STATS_HEIGHT = 2 + 8;
+
+const float sensor_analog_gains_AR0231[] = {
+    1.0 / 8.0, 2.0 / 8.0, 2.0 / 7.0, 3.0 / 7.0,  // 0, 1, 2, 3
+    3.0 / 6.0, 4.0 / 6.0, 4.0 / 5.0, 5.0 / 5.0,  // 4, 5, 6, 7
+    5.0 / 4.0, 6.0 / 4.0, 6.0 / 3.0, 7.0 / 3.0,  // 8, 9, 10, 11
+    7.0 / 2.0, 8.0 / 2.0, 8.0 / 1.0};            // 12, 13, 14, 15 = bypass
+
+}  // namespace
+
+AR0231::AR0231() {
+  image_sensor = cereal::FrameData::ImageSensor::AR0231;
+  bayer_pattern = CAM_ISP_PATTERN_BAYER_GRGRGR;
+  pixel_size_mm = 0.003;
+  data_word = true;
+  frame_width = 1928;
+  frame_height = 1208;
+  frame_stride = (frame_width * 12 / 8) + 4;
+  extra_height = AR0231_REGISTERS_HEIGHT + AR0231_STATS_HEIGHT;
+
+  registers_offset = 0;
+  frame_offset = AR0231_REGISTERS_HEIGHT;
+  stats_offset = AR0231_REGISTERS_HEIGHT + frame_height;
+
+  start_reg_array.assign(std::begin(start_reg_array_ar0231), std::end(start_reg_array_ar0231));
+  init_reg_array.assign(std::begin(init_array_ar0231), std::end(init_array_ar0231));
+  probe_reg_addr = 0x3000;
+  probe_expected_data = 0x354;
+  bits_per_pixel = 12;
+  mipi_format = CAM_FORMAT_MIPI_RAW_12;
+  frame_data_type = 0x12;  // Changing stats to 0x2C doesn't work, so change pixels to 0x12 instead
+  mclk_frequency = 19200000; //Hz
+
+  readout_time_ns = 22850000;
+
+  dc_gain_factor = 2.5;
+  dc_gain_min_weight = 0;
+  dc_gain_max_weight = 1;
+  dc_gain_on_grey = 0.2;
+  dc_gain_off_grey = 0.3;
+  exposure_time_min = 2;       // with HDR, fastest ss
+  exposure_time_max = 0x0855;  // with HDR, slowest ss, 40ms
+  analog_gain_min_idx = 0x1;   // 0.25x
+  analog_gain_rec_idx = 0x6;   // 0.8x
+  analog_gain_max_idx = 0xD;   // 4.0x
+  analog_gain_cost_delta = 0;
+  analog_gain_cost_low = 0.1;
+  analog_gain_cost_high = 5.0;
+  for (int i = 0; i <= analog_gain_max_idx; i++) {
+    sensor_analog_gains[i] = sensor_analog_gains_AR0231[i];
+  }
+  min_ev = exposure_time_min * sensor_analog_gains[analog_gain_min_idx];
+  max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx];
+  target_grey_factor = 1.0;
+
+  black_level = 168;
+  color_correct_matrix = {
+    0x000000af, 0x00000ff9, 0x00000fd8,
+    0x00000fbc, 0x000000bb, 0x00000009,
+    0x00000fb6, 0x00000fe0, 0x000000ea,
+  };
+  for (int i = 0; i < 65; i++) {
+    float fx = i / 64.0;
+    const float gamma_k = 0.75;
+    const float gamma_b = 0.125;
+    const float mp = 0.01; // ideally midpoint should be adaptive
+    const float rk = 9 - 100*mp;
+    // poly approximation for s curve
+    fx = (fx > mp) ?
+      ((rk * (fx-mp) * (1-(gamma_k*mp+gamma_b)) * (1+1/(rk*(1-mp))) / (1+rk*(fx-mp))) + gamma_k*mp + gamma_b) :
+      ((rk * (fx-mp) * (gamma_k*mp+gamma_b) * (1+1/(rk*mp)) / (1-rk*(fx-mp))) + gamma_k*mp + gamma_b);
+    gamma_lut_rgb.push_back((uint32_t)(fx*1023.0 + 0.5));
+  }
+  prepare_gamma_lut();
+  linearization_lut = {
+    0x02000000, 0x02000000, 0x02000000, 0x02000000,
+    0x020007ff, 0x020007ff, 0x020007ff, 0x020007ff,
+    0x02000bff, 0x02000bff, 0x02000bff, 0x02000bff,
+    0x020017ff, 0x020017ff, 0x020017ff, 0x020017ff,
+    0x02001bff, 0x02001bff, 0x02001bff, 0x02001bff,
+    0x020023ff, 0x020023ff, 0x020023ff, 0x020023ff,
+    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
+    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
+    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
+  };
+  linearization_pts = {0x07ff0bff, 0x17ff1bff, 0x23ff3fff, 0x3fff3fff};
+  vignetting_lut = {
+    0x00eaa755, 0x00cf2679, 0x00bc05e0, 0x00acc566, 0x00a1450a, 0x009984cc, 0x0095a4ad, 0x009584ac, 0x009944ca, 0x00a0c506, 0x00ac0560, 0x00bb25d9, 0x00ce2671, 0x00e90748, 0x01112889, 0x014a2a51, 0x01984cc2,
+    0x00db06d8, 0x00c30618, 0x00afe57f, 0x00a0a505, 0x009524a9, 0x008d646b, 0x0089844c, 0x0089644b, 0x008d2469, 0x0094a4a5, 0x009fe4ff, 0x00af0578, 0x00c20610, 0x00d986cc, 0x00fda7ed, 0x01320990, 0x017aebd7,
+    0x00d1868c, 0x00baa5d5, 0x00a7853c, 0x009844c2, 0x008cc466, 0x0085a42d, 0x0083641b, 0x0083641b, 0x0085842c, 0x008c4462, 0x0097a4bd, 0x00a6c536, 0x00b9a5cd, 0x00d06683, 0x00f1678b, 0x01226913, 0x0167ab3d,
+    0x00cd0668, 0x00b625b1, 0x00a30518, 0x0093c49e, 0x00884442, 0x00830418, 0x0080e407, 0x0080c406, 0x0082e417, 0x0087c43e, 0x00932499, 0x00a22511, 0x00b525a9, 0x00cbe65f, 0x00eb0758, 0x011a68d3, 0x015daaed,
+    0x00cc4662, 0x00b565ab, 0x00a24512, 0x00930498, 0x0087843c, 0x0082a415, 0x00806403, 0x00806403, 0x00828414, 0x00870438, 0x00926493, 0x00a1850c, 0x00b465a3, 0x00cb2659, 0x00ea2751, 0x011928c9, 0x015c2ae1,
+    0x00cf667b, 0x00b885c4, 0x00a5652b, 0x009624b1, 0x008aa455, 0x00846423, 0x00822411, 0x00822411, 0x00844422, 0x008a2451, 0x009564ab, 0x00a48524, 0x00b785bc, 0x00ce4672, 0x00ee6773, 0x011e88f4, 0x0162eb17,
+    0x00d6c6b6, 0x00bf65fb, 0x00ac4562, 0x009d04e8, 0x0091848c, 0x0089c44e, 0x00862431, 0x00860430, 0x0089844c, 0x00910488, 0x009c64e3, 0x00ab655b, 0x00be65f3, 0x00d566ab, 0x00f847c2, 0x012b2959, 0x01726b93,
+    0x00e3e71f, 0x00ca0650, 0x00b705b8, 0x00a7a53d, 0x009c24e1, 0x009484a4, 0x00908484, 0x00908484, 0x009424a1, 0x009bc4de, 0x00a70538, 0x00b625b1, 0x00c90648, 0x00e26713, 0x0108e847, 0x013fe9ff, 0x018bcc5e,
+    0x00f807c0, 0x00d966cb, 0x00c5862c, 0x00b625b1, 0x00aaa555, 0x00a30518, 0x009f04f8, 0x009f04f8, 0x00a2a515, 0x00aa2551, 0x00b585ac, 0x00c4a625, 0x00d846c2, 0x00f647b2, 0x0121a90d, 0x015e4af2, 0x01b8cdc6,
+    0x011548aa, 0x00f1678b, 0x00d886c4, 0x00c86643, 0x00bce5e7, 0x00b545aa, 0x00b1658b, 0x00b1458a, 0x00b505a8, 0x00bc85e4, 0x00c7c63e, 0x00d786bc, 0x00efe77f, 0x0113489a, 0x0144ea27, 0x01888c44, 0x01fdcfee,
+    0x013e49f2, 0x0113e89f, 0x00f5a7ad, 0x00e0c706, 0x00d30698, 0x00cb665b, 0x00c7663b, 0x00c7663b, 0x00cb0658, 0x00d2a695, 0x00dfe6ff, 0x00f467a3, 0x01122891, 0x013be9df, 0x01750ba8, 0x01cfae7d, 0x025912c8,
+    0x01766bb3, 0x01446a23, 0x011fc8fe, 0x0105e82f, 0x00f467a3, 0x00e9874c, 0x00e46723, 0x00e44722, 0x00e92749, 0x00f3a79d, 0x0104c826, 0x011e48f2, 0x01424a12, 0x01738b9c, 0x01bf6dfb, 0x023611b0, 0x02ced676,
+    0x01cf8e7c, 0x01866c33, 0x015aaad5, 0x013ae9d7, 0x01250928, 0x011768bb, 0x0110a885, 0x01108884, 0x0116e8b7, 0x01242921, 0x0139a9cd, 0x0158eac7, 0x01840c20, 0x01cb0e58, 0x0233719b, 0x02b9d5ce, 0x03645b22,
+  };
+}
+
+std::vector<i2c_random_wr_payload> AR0231::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const {
+  uint16_t analog_gain_reg = 0xFF00 | (new_exp_g << 4) | new_exp_g;
+  return {
+    {0x3366, analog_gain_reg},
+    {0x3362, (uint16_t)(dc_gain_enabled ? 0x1 : 0x0)},
+    {0x3012, (uint16_t)exposure_time},
+  };
+}
+
+int AR0231::getSlaveAddress(int port) const {
+  assert(port >= 0 && port <= 2);
+  return (int[]){0x20, 0x30, 0x20}[port];
+}
+
+float AR0231::getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const {
+  // Cost of ev diff
+  float score = std::abs(desired_ev - (exp_t * exp_gain)) * 10;
+  // Cost of absolute gain
+  float m = exp_g_idx > analog_gain_rec_idx ? analog_gain_cost_high : analog_gain_cost_low;
+  score += std::abs(exp_g_idx - (int)analog_gain_rec_idx) * m;
+  // Cost of changing gain
+  score += std::abs(exp_g_idx - gain_idx) * (score + 1.0) / 10.0;
+  return score;
+}
diff --git a/system/camerad/sensors/ar0231_registers.h b/system/camerad/sensors/ar0231_registers.h
new file mode 100644
index 00000000000..e0872a673a0
--- /dev/null
+++ b/system/camerad/sensors/ar0231_registers.h
@@ -0,0 +1,121 @@
+#pragma once
+
+const struct i2c_random_wr_payload start_reg_array_ar0231[] = {{0x301A, 0x91C}};
+const struct i2c_random_wr_payload stop_reg_array_ar0231[] = {{0x301A, 0x918}};
+
+const struct i2c_random_wr_payload init_array_ar0231[] = {
+  {0x301A, 0x0018}, // RESET_REGISTER
+
+  // **NOTE**: if this is changed, readout_time_ns must be updated in the Sensor config
+
+  // CLOCK Settings
+  // input clock is 19.2 / 2 * 0x37 = 528 MHz
+  // pixclk is 528 / 6 = 88 MHz
+  // full roll time is 1000/(PIXCLK/(LINE_LENGTH_PCK*FRAME_LENGTH_LINES)) = 39.99 ms
+  // img  roll time is 1000/(PIXCLK/(LINE_LENGTH_PCK*Y_OUTPUT_CONTROL))   = 22.85 ms
+  {0x302A, 0x0006}, // VT_PIX_CLK_DIV
+  {0x302C, 0x0001}, // VT_SYS_CLK_DIV
+  {0x302E, 0x0002}, // PRE_PLL_CLK_DIV
+  {0x3030, 0x0037}, // PLL_MULTIPLIER
+  {0x3036, 0x000C}, // OP_PIX_CLK_DIV
+  {0x3038, 0x0001}, // OP_SYS_CLK_DIV
+
+  // FORMAT
+  {0x3040, 0xC000}, // READ_MODE
+  {0x3004, 0x0000}, // X_ADDR_START_
+  {0x3008, 0x0787}, // X_ADDR_END_
+  {0x3002, 0x0000}, // Y_ADDR_START_
+  {0x3006, 0x04B7}, // Y_ADDR_END_
+  {0x3032, 0x0000}, // SCALING_MODE
+  {0x30A2, 0x0001}, // X_ODD_INC_
+  {0x30A6, 0x0001}, // Y_ODD_INC_
+  {0x3402, 0x0788}, // X_OUTPUT_CONTROL
+  {0x3404, 0x04B8}, // Y_OUTPUT_CONTROL
+  {0x3064, 0x1982}, // SMIA_TEST
+  {0x30BA, 0x11F2}, // DIGITAL_CTRL
+
+  // Enable external trigger and disable GPIO outputs
+  {0x30CE, 0x0120}, // SLAVE_SH_SYNC_MODE | FRAME_START_MODE
+  {0x340A, 0xE0},   // GPIO3_INPUT_DISABLE | GPIO2_INPUT_DISABLE | GPIO1_INPUT_DISABLE
+  {0x340C, 0x802},  // GPIO_HIDRV_EN | GPIO0_ISEL=2
+
+  // Readout timing
+  {0x300C, 0x0672}, // LINE_LENGTH_PCK (valid for 3-exposure HDR)
+  {0x300A, 0x0855}, // FRAME_LENGTH_LINES
+  {0x3042, 0x0000}, // EXTRA_DELAY
+
+  // Readout Settings
+  {0x31AE, 0x0204}, // SERIAL_FORMAT, 4-lane MIPI
+  {0x31AC, 0x0C0C}, // DATA_FORMAT_BITS, 12 -> 12
+  {0x3342, 0x1212}, // MIPI_F1_PDT_EDT
+  {0x3346, 0x1212}, // MIPI_F2_PDT_EDT
+  {0x334A, 0x1212}, // MIPI_F3_PDT_EDT
+  {0x334E, 0x1212}, // MIPI_F4_PDT_EDT
+  {0x3344, 0x0011}, // MIPI_F1_VDT_VC
+  {0x3348, 0x0111}, // MIPI_F2_VDT_VC
+  {0x334C, 0x0211}, // MIPI_F3_VDT_VC
+  {0x3350, 0x0311}, // MIPI_F4_VDT_VC
+  {0x31B0, 0x0053}, // FRAME_PREAMBLE
+  {0x31B2, 0x003B}, // LINE_PREAMBLE
+  {0x301A, 0x001C}, // RESET_REGISTER
+
+  // Noise Corrections
+  {0x3092, 0x0C24}, // ROW_NOISE_CONTROL
+  {0x337A, 0x0C80}, // DBLC_SCALE0
+  {0x3370, 0x03B1}, // DBLC
+  {0x3044, 0x0400}, // DARK_CONTROL
+
+  // Enable temperature sensor
+  {0x30B4, 0x0007}, // TEMPSENS0_CTRL_REG
+  {0x30B8, 0x0007}, // TEMPSENS1_CTRL_REG
+
+  // Enable dead pixel correction using
+  // the 1D line correction scheme
+  {0x31E0, 0x0003},
+
+  // HDR Settings
+  {0x3082, 0x0004}, // OPERATION_MODE_CTRL
+  {0x3238, 0x0444}, // EXPOSURE_RATIO
+
+  {0x1008, 0x0361}, // FINE_INTEGRATION_TIME_MIN
+  {0x100C, 0x0589}, // FINE_INTEGRATION_TIME2_MIN
+  {0x100E, 0x07B1}, // FINE_INTEGRATION_TIME3_MIN
+  {0x1010, 0x0139}, // FINE_INTEGRATION_TIME4_MIN
+
+  // TODO: do these have to be lower than LINE_LENGTH_PCK?
+  {0x3014, 0x08CB}, // FINE_INTEGRATION_TIME_
+  {0x321E, 0x0894}, // FINE_INTEGRATION_TIME2
+
+  {0x31D0, 0x0000}, // COMPANDING, no good in 10 bit?
+  {0x33DA, 0x0000}, // COMPANDING
+  {0x318E, 0x0200}, // PRE_HDR_GAIN_EN
+
+  // DLO Settings
+  {0x3100, 0x4000}, // DLO_CONTROL0
+  {0x3280, 0x0CCC}, // T1 G1
+  {0x3282, 0x0CCC}, // T1 R
+  {0x3284, 0x0CCC}, // T1 B
+  {0x3286, 0x0CCC}, // T1 G2
+  {0x3288, 0x0FA0}, // T2 G1
+  {0x328A, 0x0FA0}, // T2 R
+  {0x328C, 0x0FA0}, // T2 B
+  {0x328E, 0x0FA0}, // T2 G2
+
+   // Initial Gains
+  {0x3022, 0x0001}, // GROUPED_PARAMETER_HOLD_
+  {0x3366, 0xFF77}, // ANALOG_GAIN (1x)
+
+  {0x3060, 0x3333}, // ANALOG_COLOR_GAIN
+
+  {0x3362, 0x0000}, // DC GAIN
+
+  {0x305A, 0x00F8}, // red gain
+  {0x3058, 0x0122}, // blue gain
+  {0x3056, 0x009A}, // g1 gain
+  {0x305C, 0x009A}, // g2 gain
+
+  {0x3022, 0x0000}, // GROUPED_PARAMETER_HOLD_
+
+  // Initial Integration Time
+  {0x3012, 0x0005},
+};
diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h
index 1a647d1528a..e10d8a493e1 100644
--- a/system/camerad/sensors/sensor.h
+++ b/system/camerad/sensors/sensor.h
@@ -10,6 +10,7 @@
 #include "media/cam_sensor.h"
 
 #include "cereal/gen/cpp/log.capnp.h"
+#include "system/camerad/sensors/ar0231_registers.h"
 #include "system/camerad/sensors/ox03c10_registers.h"
 #include "system/camerad/sensors/os04c10_registers.h"
 
@@ -87,6 +88,14 @@ class SensorInfo {
   };
 };
 
+class AR0231 : public SensorInfo {
+public:
+  AR0231();
+  std::vector<i2c_random_wr_payload> getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override;
+  float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override;
+  int getSlaveAddress(int port) const override;
+};
+
 class OX03C10 : public SensorInfo {
 public:
   OX03C10();
diff --git a/system/hardware/base.h b/system/hardware/base.h
index 3eded659acc..5088f5dfb05 100644
--- a/system/hardware/base.h
+++ b/system/hardware/base.h
@@ -22,6 +22,7 @@ class HardwareNone {
   }
 
   static void set_ir_power(int percentage) {}
+  static void config_cpu_rendering(bool) {}
 
   static bool PC() { return false; }
   static bool TICI() { return false; }
diff --git a/system/hardware/pc/hardware.h b/system/hardware/pc/hardware.h
index 71f58b188be..4a0b200a50d 100644
--- a/system/hardware/pc/hardware.h
+++ b/system/hardware/pc/hardware.h
@@ -11,4 +11,12 @@ class HardwarePC : public HardwareNone {
   static bool PC() { return true; }
   static bool TICI() { return util::getenv("TICI", 0) == 1; }
   static bool AGNOS() { return util::getenv("TICI", 0) == 1; }
+
+  static void config_cpu_rendering(bool offscreen) {
+    if (offscreen) {
+      setenv("QT_QPA_PLATFORM", "offscreen", 1);
+    }
+    setenv("__GLX_VENDOR_LIBRARY_NAME", "mesa", 1);
+    setenv("LP_NUM_THREADS", "0", 1);
+  }
 };
diff --git a/system/hardware/tici/amplifier.py b/system/hardware/tici/amplifier.py
index 09436e6ff46..ae5508c36ea 100755
--- a/system/hardware/tici/amplifier.py
+++ b/system/hardware/tici/amplifier.py
@@ -7,8 +7,23 @@
 # https://datasheets.maximintegrated.com/en/ds/MAX98089.pdf
 
 AmpConfig = namedtuple('AmpConfig', ['name', 'value', 'register', 'offset', 'mask'])
-
-CONFIG = [
+EQParams = namedtuple('EQParams', ['K', 'k1', 'k2', 'c1', 'c2'])
+
+def configs_from_eq_params(base, eq_params):
+  return [
+    AmpConfig("K (high)", (eq_params.K >> 8), base, 0, 0xFF),
+    AmpConfig("K (low)", (eq_params.K & 0xFF), base + 1, 0, 0xFF),
+    AmpConfig("k1 (high)", (eq_params.k1 >> 8), base + 2, 0, 0xFF),
+    AmpConfig("k1 (low)", (eq_params.k1 & 0xFF), base + 3, 0, 0xFF),
+    AmpConfig("k2 (high)", (eq_params.k2 >> 8), base + 4, 0, 0xFF),
+    AmpConfig("k2 (low)", (eq_params.k2 & 0xFF), base + 5, 0, 0xFF),
+    AmpConfig("c1 (high)", (eq_params.c1 >> 8), base + 6, 0, 0xFF),
+    AmpConfig("c1 (low)", (eq_params.c1 & 0xFF), base + 7, 0, 0xFF),
+    AmpConfig("c2 (high)", (eq_params.c2 >> 8), base + 8, 0, 0xFF),
+    AmpConfig("c2 (low)", (eq_params.c2 & 0xFF), base + 9, 0, 0xFF),
+  ]
+
+BASE_CONFIG = [
   AmpConfig("MCLK prescaler", 0b01, 0x10, 4, 0b00110000),
   AmpConfig("PM: enable speakers", 0b11, 0x4D, 4, 0b00110000),
   AmpConfig("PM: enable DACs", 0b11, 0x4D, 0, 0b00000011),
@@ -44,31 +59,47 @@
   AmpConfig("Enhanced volume smoothing disabled", 0b0, 0x49, 7, 0b10000000),
   AmpConfig("Volume adjustment smoothing disabled", 0b0, 0x49, 6, 0b01000000),
   AmpConfig("Zero-crossing detection disabled", 0b0, 0x49, 5, 0b00100000),
-
-  AmpConfig("Left speaker output from left DAC", 0b1, 0x2B, 0, 0b11111111),
-  AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111),
-  AmpConfig("Left Speaker Mixer Gain", 0b00, 0x2D, 0, 0b00000011),
-  AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100),
-  AmpConfig("Left speaker output volume", 0x17, 0x3D, 0, 0b00011111),
-  AmpConfig("Right speaker output volume", 0x17, 0x3E, 0, 0b00011111),
-
-  AmpConfig("DAI2 EQ enable", 0b0, 0x49, 1, 0b00000010),
-  AmpConfig("DAI2: DC blocking", 0b0, 0x20, 0, 0b00000001),
-  AmpConfig("ALC enable", 0b0, 0x43, 7, 0b10000000),
-  AmpConfig("DAI2 EQ attenuation", 0x2, 0x32, 0, 0b00001111),
-  AmpConfig("Excursion limiter upper corner freq", 0b001, 0x41, 4, 0b01110000),
-  AmpConfig("Excursion limiter threshold", 0b100, 0x42, 0, 0b00001111),
-  AmpConfig("Distortion limit (THDCLP)", 0x0, 0x46, 4, 0b11110000),
-  AmpConfig("Distortion limiter release time constant", 0b1, 0x46, 0, 0b00000001),
-  AmpConfig("Left DAC input mixer: DAI1 left", 0b0, 0x22, 7, 0b10000000),
-  AmpConfig("Left DAC input mixer: DAI1 right", 0b0, 0x22, 6, 0b01000000),
-  AmpConfig("Left DAC input mixer: DAI2 left", 0b1, 0x22, 5, 0b00100000),
-  AmpConfig("Left DAC input mixer: DAI2 right", 0b0, 0x22, 4, 0b00010000),
-  AmpConfig("Right DAC input mixer: DAI2 left", 0b0, 0x22, 1, 0b00000010),
-  AmpConfig("Right DAC input mixer: DAI2 right", 0b1, 0x22, 0, 0b00000001),
-  AmpConfig("Volume adjustment smoothing disabled", 0b1, 0x49, 6, 0b01000000),
 ]
 
+CONFIGS = {
+  "tici": [
+    AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111),
+    AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100),
+    AmpConfig("Right speaker output volume", 0x1c, 0x3E, 0, 0b00011111),
+    AmpConfig("DAI2 EQ enable", 0b1, 0x49, 1, 0b00000010),
+
+    *configs_from_eq_params(0x84, EQParams(0x274F, 0xC0FF, 0x3BF9, 0x0B3C, 0x1656)),
+    *configs_from_eq_params(0x8E, EQParams(0x1009, 0xC6BF, 0x2952, 0x1C97, 0x30DF)),
+    *configs_from_eq_params(0x98, EQParams(0x0F75, 0xCBE5, 0x0ED2, 0x2528, 0x3E42)),
+    *configs_from_eq_params(0xA2, EQParams(0x091F, 0x3D4C, 0xCE11, 0x1266, 0x2807)),
+    *configs_from_eq_params(0xAC, EQParams(0x0A9E, 0x3F20, 0xE573, 0x0A8B, 0x3A3B)),
+  ],
+  "tizi": [
+    AmpConfig("Left speaker output from left DAC", 0b1, 0x2B, 0, 0b11111111),
+    AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111),
+    AmpConfig("Left Speaker Mixer Gain", 0b00, 0x2D, 0, 0b00000011),
+    AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100),
+    AmpConfig("Left speaker output volume", 0x17, 0x3D, 0, 0b00011111),
+    AmpConfig("Right speaker output volume", 0x17, 0x3E, 0, 0b00011111),
+
+    AmpConfig("DAI2 EQ enable", 0b0, 0x49, 1, 0b00000010),
+    AmpConfig("DAI2: DC blocking", 0b0, 0x20, 0, 0b00000001),
+    AmpConfig("ALC enable", 0b0, 0x43, 7, 0b10000000),
+    AmpConfig("DAI2 EQ attenuation", 0x2, 0x32, 0, 0b00001111),
+    AmpConfig("Excursion limiter upper corner freq", 0b001, 0x41, 4, 0b01110000),
+    AmpConfig("Excursion limiter threshold", 0b100, 0x42, 0, 0b00001111),
+    AmpConfig("Distortion limit (THDCLP)", 0x0, 0x46, 4, 0b11110000),
+    AmpConfig("Distortion limiter release time constant", 0b1, 0x46, 0, 0b00000001),
+    AmpConfig("Left DAC input mixer: DAI1 left", 0b0, 0x22, 7, 0b10000000),
+    AmpConfig("Left DAC input mixer: DAI1 right", 0b0, 0x22, 6, 0b01000000),
+    AmpConfig("Left DAC input mixer: DAI2 left", 0b1, 0x22, 5, 0b00100000),
+    AmpConfig("Left DAC input mixer: DAI2 right", 0b0, 0x22, 4, 0b00010000),
+    AmpConfig("Right DAC input mixer: DAI2 left", 0b0, 0x22, 1, 0b00000010),
+    AmpConfig("Right DAC input mixer: DAI2 right", 0b1, 0x22, 0, 0b00000001),
+    AmpConfig("Volume adjustment smoothing disabled", 0b1, 0x49, 6, 0b01000000),
+  ],
+}
+
 class Amplifier:
   AMP_I2C_BUS = 0
   AMP_ADDRESS = 0x10
@@ -109,15 +140,20 @@ def set_configs(self, configs: list[AmpConfig]) -> bool:
   def set_global_shutdown(self, amp_disabled: bool) -> bool:
     return self.set_configs([self._get_shutdown_config(amp_disabled), ])
 
-  def initialize_configuration(self) -> bool:
+  def initialize_configuration(self, model: str) -> bool:
     cfgs = [
       self._get_shutdown_config(True),
-      *CONFIG,
+      *BASE_CONFIG,
+      *CONFIGS[model],
       self._get_shutdown_config(False),
     ]
     return self.set_configs(cfgs)
 
 
 if __name__ == "__main__":
+  with open("/sys/firmware/devicetree/base/model") as f:
+    model = f.read().strip('\x00')
+  model = model.split('comma ')[-1]
+
   amp = Amplifier()
-  amp.initialize_configuration()
+  amp.initialize_configuration(model)
diff --git a/system/hardware/tici/hardware.h b/system/hardware/tici/hardware.h
index a06ce43b356..8e318b8b8e3 100644
--- a/system/hardware/tici/hardware.h
+++ b/system/hardware/tici/hardware.h
@@ -90,4 +90,11 @@ class HardwareTici : public HardwareNone {
 
     return ret;
   }
+
+  static void config_cpu_rendering(bool offscreen) {
+    if (offscreen) {
+      setenv("QT_QPA_PLATFORM", "eglfs", 1);
+    }
+    setenv("LP_NUM_THREADS", "0", 1);
+  }
 };
diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index 10b6d7646cf..26df5111dad 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -299,7 +299,7 @@ def set_power_save(self, powersave_enabled):
     if self.amplifier is not None:
       self.amplifier.set_global_shutdown(amp_disabled=powersave_enabled)
       if not powersave_enabled:
-        self.amplifier.initialize_configuration()
+        self.amplifier.initialize_configuration(self.get_device_type())
 
     # *** CPU config ***
 
@@ -337,7 +337,7 @@ def get_gpu_usage_percent(self):
 
   def initialize_hardware(self):
     if self.amplifier is not None:
-      self.amplifier.initialize_configuration()
+      self.amplifier.initialize_configuration(self.get_device_type())
 
     # Allow hardwared to write engagement status to kmsg
     os.system("sudo chmod a+w /dev/kmsg")
diff --git a/system/hardware/tici/tests/test_amplifier.py b/system/hardware/tici/tests/test_amplifier.py
index 9ce00c3ff26..3f75436db18 100644
--- a/system/hardware/tici/tests/test_amplifier.py
+++ b/system/hardware/tici/tests/test_amplifier.py
@@ -5,6 +5,7 @@
 
 from panda import Panda
 from openpilot.system.hardware import TICI, HARDWARE
+from openpilot.system.hardware.tici.hardware import Tici
 from openpilot.system.hardware.tici.amplifier import Amplifier
 
 
@@ -38,7 +39,7 @@ def _check_for_i2c_errors(self, expected):
 
   def test_init(self):
     amp = Amplifier(debug=True)
-    r = amp.initialize_configuration()
+    r = amp.initialize_configuration(Tici().get_device_type())
     assert r
     assert self._check_for_i2c_errors(False)
 
@@ -60,7 +61,7 @@ def test_init_while_siren_play(self):
       time.sleep(random.randint(0, 5))
 
       amp = Amplifier(debug=True)
-      r = amp.initialize_configuration()
+      r = amp.initialize_configuration(Tici().get_device_type())
       assert r
 
       if self._check_for_i2c_errors(True):

From d3d4470159e9eda5a72edbd79b9d93808028c32d Mon Sep 17 00:00:00 2001
From: thftgr <thftgr@gmail.com>
Date: Fri, 26 Jun 2026 21:34:22 +0900
Subject: [PATCH 02/61] Update `get_expected_signature` to use `panda` instance
 for MCU type retrieval

---
 selfdrive/pandad/pandad.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/selfdrive/pandad/pandad.py b/selfdrive/pandad/pandad.py
index df2b4f7ee89..730836a360b 100755
--- a/selfdrive/pandad/pandad.py
+++ b/selfdrive/pandad/pandad.py
@@ -6,16 +6,16 @@
 import signal
 import subprocess
 
-from panda import Panda, PandaDFU, PandaProtocolMismatch, McuType, FW_PATH
+from panda import Panda, PandaDFU, PandaProtocolMismatch, FW_PATH
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.system.hardware import HARDWARE
 from openpilot.common.swaglog import cloudlog
 
 
-def get_expected_signature() -> bytes:
+def get_expected_signature(panda: Panda) -> bytes:
   try:
-    fn = os.path.join(FW_PATH, McuType.H7.config.app_fn)
+    fn = os.path.join(FW_PATH, panda.get_mcu_type().config.app_fn)
     return Panda.get_signature_from_firmware(fn)
   except Exception:
     cloudlog.exception("Error computing expected signature")
@@ -29,7 +29,7 @@ def flash_panda(panda_serial: str) -> Panda:
     HARDWARE.recover_internal_panda()
     raise
 
-  fw_signature = get_expected_signature()
+  fw_signature = get_expected_signature(panda)
   internal_panda = panda.is_internal()
 
   panda_version = "bootstub" if panda.bootstub else panda.get_version()

From 93ea7e886f0a1a63b4c5cc6f6fb4aa7cb6745f62 Mon Sep 17 00:00:00 2001
From: thftgr <thftgr@gmail.com>
Date: Fri, 26 Jun 2026 22:08:18 +0900
Subject: [PATCH 03/61] Add USB support to `pandad` with fallback to SPI
 communication

---
 selfdrive/pandad/SConscript     |   4 +-
 selfdrive/pandad/panda.cc       |  18 ++-
 selfdrive/pandad/panda.h        |   2 +-
 selfdrive/pandad/panda_comms.cc | 224 ++++++++++++++++++++++++++++++++
 selfdrive/pandad/panda_comms.h  |  37 +++++-
 5 files changed, 278 insertions(+), 7 deletions(-)
 create mode 100644 selfdrive/pandad/panda_comms.cc

diff --git a/selfdrive/pandad/SConscript b/selfdrive/pandad/SConscript
index fd59db98537..343ca4b79aa 100644
--- a/selfdrive/pandad/SConscript
+++ b/selfdrive/pandad/SConscript
@@ -1,8 +1,8 @@
 Import('env', 'arch', 'common', 'messaging')
 
 if arch != "Darwin":
-  libs = [common, messaging, 'pthread']
-  panda = env.Library('panda', ['panda.cc', 'spi.cc'])
+  libs = [common, messaging, 'pthread', 'usb-1.0']
+  panda = env.Library('panda', ['panda.cc', 'panda_comms.cc', 'spi.cc'])
 
   env.Program('pandad', ['main.cc', 'pandad.cc', 'panda_safety.cc'], LIBS=[panda] + libs)
 
diff --git a/selfdrive/pandad/panda.cc b/selfdrive/pandad/panda.cc
index edc2228c0c7..a21fb4abe80 100644
--- a/selfdrive/pandad/panda.cc
+++ b/selfdrive/pandad/panda.cc
@@ -2,6 +2,7 @@
 
 #include <unistd.h>
 
+#include <algorithm>
 #include <cassert>
 #include <stdexcept>
 #include <vector>
@@ -13,8 +14,13 @@
 const bool PANDAD_MAXOUT = getenv("PANDAD_MAXOUT") != nullptr;
 
 Panda::Panda(std::string serial) {
-  handle = std::make_unique<PandaSpiHandle>(serial);
-  LOGW("connected to %s over SPI", serial.c_str());
+  try {
+    handle = std::make_unique<PandaUsbHandle>(serial);
+    LOGW("connected to %s over USB", serial.c_str());
+  } catch (const std::exception &e) {
+    handle = std::make_unique<PandaSpiHandle>(serial);
+    LOGW("connected to %s over SPI", serial.c_str());
+  }
 
   hw_type = get_hw_type();
   can_reset_communications();
@@ -33,7 +39,13 @@ std::string Panda::hw_serial() {
 }
 
 std::vector<std::string> Panda::list() {
-  return PandaSpiHandle::list();
+  std::vector<std::string> serials = PandaUsbHandle::list();
+  for (const auto &s : PandaSpiHandle::list()) {
+    if (std::find(serials.begin(), serials.end(), s) == serials.end()) {
+      serials.push_back(s);
+    }
+  }
+  return serials;
 }
 
 void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param) {
diff --git a/selfdrive/pandad/panda.h b/selfdrive/pandad/panda.h
index 1a066dc5fb7..979c2a5da17 100644
--- a/selfdrive/pandad/panda.h
+++ b/selfdrive/pandad/panda.h
@@ -45,7 +45,7 @@ struct can_frame {
 
 class Panda {
 private:
-  std::unique_ptr<PandaSpiHandle> handle;
+  std::unique_ptr<PandaCommsHandle> handle;
 
 public:
   Panda(std::string serial);
diff --git a/selfdrive/pandad/panda_comms.cc b/selfdrive/pandad/panda_comms.cc
new file mode 100644
index 00000000000..ba5da331d3f
--- /dev/null
+++ b/selfdrive/pandad/panda_comms.cc
@@ -0,0 +1,224 @@
+#include "selfdrive/pandad/panda_comms.h"
+
+#include <libusb-1.0/libusb.h>
+
+#include <memory>
+#include <stdexcept>
+
+#include "common/swaglog.h"
+
+static libusb_context *init_usb_ctx() {
+  libusb_context *context = nullptr;
+  int err = libusb_init(&context);
+  if (err != 0) {
+    LOGE("libusb initialization error");
+    return nullptr;
+  }
+
+#if LIBUSB_API_VERSION >= 0x01000106
+  libusb_set_option(context, LIBUSB_OPTION_LOG_LEVEL, LIBUSB_LOG_LEVEL_INFO);
+#else
+  libusb_set_debug(context, 3);
+#endif
+  return context;
+}
+
+PandaUsbHandle::PandaUsbHandle(std::string serial) {
+  ssize_t num_devices;
+  libusb_device **dev_list = nullptr;
+  int err = 0;
+  ctx = init_usb_ctx();
+  if (!ctx) { goto fail; }
+
+  num_devices = libusb_get_device_list(ctx, &dev_list);
+  if (num_devices < 0) { goto fail; }
+  for (size_t i = 0; i < num_devices; ++i) {
+    libusb_device_descriptor desc;
+    libusb_get_device_descriptor(dev_list[i], &desc);
+    if (desc.idVendor == 0x3801 && desc.idProduct == 0xddcc) {
+      int ret = libusb_open(dev_list[i], &dev_handle);
+      if (dev_handle == nullptr || ret < 0) { goto fail; }
+
+      unsigned char desc_serial[26] = {0};
+      ret = libusb_get_string_descriptor_ascii(dev_handle, desc.iSerialNumber, desc_serial, sizeof(desc_serial));
+      if (ret < 0) { goto fail; }
+
+      hw_serial = std::string((char *)desc_serial, ret);
+      if (serial.empty() || serial == hw_serial) {
+        break;
+      }
+      libusb_close(dev_handle);
+      dev_handle = nullptr;
+    }
+  }
+  if (dev_handle == nullptr) { goto fail; }
+  libusb_free_device_list(dev_list, 1);
+  dev_list = nullptr;
+
+  if (libusb_kernel_driver_active(dev_handle, 0) == 1) {
+    libusb_detach_kernel_driver(dev_handle, 0);
+  }
+
+  err = libusb_set_configuration(dev_handle, 1);
+  if (err != 0) { goto fail; }
+
+  err = libusb_claim_interface(dev_handle, 0);
+  if (err != 0) { goto fail; }
+
+  return;
+
+fail:
+  if (dev_list != nullptr) {
+    libusb_free_device_list(dev_list, 1);
+  }
+  cleanup();
+  throw std::runtime_error("Error connecting to panda over USB");
+}
+
+PandaUsbHandle::~PandaUsbHandle() {
+  std::lock_guard lk(hw_lock);
+  cleanup();
+  connected = false;
+}
+
+void PandaUsbHandle::cleanup() {
+  if (dev_handle != nullptr) {
+    libusb_release_interface(dev_handle, 0);
+    libusb_close(dev_handle);
+    dev_handle = nullptr;
+  }
+
+  if (ctx != nullptr) {
+    libusb_exit(ctx);
+    ctx = nullptr;
+  }
+}
+
+std::vector<std::string> PandaUsbHandle::list() {
+  static std::unique_ptr<libusb_context, decltype(&libusb_exit)> context(init_usb_ctx(), libusb_exit);
+  ssize_t num_devices;
+  libusb_device **dev_list = nullptr;
+  std::vector<std::string> serials;
+  if (!context) { return serials; }
+
+  num_devices = libusb_get_device_list(context.get(), &dev_list);
+  if (num_devices < 0) {
+    LOGE("libusb can't get device list");
+    goto finish;
+  }
+
+  for (size_t i = 0; i < num_devices; ++i) {
+    libusb_device *device = dev_list[i];
+    libusb_device_descriptor desc;
+    libusb_get_device_descriptor(device, &desc);
+    if (desc.idVendor == 0x3801 && desc.idProduct == 0xddcc) {
+      libusb_device_handle *handle = nullptr;
+      int ret = libusb_open(device, &handle);
+      if (ret < 0) { goto finish; }
+
+      unsigned char desc_serial[26] = {0};
+      ret = libusb_get_string_descriptor_ascii(handle, desc.iSerialNumber, desc_serial, sizeof(desc_serial));
+      libusb_close(handle);
+      if (ret < 0) { goto finish; }
+
+      serials.push_back(std::string((char *)desc_serial, ret));
+    }
+  }
+
+finish:
+  if (dev_list != nullptr) {
+    libusb_free_device_list(dev_list, 1);
+  }
+  return serials;
+}
+
+void PandaUsbHandle::handle_usb_issue(int err, const char func[]) {
+  LOGE_100("usb error %d \"%s\" in %s", err, libusb_strerror((enum libusb_error)err), func);
+  if (err == LIBUSB_ERROR_NO_DEVICE) {
+    LOGE("lost connection");
+    connected = false;
+  }
+}
+
+int PandaUsbHandle::control_write(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned int timeout) {
+  int err;
+  const uint8_t bmRequestType = LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE;
+
+  if (!connected) {
+    return LIBUSB_ERROR_NO_DEVICE;
+  }
+
+  std::lock_guard lk(hw_lock);
+  do {
+    err = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, nullptr, 0, timeout);
+    if (err < 0) { handle_usb_issue(err, __func__); }
+  } while (err < 0 && connected);
+
+  return err;
+}
+
+int PandaUsbHandle::control_read(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned char *data, uint16_t wLength, unsigned int timeout) {
+  int err;
+  const uint8_t bmRequestType = LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE;
+
+  if (!connected) {
+    return LIBUSB_ERROR_NO_DEVICE;
+  }
+
+  std::lock_guard lk(hw_lock);
+  do {
+    err = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, data, wLength, timeout);
+    if (err < 0) { handle_usb_issue(err, __func__); }
+  } while (err < 0 && connected);
+
+  return err;
+}
+
+int PandaUsbHandle::bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) {
+  int err;
+  int transferred = 0;
+
+  if (!connected) {
+    return 0;
+  }
+
+  std::lock_guard lk(hw_lock);
+  do {
+    // Panda can NAK when the receive buffer is full. After 5ms, drop the messages.
+    err = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout);
+
+    if (err == LIBUSB_ERROR_TIMEOUT) {
+      LOGW("Transmit buffer full");
+      break;
+    } else if (err != 0 || length != transferred) {
+      handle_usb_issue(err, __func__);
+    }
+  } while (err != 0 && connected);
+
+  return transferred;
+}
+
+int PandaUsbHandle::bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) {
+  int err;
+  int transferred = 0;
+
+  if (!connected) {
+    return 0;
+  }
+
+  std::lock_guard lk(hw_lock);
+  do {
+    err = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout);
+
+    if (err == LIBUSB_ERROR_TIMEOUT) {
+      break;
+    } else if (err == LIBUSB_ERROR_OVERFLOW) {
+      comms_healthy = false;
+      LOGE_100("overflow got 0x%x", transferred);
+    } else if (err != 0) {
+      handle_usb_issue(err, __func__);
+    }
+  } while (err != 0 && connected);
+
+  return transferred;
+}
diff --git a/selfdrive/pandad/panda_comms.h b/selfdrive/pandad/panda_comms.h
index cdfb5019b62..a16a65ac9a2 100644
--- a/selfdrive/pandad/panda_comms.h
+++ b/selfdrive/pandad/panda_comms.h
@@ -6,17 +6,52 @@
 #include <string>
 #include <vector>
 
+struct libusb_context;
+struct libusb_device_handle;
 
 #define TIMEOUT 0
 #define SPI_BUF_SIZE 2048
 
 
-class PandaSpiHandle {
+class PandaCommsHandle {
 public:
+  PandaCommsHandle() {}
+  virtual ~PandaCommsHandle() {}
+  virtual void cleanup() = 0;
+
   std::string hw_serial;
   std::atomic<bool> connected = true;
   std::atomic<bool> comms_healthy = true;
 
+  virtual int control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout=TIMEOUT) = 0;
+  virtual int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout=TIMEOUT) = 0;
+  virtual int bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT) = 0;
+  virtual int bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT) = 0;
+};
+
+class PandaUsbHandle : public PandaCommsHandle {
+public:
+  PandaUsbHandle(std::string serial);
+  ~PandaUsbHandle();
+
+  int control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout=TIMEOUT);
+  int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout=TIMEOUT);
+  int bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
+  int bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
+  void cleanup();
+
+  static std::vector<std::string> list();
+
+private:
+  libusb_context *ctx = nullptr;
+  libusb_device_handle *dev_handle = nullptr;
+  std::recursive_mutex hw_lock;
+
+  void handle_usb_issue(int err, const char func[]);
+};
+
+class PandaSpiHandle : public PandaCommsHandle {
+public:
   PandaSpiHandle(std::string serial);
   ~PandaSpiHandle();
 

From 27a8188e41fae317213104c6a7f26a764570bbcc Mon Sep 17 00:00:00 2001
From: thftgr <thftgr@gmail.com>
Date: Fri, 26 Jun 2026 22:15:57 +0900
Subject: [PATCH 04/61] Expand modem support for EC20 and simplify ICCID checks

---
 system/hardware/tici/modem.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/system/hardware/tici/modem.py b/system/hardware/tici/modem.py
index 39266be1225..3a3492b3be1 100644
--- a/system/hardware/tici/modem.py
+++ b/system/hardware/tici/modem.py
@@ -258,7 +258,7 @@ def _init_at_channel(self) -> bool:
     return bool(r) and not r[0].startswith("AT")
 
   def _configure_modem(self, modem_version: str):
-    if not modem_version.startswith("EG25"):
+    if not modem_version.startswith(("EC20", "EG25")):
       return
     cmds = [
       # clear initial EPS bearer APN (some carriers reject the default)
@@ -288,7 +288,7 @@ def _do_initializing(self):
       return State.INITIALIZING
 
     identity = self._read_identity()
-    if not identity["iccid"] or not identity["imei"]:
+    if not identity["imei"]:
       logging.warning(f"identity read incomplete: {identity}, retrying")
       return State.INITIALIZING
 
@@ -391,7 +391,7 @@ def _params_changed(self) -> bool:
     return False
 
   def _check_iccid(self, state):
-    if state in (State.INITIALIZING, State.DISCONNECTING) or not self.S["iccid"]:
+    if state in (State.INITIALIZING, State.DISCONNECTING):
       return
     iccid = (self._atv("AT+QCCID", "+QCCID:") or "").rstrip("F")
     if iccid and iccid != self.S["iccid"]:

From 66df50d80f560ec3730bbcf26d3ef0e84293e6dc Mon Sep 17 00:00:00 2001
From: thftgr <thftgr@gmail.com>
Date: Fri, 26 Jun 2026 22:38:10 +0900
Subject: [PATCH 05/61] Add SIM state tracking and optimize ICCID polling
 frequency

---
 system/hardware/tici/hardware.py |  3 ++-
 system/hardware/tici/modem.py    | 37 ++++++++++++++++++++++----------
 2 files changed, 28 insertions(+), 12 deletions(-)

diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index 26df5111dad..839ca1a028a 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -136,11 +136,12 @@ def get_network_type(self):
   def get_sim_info(self):
     ms = self.get_modem_state()
     sim_id = ms.get('iccid', '')
+    sim_state = ms.get('sim_state') or ("READY" if sim_id else "ABSENT")
     return {
       'sim_id': sim_id,
       'mcc_mnc': ms.get('mcc_mnc') or None,
       'network_type': ["Unknown"],
-      'sim_state': ["ABSENT"] if not sim_id else ["READY"],
+      'sim_state': [sim_state],
       'data_connected': ms.get('connected', False),
     }
 
diff --git a/system/hardware/tici/modem.py b/system/hardware/tici/modem.py
index 3a3492b3be1..9eac96144f1 100644
--- a/system/hardware/tici/modem.py
+++ b/system/hardware/tici/modem.py
@@ -56,6 +56,7 @@
   "state": "INITIALIZING",
   "connected": False, "ip_address": "",
   "iccid": "", "mcc_mnc": "", "imei": "", "modem_version": "",
+  "sim_state": "ABSENT",
   "signal_strength": 0, "signal_quality": 0,
   "network_type": "unknown", "operator": "", "band": "", "channel": 0,
   "registration": "unknown", "temperatures": [], "extra": "",
@@ -72,6 +73,7 @@ class State(Enum):
 
 
 STATE_WAIT = 1.0  # seconds to wait after each state handler returns
+ICCID_CHECK_INTERVAL = 60.0
 
 
 class PPPSession:
@@ -176,6 +178,7 @@ def __init__(self):
     self._sim_change = False
     self._apn = ""  # blank = network-provided via PCO
     self._roaming_allowed = True
+    self._last_iccid_check = 0.0
     self.running = True
     self.S = INITIAL_STATE.copy()
 
@@ -211,7 +214,7 @@ def _publish_state(self, **kwargs):
     os.chmod(f.name, 0o644)
     os.replace(f.name, STATE_PATH)
 
-  def _at(self, cmd):
+  def _at(self, cmd, log_errors=True):
     """Send AT command, return response lines. [] on error or if LPA holds port."""
     fd = os.open(AT_LOCK, os.O_CREAT | os.O_RDWR, 0o666)
     try:
@@ -238,14 +241,15 @@ def _at(self, cmd):
           lines.append(line)
         return lines
     except (RuntimeError, TimeoutError, OSError) as e:
-      logging.info(f"AT {cmd} failed: {e}")
+      if log_errors:
+        logging.info(f"AT {cmd} failed: {e}")
       return []
     finally:
       fcntl.flock(fd, fcntl.LOCK_UN)
       os.close(fd)
 
-  def _atv(self, cmd, pfx):
-    for line in self._at(cmd):
+  def _atv(self, cmd, pfx, log_errors=True):
+    for line in self._at(cmd, log_errors=log_errors):
       if pfx in line and ":" in line:
         return line.split(":", 1)[1].strip()
     return None
@@ -300,33 +304,39 @@ def _do_initializing(self):
     # blank APN lets the carrier supply one via PCO
     self._at(f'AT+CGDCONT={DIAL_CID},"IP","{self._apn}"')
     logging.info(f"APN '{self._apn or '(network-provided)'}' written to CID {DIAL_CID}, roaming={'on' if self._roaming_allowed else 'off'}")
+    if identity["sim_state"] == "ABSENT":
+      logging.info("SIM absent")
 
     self._sim_change = False  # clear since we just re-read identity with the new SIM
     self._publish_state(**identity)
     return State.SEARCHING
 
   def _read_identity(self):
-    def first_line(cmd):
-      r = self._at(cmd)
+    def first_line(cmd, log_errors=True):
+      r = self._at(cmd, log_errors=log_errors)
       return r[0].strip() if r else ""
 
     imei = first_line("AT+CGSN")
     if not (imei.isdigit() and 14 <= len(imei) <= 17):  # 3GPP TS 23.003
       imei = ""
 
-    iccid = (self._atv("AT+QCCID", "+QCCID:") or "").rstrip("F")
+    iccid = (self._atv("AT+QCCID", "+QCCID:", log_errors=False) or "").rstrip("F")
     if not iccid.isdigit():
       iccid = ""
 
-    imsi = first_line("AT+CIMI")
+    imsi = first_line("AT+CIMI", log_errors=False)
     mcc_mnc = imsi[:6] if imsi.isdigit() and len(imsi) >= 6 else ""
+    sim_state = "READY" if iccid or mcc_mnc else "ABSENT"
 
     modem_version = first_line("AT+GMR")
 
-    logging.info(f"imei={imei} iccid={iccid} mcc_mnc={mcc_mnc} ver={modem_version}")
-    return {"imei": imei, "iccid": iccid, "mcc_mnc": mcc_mnc, "modem_version": modem_version}
+    logging.info(f"imei={imei} iccid={iccid} mcc_mnc={mcc_mnc} sim_state={sim_state} ver={modem_version}")
+    return {"imei": imei, "iccid": iccid, "mcc_mnc": mcc_mnc, "modem_version": modem_version, "sim_state": sim_state}
 
   def _do_searching(self):
+    if self.S["sim_state"] == "ABSENT":
+      return self._searching_idle()
+
     new_roaming = self._is_roaming_allowed()
     if new_roaming != self._roaming_allowed:
       logging.info(f"roaming changed: {self._roaming_allowed} -> {new_roaming}")
@@ -393,7 +403,12 @@ def _params_changed(self) -> bool:
   def _check_iccid(self, state):
     if state in (State.INITIALIZING, State.DISCONNECTING):
       return
-    iccid = (self._atv("AT+QCCID", "+QCCID:") or "").rstrip("F")
+    now = time.monotonic()
+    if now - self._last_iccid_check < ICCID_CHECK_INTERVAL:
+      return
+    self._last_iccid_check = now
+
+    iccid = (self._atv("AT+QCCID", "+QCCID:", log_errors=False) or "").rstrip("F")
     if iccid and iccid != self.S["iccid"]:
       logging.warning(f"iccid changed: {self.S['iccid']} -> {iccid}")
       self._sim_change = True

From f6e86ea9045250f6ab8c6acbabbe0d327b3a525a Mon Sep 17 00:00:00 2001
From: thftgr <thftgr@gmail.com>
Date: Sat, 27 Jun 2026 00:26:15 +0900
Subject: [PATCH 06/61] add carrot-agnos

---
 system/hardware/tici/agnos.json | 34 ++++++++++++++++-----------------
 1 file changed, 17 insertions(+), 17 deletions(-)

diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index 07e2079ec9f..385455cb5f7 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -1,7 +1,7 @@
 [
   {
     "name": "xbl",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl-e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb.img.xz",
+    "url": "https://agnosupdate.carrotpilot.app/18.4/xbl-e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb.img.xz",
     "hash": "e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb",
     "hash_raw": "e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb",
     "size": 3282256,
@@ -12,7 +12,7 @@
   },
   {
     "name": "xbl_config",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85.img.xz",
+    "url": "https://agnosupdate.carrotpilot.app/18.4/xbl_config-758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85.img.xz",
     "hash": "758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85",
     "hash_raw": "758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85",
     "size": 98124,
@@ -23,7 +23,7 @@
   },
   {
     "name": "abl",
-    "url": "https://commadist.azureedge.net/agnosupdate/abl-b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c.img.xz",
+    "url": "https://agnosupdate.carrotpilot.app/18.4/abl-b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c.img.xz",
     "hash": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c",
     "hash_raw": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c",
     "size": 274432,
@@ -34,7 +34,7 @@
   },
   {
     "name": "aop",
-    "url": "https://commadist.azureedge.net/agnosupdate/aop-78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1.img.xz",
+    "url": "https://agnosupdate.carrotpilot.app/18.4/aop-78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1.img.xz",
     "hash": "78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1",
     "hash_raw": "78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1",
     "size": 184364,
@@ -45,7 +45,7 @@
   },
   {
     "name": "devcfg",
-    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc.img.xz",
+    "url": "https://agnosupdate.carrotpilot.app/18.4/devcfg-f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc.img.xz",
     "hash": "f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc",
     "hash_raw": "f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc",
     "size": 40336,
@@ -56,29 +56,29 @@
   },
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8.img.xz",
-    "hash": "8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8",
-    "hash_raw": "8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8",
-    "size": 17487872,
+    "url": "https://agnosupdate.carrotpilot.app/18.4/boot-a227ab7a6ec9f1f5b47c2d003ec75b7d54672e80b867843ee0b87eb735c775df.img.xz",
+    "hash": "a227ab7a6ec9f1f5b47c2d003ec75b7d54672e80b867843ee0b87eb735c775df",
+    "hash_raw": "a227ab7a6ec9f1f5b47c2d003ec75b7d54672e80b867843ee0b87eb735c775df",
+    "size": 17864704,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "edca8bee1531e66953d107eeceeed2dc7b3ca46417e49d55508f94e58bf95db8"
+    "ondevice_hash": "e4dac469c76307917b24d72cf42723c584ef38532d15e99f2293eb44e09e8193"
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f.img.xz",
-    "hash": "78acfe16a7b62a3a91fc7a81f40a693e4468cec1c69df7d0b1e550aacc646113",
-    "hash_raw": "ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f",
+    "url": "https://agnosupdate.carrotpilot.app/18.4/system-edda90aeecb40a620db657521b1c38dfac77e610b06700671fca9fca82278b8d.img.xz",
+    "hash": "77d8fbf70aae7e6d8ce6acc6a28cd862c155a7b1bf940064ee335b90a5ee91c1",
+    "hash_raw": "edda90aeecb40a620db657521b1c38dfac77e610b06700671fca9fca82278b8d",
     "size": 4718592000,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "743142c5a898f27b2a1029cca42c8a5d5d1fc0096414422b850fe84c8d0b8342",
+    "ondevice_hash": "92e8c1d099ceff3a46fe3299c74765013a56c873ce695d9c54c660fc20bbc898",
     "alt": {
-      "hash": "ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f.img",
+      "hash": "edda90aeecb40a620db657521b1c38dfac77e610b06700671fca9fca82278b8d",
+      "url": "https://agnosupdate.carrotpilot.app/18.4/system-edda90aeecb40a620db657521b1c38dfac77e610b06700671fca9fca82278b8d.img",
       "size": 4718592000
     }
   }
-]
\ No newline at end of file
+]

From e0d3e22711ee01f9987aa2340898ffbb2a6a4a1c Mon Sep 17 00:00:00 2001
From: thftgr <thftgr@gmail.com>
Date: Sat, 27 Jun 2026 02:49:14 +0900
Subject: [PATCH 07/61] Reorder `start_carrot_recovery` for proper
 initialization sequence

---
 launch_chffrplus.sh | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh
index c353b90823d..31d0042ab0e 100755
--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -125,13 +125,13 @@ function launch {
   mkdir -p "$PYDEPS"
   export PYTHONPATH="$PYDEPS:$PWD${PYTHONPATH:+:$PYTHONPATH}"
 
-  start_carrot_recovery
-
   # hardware specific init
   if [ -f /AGNOS ]; then
     agnos_init
   fi
 
+  start_carrot_recovery
+
   FORCE_REBUILD=0
   invalidate_modeld_build_if_needed
   invalidate_native_build_if_needed

From b6fc94a93f3c5e9140b230b3bb33056803b706d6 Mon Sep 17 00:00:00 2001
From: thftgr <thftgr@gmail.com>
Date: Sat, 27 Jun 2026 02:53:29 +0900
Subject: [PATCH 08/61] Install `jeepney` dependency if missing during
 initialization

---
 launch_chffrplus.sh | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh
index 31d0042ab0e..6109df35fe6 100755
--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -125,6 +125,13 @@ function launch {
   mkdir -p "$PYDEPS"
   export PYTHONPATH="$PYDEPS:$PWD${PYTHONPATH:+:$PYTHONPATH}"
 
+  if python3 -c "import jeepney" > /dev/null 2>&1; then
+    echo "jeepney already installed."
+  else
+    echo "jeepney installing to pydeps."
+    python3 -m pip install --target "$PYDEPS" --upgrade jeepney
+  fi
+
   # hardware specific init
   if [ -f /AGNOS ]; then
     agnos_init

From 3a38470d260275702e480826a03ec5ab29fdd8bb Mon Sep 17 00:00:00 2001
From: thftgr <thftgr@gmail.com>
Date: Sat, 27 Jun 2026 10:28:02 +0900
Subject: [PATCH 09/61] Update Agnos URLs and add `agnos-tici.json`

---
 system/hardware/tici/agnos-tici.json | 84 ++++++++++++++++++++++++++++
 system/hardware/tici/agnos.json      | 32 +++++------
 2 files changed, 100 insertions(+), 16 deletions(-)
 create mode 100644 system/hardware/tici/agnos-tici.json

diff --git a/system/hardware/tici/agnos-tici.json b/system/hardware/tici/agnos-tici.json
new file mode 100644
index 00000000000..c0cce92e9ec
--- /dev/null
+++ b/system/hardware/tici/agnos-tici.json
@@ -0,0 +1,84 @@
+[
+  {
+    "name": "xbl",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl-6710967ca9701f205d7ab19c3a9b0dd2f547e65b3d96048b7c2b03755aafa0f1.img.xz",
+    "hash": "6710967ca9701f205d7ab19c3a9b0dd2f547e65b3d96048b7c2b03755aafa0f1",
+    "hash_raw": "6710967ca9701f205d7ab19c3a9b0dd2f547e65b3d96048b7c2b03755aafa0f1",
+    "size": 3282256,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "003a17ab1be68a696f7efe4c9938e8be511d4aacfc2f3211fc896bdc1681d089"
+  },
+  {
+    "name": "xbl_config",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-63922cfbfdf4ab87986c4ba8f3a4df5bf28414b3f71a29ec5947336722215535.img.xz",
+    "hash": "63922cfbfdf4ab87986c4ba8f3a4df5bf28414b3f71a29ec5947336722215535",
+    "hash_raw": "63922cfbfdf4ab87986c4ba8f3a4df5bf28414b3f71a29ec5947336722215535",
+    "size": 98124,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "2a855dd636cc94718b64bea83a44d0a31741ecaa8f72a63613ff348ec7404091"
+  },
+  {
+    "name": "abl",
+    "url": "https://commadist.azureedge.net/agnosupdate/abl-32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6.img.xz",
+    "hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
+    "hash_raw": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
+    "size": 274432,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6"
+  },
+  {
+    "name": "aop",
+    "url": "https://commadist.azureedge.net/agnosupdate/aop-21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9.img.xz",
+    "hash": "21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9",
+    "hash_raw": "21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9",
+    "size": 184364,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "c1be2f4aac5b3af49b904b027faec418d05efd7bd5144eb4fdfcba602bcf2180"
+  },
+  {
+    "name": "devcfg",
+    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620.img.xz",
+    "hash": "d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620",
+    "hash_raw": "d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620",
+    "size": 40336,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "17b229668b20305ff8fa3cd5f94716a3aaa1e5bf9d1c24117eff7f2f81ae719f"
+  },
+  {
+    "name": "boot",
+    "url": "https://agnosupdate.carrotpilot.app/18.4/boot-a227ab7a6ec9f1f5b47c2d003ec75b7d54672e80b867843ee0b87eb735c775df.img.xz",
+    "hash": "a227ab7a6ec9f1f5b47c2d003ec75b7d54672e80b867843ee0b87eb735c775df",
+    "hash_raw": "a227ab7a6ec9f1f5b47c2d003ec75b7d54672e80b867843ee0b87eb735c775df",
+    "size": 17864704,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "e4dac469c76307917b24d72cf42723c584ef38532d15e99f2293eb44e09e8193"
+  },
+  {
+    "name": "system",
+    "url": "https://agnosupdate.carrotpilot.app/18.4/system-edda90aeecb40a620db657521b1c38dfac77e610b06700671fca9fca82278b8d.img.xz",
+    "hash": "77d8fbf70aae7e6d8ce6acc6a28cd862c155a7b1bf940064ee335b90a5ee91c1",
+    "hash_raw": "edda90aeecb40a620db657521b1c38dfac77e610b06700671fca9fca82278b8d",
+    "size": 4718592000,
+    "sparse": true,
+    "full_check": false,
+    "has_ab": true,
+    "ondevice_hash": "92e8c1d099ceff3a46fe3299c74765013a56c873ce695d9c54c660fc20bbc898",
+    "alt": {
+      "hash": "edda90aeecb40a620db657521b1c38dfac77e610b06700671fca9fca82278b8d",
+      "url": "https://agnosupdate.carrotpilot.app/18.4/system-edda90aeecb40a620db657521b1c38dfac77e610b06700671fca9fca82278b8d.img",
+      "size": 4718592000
+    }
+  }
+]
diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index 385455cb5f7..02c5fed23c1 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -1,7 +1,7 @@
 [
   {
     "name": "xbl",
-    "url": "https://agnosupdate.carrotpilot.app/18.4/xbl-e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb.img.xz",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl-e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb.img.xz",
     "hash": "e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb",
     "hash_raw": "e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb",
     "size": 3282256,
@@ -12,7 +12,7 @@
   },
   {
     "name": "xbl_config",
-    "url": "https://agnosupdate.carrotpilot.app/18.4/xbl_config-758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85.img.xz",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85.img.xz",
     "hash": "758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85",
     "hash_raw": "758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85",
     "size": 98124,
@@ -23,7 +23,7 @@
   },
   {
     "name": "abl",
-    "url": "https://agnosupdate.carrotpilot.app/18.4/abl-b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c.img.xz",
+    "url": "https://commadist.azureedge.net/agnosupdate/abl-b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c.img.xz",
     "hash": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c",
     "hash_raw": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c",
     "size": 274432,
@@ -34,7 +34,7 @@
   },
   {
     "name": "aop",
-    "url": "https://agnosupdate.carrotpilot.app/18.4/aop-78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1.img.xz",
+    "url": "https://commadist.azureedge.net/agnosupdate/aop-78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1.img.xz",
     "hash": "78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1",
     "hash_raw": "78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1",
     "size": 184364,
@@ -45,7 +45,7 @@
   },
   {
     "name": "devcfg",
-    "url": "https://agnosupdate.carrotpilot.app/18.4/devcfg-f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc.img.xz",
+    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc.img.xz",
     "hash": "f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc",
     "hash_raw": "f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc",
     "size": 40336,
@@ -56,28 +56,28 @@
   },
   {
     "name": "boot",
-    "url": "https://agnosupdate.carrotpilot.app/18.4/boot-a227ab7a6ec9f1f5b47c2d003ec75b7d54672e80b867843ee0b87eb735c775df.img.xz",
-    "hash": "a227ab7a6ec9f1f5b47c2d003ec75b7d54672e80b867843ee0b87eb735c775df",
-    "hash_raw": "a227ab7a6ec9f1f5b47c2d003ec75b7d54672e80b867843ee0b87eb735c775df",
-    "size": 17864704,
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8.img.xz",
+    "hash": "8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8",
+    "hash_raw": "8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8",
+    "size": 17487872,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "e4dac469c76307917b24d72cf42723c584ef38532d15e99f2293eb44e09e8193"
+    "ondevice_hash": "edca8bee1531e66953d107eeceeed2dc7b3ca46417e49d55508f94e58bf95db8"
   },
   {
     "name": "system",
-    "url": "https://agnosupdate.carrotpilot.app/18.4/system-edda90aeecb40a620db657521b1c38dfac77e610b06700671fca9fca82278b8d.img.xz",
-    "hash": "77d8fbf70aae7e6d8ce6acc6a28cd862c155a7b1bf940064ee335b90a5ee91c1",
-    "hash_raw": "edda90aeecb40a620db657521b1c38dfac77e610b06700671fca9fca82278b8d",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f.img.xz",
+    "hash": "78acfe16a7b62a3a91fc7a81f40a693e4468cec1c69df7d0b1e550aacc646113",
+    "hash_raw": "ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f",
     "size": 4718592000,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "92e8c1d099ceff3a46fe3299c74765013a56c873ce695d9c54c660fc20bbc898",
+    "ondevice_hash": "743142c5a898f27b2a1029cca42c8a5d5d1fc0096414422b850fe84c8d0b8342",
     "alt": {
-      "hash": "edda90aeecb40a620db657521b1c38dfac77e610b06700671fca9fca82278b8d",
-      "url": "https://agnosupdate.carrotpilot.app/18.4/system-edda90aeecb40a620db657521b1c38dfac77e610b06700671fca9fca82278b8d.img",
+      "hash": "ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f.img",
       "size": 4718592000
     }
   }

From b0390970b0d108059c6c86cfa9f564f5e9bb8930 Mon Sep 17 00:00:00 2001
From: thftgr <thftgr@gmail.com>
Date: Sat, 27 Jun 2026 10:42:54 +0900
Subject: [PATCH 10/61] Adjust Agnos manifest selection based on model type

---
 launch_chffrplus.sh       | 5 +++++
 system/updated/updated.py | 7 +++++++
 2 files changed, 12 insertions(+)

diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh
index 6109df35fe6..8fc96313677 100755
--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -21,6 +21,11 @@ function agnos_init {
   if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
     AGNOS_PY="$DIR/system/hardware/tici/agnos.py"
     MANIFEST="$DIR/system/hardware/tici/agnos.json"
+    MODEL="$(tr -d '\000\r\n' 2>/dev/null < /sys/firmware/devicetree/base/model | tr '[:upper:]' '[:lower:]')"
+    MODEL="${MODEL#comma }"
+    if [ "$MODEL" = "c3" ] || [ "$MODEL" = "tici" ]; then
+      MANIFEST="$DIR/system/hardware/tici/agnos-tici.json"
+    fi
     if $AGNOS_PY --verify $MANIFEST; then
       sudo reboot
     fi
diff --git a/system/updated/updated.py b/system/updated/updated.py
index e47131347f0..d6b6cc9b469 100755
--- a/system/updated/updated.py
+++ b/system/updated/updated.py
@@ -221,6 +221,13 @@ def handle_agnos_update() -> None:
   set_offroad_alert("Offroad_NeosUpdate", True)
 
   manifest_path = os.path.join(OVERLAY_MERGED, "system/hardware/tici/agnos.json")
+  try:
+    with open("/sys/firmware/devicetree/base/model") as f:
+      model = f.read().replace("\x00", "").strip().lower().removeprefix("comma ")
+    if model in ("c3", "tici"):
+      manifest_path = os.path.join(OVERLAY_MERGED, "system/hardware/tici/agnos-tici.json")
+  except OSError:
+    pass
   target_slot_number = get_target_slot_number()
   flash_agnos_update(manifest_path, target_slot_number, cloudlog)
   set_offroad_alert("Offroad_NeosUpdate", False)

From 39ad5f6c1baf0d685912018673ed231a69961419 Mon Sep 17 00:00:00 2001
From: thftgr <thftgr@gmail.com>
Date: Sat, 27 Jun 2026 13:14:09 +0900
Subject: [PATCH 11/61] Move `jeepney` installation to AGNOS update block

---
 launch_chffrplus.sh | 25 ++++++++++++++++++-------
 1 file changed, 18 insertions(+), 7 deletions(-)

diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh
index 8fc96313677..c961b208cd8 100755
--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -19,6 +19,24 @@ function agnos_init {
 
   # Check if AGNOS update is required
   if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
+    echo "Waiting for internet..."
+
+    timeout=60
+    while [ $timeout -gt 0 ]; do
+        if getent hosts pypi.org >/dev/null 2>&1; then
+            break
+        fi
+        sleep 1
+        timeout=$((timeout-1))
+    done
+
+    if python3 -c "import jeepney" > /dev/null 2>&1; then
+      echo "jeepney already installed."
+    else
+      echo "jeepney installing to pydeps."
+      python3 -m pip install --target "$PYDEPS" --upgrade jeepney
+    fi
+
     AGNOS_PY="$DIR/system/hardware/tici/agnos.py"
     MANIFEST="$DIR/system/hardware/tici/agnos.json"
     MODEL="$(tr -d '\000\r\n' 2>/dev/null < /sys/firmware/devicetree/base/model | tr '[:upper:]' '[:lower:]')"
@@ -130,13 +148,6 @@ function launch {
   mkdir -p "$PYDEPS"
   export PYTHONPATH="$PYDEPS:$PWD${PYTHONPATH:+:$PYTHONPATH}"
 
-  if python3 -c "import jeepney" > /dev/null 2>&1; then
-    echo "jeepney already installed."
-  else
-    echo "jeepney installing to pydeps."
-    python3 -m pip install --target "$PYDEPS" --upgrade jeepney
-  fi
-
   # hardware specific init
   if [ -f /AGNOS ]; then
     agnos_init

From 6483898cd90c3f5d754106cdb09867d24adc83f2 Mon Sep 17 00:00:00 2001
From: thftgr <thftgr@gmail.com>
Date: Sat, 27 Jun 2026 13:31:13 +0900
Subject: [PATCH 12/61] Adjust internet wait logic in AGNOS version check

---
 launch_chffrplus.sh | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh
index c961b208cd8..120609a62b4 100755
--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -21,13 +21,15 @@ function agnos_init {
   if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
     echo "Waiting for internet..."
 
-    timeout=60
-    while [ $timeout -gt 0 ]; do
+    timeout=0
+    while [ $timeout -lt 120 ]; do
         if getent hosts pypi.org >/dev/null 2>&1; then
             break
         fi
-        sleep 1
-        timeout=$((timeout-1))
+        echo "Waiting for internet... (${timeout})"
+        sleep 5
+        timeout=$((timeout+5))
+
     done
 
     if python3 -c "import jeepney" > /dev/null 2>&1; then

From db90d81c3120d016f35c78abd3f2f1aed518be89 Mon Sep 17 00:00:00 2001
From: thftgr <thftgr@gmail.com>
Date: Sat, 27 Jun 2026 13:45:54 +0900
Subject: [PATCH 13/61] Add debug logs for AGNOS updater variables to improve
 visibility

---
 launch_chffrplus.sh | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh
index 120609a62b4..25abe3b8057 100755
--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -49,6 +49,9 @@ function agnos_init {
     if $AGNOS_PY --verify $MANIFEST; then
       sudo reboot
     fi
+    echo "AGNOS_PY=${AGNOS_PY}"
+    echo "MANIFEST=${MANIFEST}"
+    echo "MODEL=${MODEL}"
     $DIR/system/hardware/tici/updater $AGNOS_PY $MANIFEST
   fi
 }

From 1ca5a935a87a145bea56633b37d38504001c197d Mon Sep 17 00:00:00 2001
From: thftgr <thftgr@gmail.com>
Date: Sat, 27 Jun 2026 13:53:06 +0900
Subject: [PATCH 14/61] Add debug logs for device model and manifest path in
 AGNOS updater

---
 system/updated/updated.py | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/system/updated/updated.py b/system/updated/updated.py
index d6b6cc9b469..ae8c8c05418 100755
--- a/system/updated/updated.py
+++ b/system/updated/updated.py
@@ -224,9 +224,13 @@ def handle_agnos_update() -> None:
   try:
     with open("/sys/firmware/devicetree/base/model") as f:
       model = f.read().replace("\x00", "").strip().lower().removeprefix("comma ")
+    print(f"[agnos] device model: {model}", flush=True)
+
     if model in ("c3", "tici"):
       manifest_path = os.path.join(OVERLAY_MERGED, "system/hardware/tici/agnos-tici.json")
-  except OSError:
+      print(f"[agnos] manifest_path: {manifest_path}", flush=True)
+  except OSError as e:
+    print(f"[agnos] model read failed: {e}", flush=True)
     pass
   target_slot_number = get_target_slot_number()
   flash_agnos_update(manifest_path, target_slot_number, cloudlog)

From 42ce0d0e609d086dcc1921a922a5127314fd39b7 Mon Sep 17 00:00:00 2001
From: thftgr <thftgr@gmail.com>
Date: Sun, 28 Jun 2026 08:45:38 +0900
Subject: [PATCH 15/61] Add debug log for AGNOS updater completion

---
 launch_chffrplus.sh | 1 +
 1 file changed, 1 insertion(+)

diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh
index 25abe3b8057..0f09e635f2f 100755
--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -53,6 +53,7 @@ function agnos_init {
     echo "MANIFEST=${MANIFEST}"
     echo "MODEL=${MODEL}"
     $DIR/system/hardware/tici/updater $AGNOS_PY $MANIFEST
+    echo "end updater $AGNOS_PY $MANIFEST"
   fi
 }
 

From 3e2669190be316e93697807ca434d3bbb0ae84d9 Mon Sep 17 00:00:00 2001
From: thftgr <thftgr@gmail.com>
Date: Sun, 28 Jun 2026 08:54:24 +0900
Subject: [PATCH 16/61] Reorder `start_carrot_recovery` call for improved
 initialization logic

---
 launch_chffrplus.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh
index 0f09e635f2f..69d1ea56b16 100755
--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -153,13 +153,13 @@ function launch {
   PYDEPS="$DIR/pydeps"
   mkdir -p "$PYDEPS"
   export PYTHONPATH="$PYDEPS:$PWD${PYTHONPATH:+:$PYTHONPATH}"
+  start_carrot_recovery
 
   # hardware specific init
   if [ -f /AGNOS ]; then
     agnos_init
   fi
 
-  start_carrot_recovery
 
   FORCE_REBUILD=0
   invalidate_modeld_build_if_needed

From 7e9513fb8fa26827bc3523a3bc946f846135dd43 Mon Sep 17 00:00:00 2001
From: jominki354 <jominki354@gmail.com>
Date: Mon, 29 Jun 2026 21:04:28 +0900
Subject: [PATCH 17/61] fix screen action (#417)

---
 launch_chffrplus.sh          |  5 +-
 system/ui/lib/application.py | 97 ++++++++++++++++++++++++++++--------
 2 files changed, 79 insertions(+), 23 deletions(-)

diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh
index 69d1ea56b16..2424038e459 100755
--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -52,7 +52,10 @@ function agnos_init {
     echo "AGNOS_PY=${AGNOS_PY}"
     echo "MANIFEST=${MANIFEST}"
     echo "MODEL=${MODEL}"
-    $DIR/system/hardware/tici/updater $AGNOS_PY $MANIFEST
+    if ! python3 $DIR/system/ui/updater.py $AGNOS_PY $MANIFEST; then
+      echo "python updater failed, falling back to bundled updater"
+      $DIR/system/hardware/tici/updater $AGNOS_PY $MANIFEST
+    fi
     echo "end updater $AGNOS_PY $MANIFEST"
   fi
 }
diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py
index 70ce9c16fe7..36714604528 100644
--- a/system/ui/lib/application.py
+++ b/system/ui/lib/application.py
@@ -6,6 +6,7 @@
 import time
 import signal
 import sys
+import struct
 import pyray as rl
 import threading
 import platform
@@ -33,6 +34,15 @@
 MAX_TOUCH_SLOTS = 2
 TOUCH_HISTORY_TIMEOUT = 3.0  # Seconds before touch points fade out
 
+TOUCH_EVENT_DEVICE = "/dev/input/by-path/platform-894000.i2c-event"
+EVENT_FORMAT = "llHHi"
+EVENT_SIZE = struct.calcsize(EVENT_FORMAT)
+EV_SYN, EV_KEY, EV_ABS = 0x00, 0x01, 0x03
+SYN_REPORT = 0x00
+BTN_TOUCH = 0x14a
+ABS_MT_SLOT = 0x2f
+ABS_MT_TRACKING_ID = 0x39
+
 BIG_UI = os.getenv("BIG", "0") == "1"
 ENABLE_VSYNC = os.getenv("ENABLE_VSYNC", "0") == "1"
 SHOW_FPS = os.getenv("SHOW_FPS") == "1"
@@ -146,6 +156,10 @@ def __init__(self, scale: float = 1.0):
     self._events: deque[MouseEvent] = deque(maxlen=MOUSE_THREAD_RATE)  # bound event list
     self._prev_mouse_event: list[MouseEvent | None] = [None] * MAX_TOUCH_SLOTS
 
+    self._slot_active: list[bool] = [False] * MAX_TOUCH_SLOTS
+    self._cur_slot = 0
+    self._saw_mt = False
+
     self._rk = Ratekeeper(MOUSE_THREAD_RATE, print_delay_threshold=None)
     self._lock = threading.Lock()
     self._exit_event = threading.Event()
@@ -169,34 +183,73 @@ def stop(self):
       self._thread.join()
 
   def _run_thread(self):
-    while not self._exit_event.is_set():
-      rl.poll_input_events()
-      self._handle_mouse_event()
-      self._rk.keep_time()
+    touch_fd = self._open_touch_device()
+    try:
+      while not self._exit_event.is_set():
+        rl.poll_input_events()
+        if touch_fd is not None:
+          self._read_touch_events(touch_fd)
+        else:
+          self._handle_mouse_event()
+        self._rk.keep_time()
+    finally:
+      if touch_fd is not None:
+        os.close(touch_fd)
+
+  def _open_touch_device(self) -> int | None:
+    if PC:
+      return None
+    try:
+      return os.open(TOUCH_EVENT_DEVICE, os.O_RDONLY | os.O_NONBLOCK)
+    except OSError as e:
+      cloudlog.warning(f"mouse: using raylib touch, can't open {TOUCH_EVENT_DEVICE}: {e}")
+      return None
+
+  def _read_touch_events(self, fd: int) -> None:
+    try:
+      data = os.read(fd, EVENT_SIZE * 64)
+    except (BlockingIOError, OSError):
+      return
+
+    for off in range(0, len(data) - EVENT_SIZE + 1, EVENT_SIZE):
+      _sec, _usec, etype, code, value = struct.unpack(EVENT_FORMAT, data[off:off + EVENT_SIZE])
+      if etype == EV_ABS:
+        if code == ABS_MT_SLOT:
+          self._cur_slot = value
+        elif code == ABS_MT_TRACKING_ID:
+          self._saw_mt = True
+          if 0 <= self._cur_slot < MAX_TOUCH_SLOTS:
+            self._slot_active[self._cur_slot] = value != -1
+      elif etype == EV_KEY and code == BTN_TOUCH and not self._saw_mt:
+        self._slot_active[0] = value != 0
+      elif etype == EV_SYN and code == SYN_REPORT:
+        for slot in range(MAX_TOUCH_SLOTS):
+          self._append_event(slot, self._slot_active[slot])
 
   def _handle_mouse_event(self):
-    # TODO: read touch events from evdev directly to get real kernel timestamps.
-    #  Polling at 140Hz with time.monotonic() causes timing jitter that makes scroll
-    #  velocity oscillate (alternating high/low). Real timestamps would also let us
-    #  detect swipe-stop-lift via event gaps instead of the fragile decel heuristic.
     for slot in range(MAX_TOUCH_SLOTS):
+      self._append_event(slot, rl.is_mouse_button_down(slot))
+
+  def _append_event(self, slot: int, down: bool) -> None:
+    prev = self._prev_mouse_event[slot]
+    prev_down = prev.left_down if prev is not None else False
+    pressed = down and not prev_down
+    released = prev_down and not down
+
+    if down:
       mouse_pos = rl.get_touch_position(slot)
       x = mouse_pos.x / self._scale if self._scale != 1.0 else mouse_pos.x
       y = mouse_pos.y / self._scale if self._scale != 1.0 else mouse_pos.y
-      ev = MouseEvent(
-        MousePos(x, y),
-        slot,
-        rl.is_mouse_button_pressed(slot),  # noqa: TID251
-        rl.is_mouse_button_released(slot),  # noqa: TID251
-        rl.is_mouse_button_down(slot),
-        time.monotonic(),
-      )
-      # Only add changes
-      prev = self._prev_mouse_event[slot]
-      if prev is None or ev[:-1] != prev[:-1]:
-        with self._lock:
-          self._events.append(ev)
-        self._prev_mouse_event[slot] = ev
+      pos = MousePos(x, y)
+    else:
+      pos = prev.pos if prev is not None else MousePos(0.0, 0.0)
+
+    ev = MouseEvent(pos, slot, pressed, released, down, time.monotonic())
+
+    if prev is None or ev[:-1] != prev[:-1]:
+      with self._lock:
+        self._events.append(ev)
+      self._prev_mouse_event[slot] = ev
 
 
 class GuiApplication:

From 28468bb0e943b2ff5490d36ad747b6f5a1c235df Mon Sep 17 00:00:00 2001
From: thftgr <thftgr@gmail.com>
Date: Tue, 30 Jun 2026 21:35:50 +0900
Subject: [PATCH 18/61] Use IFE path for AR0231 cameras to avoid CAM-ICP/BPS
 recovery

---
 system/camerad/cameras/spectra.cc | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index 84de19aa93f..502b6a4c70f 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -280,6 +280,12 @@ void SpectraCamera::camera_open(VisionIpcServer *v) {
 
   if (!enabled) return;
 
+  if (sensor->image_sensor == cereal::FrameData::ImageSensor::AR0231 &&
+      cc.output_type == ISP_BPS_PROCESSED) {
+    LOGW("AR0231 camera %d: using IFE path to avoid CAM-ICP/BPS recovery", cc.camera_num);
+    cc.output_type = ISP_IFE_PROCESSED;
+  }
+
   buf.out_img_width = sensor->frame_width / sensor->out_scale;
   buf.out_img_height = (sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height) / sensor->out_scale;
 

From d7a9fbbc02ebb71fc101c55a755b7328909d03dd Mon Sep 17 00:00:00 2001
From: thftgr <thftgr@gmail.com>
Date: Tue, 30 Jun 2026 21:48:21 +0900
Subject: [PATCH 19/61] "Remove redundant AR0231 IFE path handling and
 placeholder entries in BPS files"

---
 system/camerad/cameras/bps_blobs.h | 3 ---
 system/camerad/cameras/spectra.cc  | 6 ------
 2 files changed, 9 deletions(-)

diff --git a/system/camerad/cameras/bps_blobs.h b/system/camerad/cameras/bps_blobs.h
index ee31698e7f0..ab8ac7545f3 100644
--- a/system/camerad/cameras/bps_blobs.h
+++ b/system/camerad/cameras/bps_blobs.h
@@ -8,21 +8,18 @@
 
 
 unsigned char bps_cfg[4][768] = {
-{ /* placeholder */ },
 { /* placeholder */ },
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diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index 502b6a4c70f..84de19aa93f 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -280,12 +280,6 @@ void SpectraCamera::camera_open(VisionIpcServer *v) {
 
   if (!enabled) return;
 
-  if (sensor->image_sensor == cereal::FrameData::ImageSensor::AR0231 &&
-      cc.output_type == ISP_BPS_PROCESSED) {
-    LOGW("AR0231 camera %d: using IFE path to avoid CAM-ICP/BPS recovery", cc.camera_num);
-    cc.output_type = ISP_IFE_PROCESSED;
-  }
-
   buf.out_img_width = sensor->frame_width / sensor->out_scale;
   buf.out_img_height = (sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height) / sensor->out_scale;
 

From 2cfa49c0cbcc7833e849057659e1a77995361a89 Mon Sep 17 00:00:00 2001
From: thftgr <thftgr@gmail.com>
Date: Tue, 30 Jun 2026 21:53:09 +0900
Subject: [PATCH 20/61] "Add logic for BPS blob index mapping and warnings for
 mismatched sensor indices"

---
 system/camerad/cameras/bps_blobs.h |  3 +++
 system/camerad/cameras/spectra.cc  | 41 +++++++++++++++++++++++++++---
 2 files changed, 41 insertions(+), 3 deletions(-)

diff --git a/system/camerad/cameras/bps_blobs.h b/system/camerad/cameras/bps_blobs.h
index ab8ac7545f3..ee31698e7f0 100644
--- a/system/camerad/cameras/bps_blobs.h
+++ b/system/camerad/cameras/bps_blobs.h
@@ -8,18 +8,21 @@
 
 
 unsigned char bps_cfg[4][768] = {
+{ /* placeholder */ },
 { /* placeholder */ },
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 { /* placeholder */ },
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   {0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0},
diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index 84de19aa93f..034ffde0be1 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -20,6 +20,36 @@
 #include "system/camerad/cameras/bps_blobs.h"
 
 
+namespace {
+
+constexpr int BPS_BLOB_COUNT = sizeof(bps_cfg) / sizeof(bps_cfg[0]);
+static_assert(BPS_BLOB_COUNT == sizeof(bps_settings) / sizeof(bps_settings[0]));
+static_assert(BPS_BLOB_COUNT == sizeof(bps_striping_output) / sizeof(bps_striping_output[0]));
+
+uint32_t bps_blob_sensor_id(int idx) {
+  return bps_cfg[idx][12] |
+         (bps_cfg[idx][13] << 8) |
+         (bps_cfg[idx][14] << 16) |
+         (static_cast<uint32_t>(bps_cfg[idx][15]) << 24);
+}
+
+bool bps_blob_present(int idx) {
+  return bps_cfg[idx][0] != 0;
+}
+
+int get_bps_blob_index(const SensorInfo *sensor) {
+  const int sensor_idx = sensor->num();
+  for (int i = 0; i < BPS_BLOB_COUNT; ++i) {
+    if (bps_blob_present(i) && bps_blob_sensor_id(i) == static_cast<uint32_t>(sensor_idx)) {
+      return i;
+    }
+  }
+  return sensor_idx;
+}
+
+}  // namespace
+
+
 // ************** low level camera helpers ****************
 
 int do_cam_control(int fd, int op_code, void *handle, int size) {
@@ -1167,12 +1197,17 @@ void SpectraCamera::configICP() {
   */
 
   int cfg_handle;
+  const int bps_idx = get_bps_blob_index(sensor);
+  assert(bps_idx >= 0 && bps_idx < BPS_BLOB_COUNT);
+  if (bps_idx != sensor->num()) {
+    LOGW("camera %d sensor %d: using BPS blob index %d", cc.camera_num, sensor->num(), bps_idx);
+  }
 
   uint32_t cfg_size = sizeof(bps_cfg[0]) / sizeof(bps_cfg[0][0]);
   void *cfg = alloc_w_mmu_hdl(m->video0_fd, cfg_size, (uint32_t*)&cfg_handle, 0x1,
                               CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_HW_SHARED_ACCESS,
                               m->icp_device_iommu);
-  memcpy(cfg, bps_cfg[sensor->num()], cfg_size);
+  memcpy(cfg, bps_cfg[bps_idx], cfg_size);
 
   struct cam_icp_acquire_dev_info icp_info = {
     .scratch_mem_size = 0x0,
@@ -1207,7 +1242,7 @@ void SpectraCamera::configICP() {
   // BPSIQSettings struct
   uint32_t settings_size = sizeof(bps_settings[0]) / sizeof(bps_settings[0][0]);
   bps_iq.init(m, settings_size, 0x20, true, m->icp_device_iommu);
-  memcpy(bps_iq.ptr, bps_settings[sensor->num()], settings_size);
+  memcpy(bps_iq.ptr, bps_settings[bps_idx], settings_size);
 
   // for cdm register writes, just make it bigger than you need
   bps_cdm_program_array.init(m, 0x1000, 0x20, true, m->icp_device_iommu);
@@ -1215,7 +1250,7 @@ void SpectraCamera::configICP() {
   // striping lib output
   uint32_t striping_size = sizeof(bps_striping_output[0]) / sizeof(bps_striping_output[0][0]);
   bps_striping.init(m, striping_size, 0x20, true, m->icp_device_iommu);
-  memcpy(bps_striping.ptr, bps_striping_output[sensor->num()], striping_size);
+  memcpy(bps_striping.ptr, bps_striping_output[bps_idx], striping_size);
 
   // used internally by the BPS, we just allocate it.
   // size comes from the BPSStripingLib

From b57b10d6057579829df1cce4c568056707802a67 Mon Sep 17 00:00:00 2001
From: thftgr <thftgr@gmail.com>
Date: Tue, 30 Jun 2026 22:00:05 +0900
Subject: [PATCH 21/61] "Fix `get_bps_blob_index` call by using `sensor.get()`
 for proper pointer handling"

---
 system/camerad/cameras/spectra.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index 034ffde0be1..ba50bc37d39 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -1197,7 +1197,7 @@ void SpectraCamera::configICP() {
   */
 
   int cfg_handle;
-  const int bps_idx = get_bps_blob_index(sensor);
+  const int bps_idx = get_bps_blob_index(sensor.get());
   assert(bps_idx >= 0 && bps_idx < BPS_BLOB_COUNT);
   if (bps_idx != sensor->num()) {
     LOGW("camera %d sensor %d: using BPS blob index %d", cc.camera_num, sensor->num(), bps_idx);

From 99671488cfe2a7bc34d922ea822f9dc40dfc72d5 Mon Sep 17 00:00:00 2001
From: thftgr <thftgr@gmail.com>
Date: Tue, 30 Jun 2026 22:28:51 +0900
Subject: [PATCH 22/61] "Add warning and enforce IFE path for AR0231 to prevent
 CAM-ICP/BPS recovery issues"

---
 system/camerad/cameras/spectra.cc | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index ba50bc37d39..2eefa4a4851 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -310,6 +310,12 @@ void SpectraCamera::camera_open(VisionIpcServer *v) {
 
   if (!enabled) return;
 
+  if (sensor->image_sensor == cereal::FrameData::ImageSensor::AR0231 &&
+      cc.output_type == ISP_BPS_PROCESSED) {
+    LOGW("AR0231 camera %d: using IFE path to avoid CAM-ICP/BPS recovery", cc.camera_num);
+    cc.output_type = ISP_IFE_PROCESSED;
+  }
+
   buf.out_img_width = sensor->frame_width / sensor->out_scale;
   buf.out_img_height = (sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height) / sensor->out_scale;
 

From cd1c82e7fb6176aee5f35a0f767e03d95a2fcb45 Mon Sep 17 00:00:00 2001
From: thftgr <thftgr@gmail.com>
Date: Tue, 30 Jun 2026 23:05:06 +0900
Subject: [PATCH 23/61] Add helper function for BPS blob index selection and
 update related logic

---
 system/camerad/cameras/spectra.cc | 15 ++++++++++++---
 1 file changed, 12 insertions(+), 3 deletions(-)

diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index 84de19aa93f..b3ab17637b1 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -22,6 +22,13 @@
 
 // ************** low level camera helpers ****************
 
+int get_bps_blob_index(const SensorInfo *sensor) {
+  if (sensor->image_sensor == cereal::FrameData::ImageSensor::AR0231) {
+    return 2;
+  }
+  return sensor->num();
+}
+
 int do_cam_control(int fd, int op_code, void *handle, int size) {
   struct cam_control camcontrol = {0};
   camcontrol.op_code = op_code;
@@ -1168,11 +1175,13 @@ void SpectraCamera::configICP() {
 
   int cfg_handle;
 
+  const int bps_idx = get_bps_blob_index(sensor.get());
+  LOGW("camera %d sensor %d: using BPS blob index %d", cc.camera_num, sensor->num(), bps_idx);
   uint32_t cfg_size = sizeof(bps_cfg[0]) / sizeof(bps_cfg[0][0]);
   void *cfg = alloc_w_mmu_hdl(m->video0_fd, cfg_size, (uint32_t*)&cfg_handle, 0x1,
                               CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_HW_SHARED_ACCESS,
                               m->icp_device_iommu);
-  memcpy(cfg, bps_cfg[sensor->num()], cfg_size);
+  memcpy(cfg, bps_cfg[bps_idx], cfg_size);
 
   struct cam_icp_acquire_dev_info icp_info = {
     .scratch_mem_size = 0x0,
@@ -1207,7 +1216,7 @@ void SpectraCamera::configICP() {
   // BPSIQSettings struct
   uint32_t settings_size = sizeof(bps_settings[0]) / sizeof(bps_settings[0][0]);
   bps_iq.init(m, settings_size, 0x20, true, m->icp_device_iommu);
-  memcpy(bps_iq.ptr, bps_settings[sensor->num()], settings_size);
+  memcpy(bps_iq.ptr, bps_settings[bps_idx], settings_size);
 
   // for cdm register writes, just make it bigger than you need
   bps_cdm_program_array.init(m, 0x1000, 0x20, true, m->icp_device_iommu);
@@ -1215,7 +1224,7 @@ void SpectraCamera::configICP() {
   // striping lib output
   uint32_t striping_size = sizeof(bps_striping_output[0]) / sizeof(bps_striping_output[0][0]);
   bps_striping.init(m, striping_size, 0x20, true, m->icp_device_iommu);
-  memcpy(bps_striping.ptr, bps_striping_output[sensor->num()], striping_size);
+  memcpy(bps_striping.ptr, bps_striping_output[bps_idx], striping_size);
 
   // used internally by the BPS, we just allocate it.
   // size comes from the BPSStripingLib

From caaef6726becc6c305c0564598218542558c958d Mon Sep 17 00:00:00 2001
From: thftgr <thftgr@gmail.com>
Date: Tue, 30 Jun 2026 23:12:50 +0900
Subject: [PATCH 24/61] Improve first frame sync logic for Spectra camera and
 add detailed debug logs

---
 system/camerad/cameras/spectra.cc | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index b3ab17637b1..5d3c728ce3e 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -1523,7 +1523,8 @@ bool SpectraCamera::waitForFrameReady(uint64_t request_id) {
 }
 
 bool SpectraCamera::processFrame(int buf_idx, uint64_t request_id, uint64_t frame_id_raw, uint64_t timestamp) {
-  if (!syncFirstFrame(cc.camera_num, request_id, frame_id_raw, timestamp, cc.staggered_sof)) {
+  const bool staggered_sof = cc.staggered_sof && sensor->image_sensor != cereal::FrameData::ImageSensor::AR0231;
+  if (!syncFirstFrame(cc.camera_num, request_id, frame_id_raw, timestamp, staggered_sof)) {
     return false;
   }
 
@@ -1580,7 +1581,12 @@ bool SpectraCamera::syncFirstFrame(int camera_id, uint64_t request_id, uint64_t
 
   // Timeout in case the timestamps never line up
   if (raw_id > 40) {
-    LOGE("camera first frame sync timed out");
+    LOGE("camera first frame sync timed out: camera %d request %lu raw_id %lu timestamp %lu cams %zu/%d",
+         camera_id, request_id, raw_id, timestamp, camera_sync_data.size(), enabled_camera_count);
+    for (const auto &[cam, sync_data] : camera_sync_data) {
+      LOGE("camera %d first frame sync data: frame_id_offset %lu timestamp %lu staggered %d",
+           cam, sync_data.frame_id_offset, sync_data.timestamp, sync_data.staggered);
+    }
     first_frame_synced = true;
   }
 

From 889fe3a3a7281ccee3c4fe254c0ea2a332297eaf Mon Sep 17 00:00:00 2001
From: thftgr <thftgr@gmail.com>
Date: Tue, 30 Jun 2026 23:47:31 +0900
Subject: [PATCH 25/61] Revert ""Add warning and enforce IFE path for AR0231 to
 prevent CAM-ICP/BPS recovery issues""

This reverts commit 99671488cfe2a7bc34d922ea822f9dc40dfc72d5.
---
 system/camerad/cameras/spectra.cc | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index 2eefa4a4851..ba50bc37d39 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -310,12 +310,6 @@ void SpectraCamera::camera_open(VisionIpcServer *v) {
 
   if (!enabled) return;
 
-  if (sensor->image_sensor == cereal::FrameData::ImageSensor::AR0231 &&
-      cc.output_type == ISP_BPS_PROCESSED) {
-    LOGW("AR0231 camera %d: using IFE path to avoid CAM-ICP/BPS recovery", cc.camera_num);
-    cc.output_type = ISP_IFE_PROCESSED;
-  }
-
   buf.out_img_width = sensor->frame_width / sensor->out_scale;
   buf.out_img_height = (sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height) / sensor->out_scale;
 

From 343b6d23ffa73f5fb368e66a270d5ec5f4c89d91 Mon Sep 17 00:00:00 2001
From: thftgr <thftgr@gmail.com>
Date: Tue, 30 Jun 2026 23:47:47 +0900
Subject: [PATCH 26/61] Revert ""Fix `get_bps_blob_index` call by using
 `sensor.get()` for proper pointer handling""

This reverts commit b57b10d6057579829df1cce4c568056707802a67.
---
 system/camerad/cameras/spectra.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index ba50bc37d39..034ffde0be1 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -1197,7 +1197,7 @@ void SpectraCamera::configICP() {
   */
 
   int cfg_handle;
-  const int bps_idx = get_bps_blob_index(sensor.get());
+  const int bps_idx = get_bps_blob_index(sensor);
   assert(bps_idx >= 0 && bps_idx < BPS_BLOB_COUNT);
   if (bps_idx != sensor->num()) {
     LOGW("camera %d sensor %d: using BPS blob index %d", cc.camera_num, sensor->num(), bps_idx);

From 3aaa4b5d73c114d11d35a7edefe2b7bab5788c7e Mon Sep 17 00:00:00 2001
From: thftgr <thftgr@gmail.com>
Date: Tue, 30 Jun 2026 23:47:50 +0900
Subject: [PATCH 27/61] Revert ""Add logic for BPS blob index mapping and
 warnings for mismatched sensor indices""

This reverts commit 2cfa49c0cbcc7833e849057659e1a77995361a89.
---
 system/camerad/cameras/bps_blobs.h |  3 ---
 system/camerad/cameras/spectra.cc  | 41 +++---------------------------
 2 files changed, 3 insertions(+), 41 deletions(-)

diff --git a/system/camerad/cameras/bps_blobs.h b/system/camerad/cameras/bps_blobs.h
index ee31698e7f0..ab8ac7545f3 100644
--- a/system/camerad/cameras/bps_blobs.h
+++ b/system/camerad/cameras/bps_blobs.h
@@ -8,21 +8,18 @@
 
 
 unsigned char bps_cfg[4][768] = {
-{ /* placeholder */ },
 { /* placeholder */ },
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   {0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0},
diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index 034ffde0be1..84de19aa93f 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -20,36 +20,6 @@
 #include "system/camerad/cameras/bps_blobs.h"
 
 
-namespace {
-
-constexpr int BPS_BLOB_COUNT = sizeof(bps_cfg) / sizeof(bps_cfg[0]);
-static_assert(BPS_BLOB_COUNT == sizeof(bps_settings) / sizeof(bps_settings[0]));
-static_assert(BPS_BLOB_COUNT == sizeof(bps_striping_output) / sizeof(bps_striping_output[0]));
-
-uint32_t bps_blob_sensor_id(int idx) {
-  return bps_cfg[idx][12] |
-         (bps_cfg[idx][13] << 8) |
-         (bps_cfg[idx][14] << 16) |
-         (static_cast<uint32_t>(bps_cfg[idx][15]) << 24);
-}
-
-bool bps_blob_present(int idx) {
-  return bps_cfg[idx][0] != 0;
-}
-
-int get_bps_blob_index(const SensorInfo *sensor) {
-  const int sensor_idx = sensor->num();
-  for (int i = 0; i < BPS_BLOB_COUNT; ++i) {
-    if (bps_blob_present(i) && bps_blob_sensor_id(i) == static_cast<uint32_t>(sensor_idx)) {
-      return i;
-    }
-  }
-  return sensor_idx;
-}
-
-}  // namespace
-
-
 // ************** low level camera helpers ****************
 
 int do_cam_control(int fd, int op_code, void *handle, int size) {
@@ -1197,17 +1167,12 @@ void SpectraCamera::configICP() {
   */
 
   int cfg_handle;
-  const int bps_idx = get_bps_blob_index(sensor);
-  assert(bps_idx >= 0 && bps_idx < BPS_BLOB_COUNT);
-  if (bps_idx != sensor->num()) {
-    LOGW("camera %d sensor %d: using BPS blob index %d", cc.camera_num, sensor->num(), bps_idx);
-  }
 
   uint32_t cfg_size = sizeof(bps_cfg[0]) / sizeof(bps_cfg[0][0]);
   void *cfg = alloc_w_mmu_hdl(m->video0_fd, cfg_size, (uint32_t*)&cfg_handle, 0x1,
                               CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_HW_SHARED_ACCESS,
                               m->icp_device_iommu);
-  memcpy(cfg, bps_cfg[bps_idx], cfg_size);
+  memcpy(cfg, bps_cfg[sensor->num()], cfg_size);
 
   struct cam_icp_acquire_dev_info icp_info = {
     .scratch_mem_size = 0x0,
@@ -1242,7 +1207,7 @@ void SpectraCamera::configICP() {
   // BPSIQSettings struct
   uint32_t settings_size = sizeof(bps_settings[0]) / sizeof(bps_settings[0][0]);
   bps_iq.init(m, settings_size, 0x20, true, m->icp_device_iommu);
-  memcpy(bps_iq.ptr, bps_settings[bps_idx], settings_size);
+  memcpy(bps_iq.ptr, bps_settings[sensor->num()], settings_size);
 
   // for cdm register writes, just make it bigger than you need
   bps_cdm_program_array.init(m, 0x1000, 0x20, true, m->icp_device_iommu);
@@ -1250,7 +1215,7 @@ void SpectraCamera::configICP() {
   // striping lib output
   uint32_t striping_size = sizeof(bps_striping_output[0]) / sizeof(bps_striping_output[0][0]);
   bps_striping.init(m, striping_size, 0x20, true, m->icp_device_iommu);
-  memcpy(bps_striping.ptr, bps_striping_output[bps_idx], striping_size);
+  memcpy(bps_striping.ptr, bps_striping_output[sensor->num()], striping_size);
 
   // used internally by the BPS, we just allocate it.
   // size comes from the BPSStripingLib

From 42c36116c6aa3f7fffca874c9b19fc2f7be4cd67 Mon Sep 17 00:00:00 2001
From: thftgr <thftgr@gmail.com>
Date: Tue, 30 Jun 2026 23:47:54 +0900
Subject: [PATCH 28/61] Revert ""Remove redundant AR0231 IFE path handling and
 placeholder entries in BPS files""

This reverts commit d7a9fbbc02ebb71fc101c55a755b7328909d03dd.
---
 system/camerad/cameras/bps_blobs.h | 3 +++
 system/camerad/cameras/spectra.cc  | 6 ++++++
 2 files changed, 9 insertions(+)

diff --git a/system/camerad/cameras/bps_blobs.h b/system/camerad/cameras/bps_blobs.h
index ab8ac7545f3..ee31698e7f0 100644
--- a/system/camerad/cameras/bps_blobs.h
+++ b/system/camerad/cameras/bps_blobs.h
@@ -8,18 +8,21 @@
 
 
 unsigned char bps_cfg[4][768] = {
+{ /* placeholder */ },
 { /* placeholder */ },
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   {0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0},
diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index 84de19aa93f..502b6a4c70f 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -280,6 +280,12 @@ void SpectraCamera::camera_open(VisionIpcServer *v) {
 
   if (!enabled) return;
 
+  if (sensor->image_sensor == cereal::FrameData::ImageSensor::AR0231 &&
+      cc.output_type == ISP_BPS_PROCESSED) {
+    LOGW("AR0231 camera %d: using IFE path to avoid CAM-ICP/BPS recovery", cc.camera_num);
+    cc.output_type = ISP_IFE_PROCESSED;
+  }
+
   buf.out_img_width = sensor->frame_width / sensor->out_scale;
   buf.out_img_height = (sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height) / sensor->out_scale;
 

From 3150317532b8f333d32cd405ba0cc84ac5be3270 Mon Sep 17 00:00:00 2001
From: thftgr <thftgr@gmail.com>
Date: Tue, 30 Jun 2026 23:48:02 +0900
Subject: [PATCH 29/61] Revert "Use IFE path for AR0231 cameras to avoid
 CAM-ICP/BPS recovery"

This reverts commit 28468bb0e943b2ff5490d36ad747b6f5a1c235df.
---
 system/camerad/cameras/spectra.cc | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index 502b6a4c70f..84de19aa93f 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -280,12 +280,6 @@ void SpectraCamera::camera_open(VisionIpcServer *v) {
 
   if (!enabled) return;
 
-  if (sensor->image_sensor == cereal::FrameData::ImageSensor::AR0231 &&
-      cc.output_type == ISP_BPS_PROCESSED) {
-    LOGW("AR0231 camera %d: using IFE path to avoid CAM-ICP/BPS recovery", cc.camera_num);
-    cc.output_type = ISP_IFE_PROCESSED;
-  }
-
   buf.out_img_width = sensor->frame_width / sensor->out_scale;
   buf.out_img_height = (sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height) / sensor->out_scale;
 

From ae03c4d7c3e6d36fbfe02e6c8391d8074273caf5 Mon Sep 17 00:00:00 2001
From: jominki354 <jominki354@gmail.com>
Date: Wed, 1 Jul 2026 12:36:52 +0900
Subject: [PATCH 30/61] add yt

---
 selfdrive/carrot/server/config.py             |   2 +
 selfdrive/carrot/server/features/__init__.py  |   2 +
 .../carrot/server/features/youtube_live.py    |  86 +++
 .../carrot/server/services/youtube_live.py    | 617 ++++++++++++++++++
 .../web/css/pages/settings/youtube_live.css   | 139 ++++
 selfdrive/carrot/web/index.html               |   8 +-
 .../web/js/pages/setting_youtube_live.js      | 362 ++++++++++
 selfdrive/carrot/web/js/translations/en.js    |  34 +
 selfdrive/carrot/web/js/translations/ko.js    |  34 +
 selfdrive/carrot/web/js/translations/zh.js    |  34 +
 selfdrive/carrot_settings.json                |  42 ++
 11 files changed, 1357 insertions(+), 3 deletions(-)
 create mode 100644 selfdrive/carrot/server/features/youtube_live.py
 create mode 100644 selfdrive/carrot/server/services/youtube_live.py
 create mode 100644 selfdrive/carrot/web/css/pages/settings/youtube_live.css
 create mode 100644 selfdrive/carrot/web/js/pages/setting_youtube_live.js

diff --git a/selfdrive/carrot/server/config.py b/selfdrive/carrot/server/config.py
index 66223e899a1..4e18ddb1e45 100644
--- a/selfdrive/carrot/server/config.py
+++ b/selfdrive/carrot/server/config.py
@@ -23,6 +23,8 @@
 CARROT_WEB_SETTINGS_PATH = os.path.join(CARROT_STATE_DIR, "web_settings.json")
 CARROT_SETTING_FAVORITES_PATH = os.path.join(CARROT_STATE_DIR, "setting_favorites.json")
 CARROT_SETTING_PROFILES_PATH = os.path.join(CARROT_STATE_DIR, "setting_profiles.json")
+CARROT_YOUTUBE_LIVE_STATE_PATH = os.path.join(CARROT_STATE_DIR, "youtube_live.json")
+CARROT_YOUTUBE_LIVE_SECRET_PATH = os.path.join(CARROT_STATE_DIR, "youtube_live_secret.json")
 
 # Dashcam
 DASHCAM_ROOT = "/data/media/0/realdata"
diff --git a/selfdrive/carrot/server/features/__init__.py b/selfdrive/carrot/server/features/__init__.py
index 0f83b705f4b..3c1cec5ddd4 100644
--- a/selfdrive/carrot/server/features/__init__.py
+++ b/selfdrive/carrot/server/features/__init__.py
@@ -19,6 +19,7 @@
   vision_test,
   web_settings,
   ws,
+  youtube_live,
 )
 
 
@@ -39,5 +40,6 @@ def register_all(app: web.Application) -> None:
   dashcam.register(app)
   screenrecord.register(app)
   tools.register(app)
+  youtube_live.register(app)
   vision_test.register(app)
   vision_diag.register(app)
diff --git a/selfdrive/carrot/server/features/youtube_live.py b/selfdrive/carrot/server/features/youtube_live.py
new file mode 100644
index 00000000000..4108bcba42a
--- /dev/null
+++ b/selfdrive/carrot/server/features/youtube_live.py
@@ -0,0 +1,86 @@
+from __future__ import annotations
+
+import json
+
+from aiohttp import web
+
+from ..services.youtube_live import YouTubeLiveService
+
+
+YOUTUBE_LIVE_APP_KEY = "youtube_live_service"
+
+
+def _service(request: web.Request) -> YouTubeLiveService:
+  service = request.app.get(YOUTUBE_LIVE_APP_KEY)
+  if not isinstance(service, YouTubeLiveService):
+    raise web.HTTPServiceUnavailable(text="youtube live service unavailable")
+  return service
+
+
+async def youtube_live_context(app: web.Application):
+  service = YouTubeLiveService()
+  app[YOUTUBE_LIVE_APP_KEY] = service
+  await service.start()
+  try:
+    yield
+  finally:
+    await service.stop()
+    app.pop(YOUTUBE_LIVE_APP_KEY, None)
+
+
+async def api_status(request: web.Request) -> web.Response:
+  return web.json_response({"ok": True, **_service(request).status()})
+
+
+async def api_set_stream_key(request: web.Request) -> web.Response:
+  try:
+    body = await request.json()
+  except Exception:
+    return web.json_response({"ok": False, "error": "invalid json"}, status=400)
+  key = body.get("stream_key", body.get("key", ""))
+  try:
+    status = _service(request).set_stream_key(str(key or ""))
+  except ValueError as exc:
+    return web.json_response({"ok": False, "error": str(exc)}, status=400)
+  return web.json_response({"ok": True, **status})
+
+
+async def api_clear_stream_key(request: web.Request) -> web.Response:
+  return web.json_response({"ok": True, **_service(request).clear_stream_key()})
+
+
+async def api_stop(request: web.Request) -> web.Response:
+  status = await _service(request).stop_stream()
+  return web.json_response({"ok": True, **status})
+
+
+async def api_test(request: web.Request) -> web.Response:
+  result = _service(request).test_config()
+  return web.json_response(result, status=200 if result.get("ok") else 409)
+
+
+async def api_diagnostics(request: web.Request) -> web.Response:
+  return web.json_response({"ok": True, "diagnostics": _service(request).diagnostics()})
+
+
+async def api_download_diagnostics(request: web.Request) -> web.Response:
+  body = json.dumps(_service(request).diagnostics(), ensure_ascii=False, indent=2, sort_keys=True)
+  return web.Response(
+    text=body,
+    content_type="application/json",
+    headers={
+      "Cache-Control": "no-store",
+      "Content-Disposition": "attachment; filename=carrot-youtube-live-diagnostics.json",
+    },
+  )
+
+
+def register(app: web.Application) -> None:
+  app.cleanup_ctx.append(youtube_live_context)
+  app.router.add_get("/api/youtube_live/status", api_status)
+  app.router.add_get("/api/youtube_live/diagnostics", api_diagnostics)
+  app.router.add_get("/api/youtube_live/diagnostics/download", api_download_diagnostics)
+  app.router.add_post("/api/youtube_live/stream_key", api_set_stream_key)
+  app.router.add_delete("/api/youtube_live/stream_key", api_clear_stream_key)
+  app.router.add_post("/api/youtube_live/stop", api_stop)
+  app.router.add_post("/api/youtube_live/test", api_test)
diff --git a/selfdrive/carrot/server/services/youtube_live.py b/selfdrive/carrot/server/services/youtube_live.py
new file mode 100644
index 00000000000..a1d13928d2b
--- /dev/null
+++ b/selfdrive/carrot/server/services/youtube_live.py
@@ -0,0 +1,617 @@
+from __future__ import annotations
+
+import asyncio
+import json
+import os
+import shutil
+import time
+from collections import deque
+from pathlib import Path
+from typing import Any
+
+from ..config import CARROT_YOUTUBE_LIVE_SECRET_PATH, CARROT_YOUTUBE_LIVE_STATE_PATH
+
+
+YOUTUBE_LIVE_PARAM = "CarrotYouTubeLive"
+YOUTUBE_QUALITY_PARAM = "CarrotYouTubeQuality"
+PHASE1_SOURCE_SERVICE = "qRoadEncodeData"
+PHASE1_QUALITY = "standard"
+YOUTUBE_RTMPS_BASE = "rtmps://a.rtmps.youtube.com/live2"
+NO_FRAME_STOP_SECONDS = 8.0
+START_BACKOFF_SECONDS = 5.0
+STATUS_WRITE_MIN_INTERVAL = 1.0
+BACKOFF_BASE_SECONDS = 3.0
+BACKOFF_MAX_SECONDS = 60.0
+
+_PROCESS_MATCHES = {
+  "carrot_cluster": "selfdrive.carrot.cluster_autorun",
+  "webrtcd": "system.webrtc.webrtcd",
+  "stream_encoderd": "system/loggerd/encoderd\x00--stream",
+}
+
+
+def _now() -> float:
+  return time.time()
+
+
+def _read_json(path: Path) -> dict[str, Any]:
+  try:
+    raw = json.loads(path.read_text(encoding="utf-8"))
+    return raw if isinstance(raw, dict) else {}
+  except Exception:
+    return {}
+
+
+def _write_json_atomic(path: Path, payload: dict[str, Any], *, mode: int | None = None) -> None:
+  path.parent.mkdir(parents=True, exist_ok=True)
+  temp_path = path.with_suffix(path.suffix + ".tmp")
+  temp_path.write_text(json.dumps(payload, sort_keys=True), encoding="utf-8")
+  if mode is not None:
+    try:
+      os.chmod(temp_path, mode)
+    except OSError:
+      pass
+  temp_path.replace(path)
+  if mode is not None:
+    try:
+      os.chmod(path, mode)
+    except OSError:
+      pass
+
+
+def _mask_stream_key(stream_key: str) -> str:
+  key = stream_key.strip()
+  if not key:
+    return ""
+  if len(key) <= 8:
+    return "*" * len(key)
+  return f"{key[:4]}...{key[-4:]}"
+
+
+def _extract_stream_key(value: str) -> str:
+  raw = str(value or "").strip()
+  if not raw:
+    return ""
+  if raw.startswith("rtmp://") or raw.startswith("rtmps://"):
+    return raw.rstrip("/").rsplit("/", 1)[-1].strip()
+  return raw
+
+
+class YouTubeLiveService:
+  def __init__(
+    self,
+    *,
+    state_path: str = CARROT_YOUTUBE_LIVE_STATE_PATH,
+    secret_path: str = CARROT_YOUTUBE_LIVE_SECRET_PATH,
+  ) -> None:
+    self.state_path = Path(state_path)
+    self.secret_path = Path(secret_path)
+    self._task: asyncio.Task | None = None
+    self._stop_event = asyncio.Event()
+    self._process: asyncio.subprocess.Process | None = None
+    self._stderr_task: asyncio.Task | None = None
+    self._stderr_tail: deque[str] = deque(maxlen=20)
+    self._messaging: Any | None = None
+    self._socket: Any | None = None
+    self._params: Any | None = None
+    self._last_status_write = 0.0
+    self._started_at = 0.0
+    self._last_frame_at = 0.0
+    self._last_frame_id: int | None = None
+    self._bytes_sent = 0
+    self._session_started_bytes = 0
+    self._restart_count = 0
+    self._consecutive_failures = 0
+    self._next_retry_at = 0.0
+    self._last_error = ""
+    self._state = "disabled"
+    persisted = _read_json(self.state_path)
+    try:
+      self._bytes_sent = int(persisted.get("bytes_sent") or 0)
+      self._restart_count = int(persisted.get("restart_count") or 0)
+    except Exception:
+      pass
+
+  async def start(self) -> None:
+    if self._task is not None and not self._task.done():
+      return
+    self._stop_event.clear()
+    self._task = asyncio.create_task(self._run(), name="carrot-youtube-live")
+
+  async def stop(self) -> None:
+    self._stop_event.set()
+    task = self._task
+    if task is not None:
+      task.cancel()
+      try:
+        await task
+      except asyncio.CancelledError:
+        pass
+    await self._stop_process()
+    self._task = None
+    self._write_status(force=True)
+
+  async def stop_stream(self) -> dict[str, Any]:
+    await self._stop_process()
+    self._set_state("disabled")
+    return self.status()
+
+  def status(self) -> dict[str, Any]:
+    stream_key = self.get_stream_key()
+    pid = self._process.pid if self._process and self._process.returncode is None else None
+    now = _now()
+    uptime = int(now - self._started_at) if self._started_at and pid else 0
+    elapsed = max(1.0, now - self._started_at) if self._started_at and pid else 1.0
+    last_frame_age_ms = int((now - self._last_frame_at) * 1000) if self._last_frame_at else None
+    resource_status = self._resource_status()
+    warnings = self._warnings(resource_status)
+    return {
+      "state": self._state,
+      "enabled": self._param_enabled(),
+      "configured": bool(stream_key),
+      "masked_key": _mask_stream_key(stream_key),
+      "source": PHASE1_SOURCE_SERVICE,
+      "quality": PHASE1_QUALITY,
+      "requested_quality": self._param_int(YOUTUBE_QUALITY_PARAM, 0),
+      "phase": 1,
+      "running": bool(pid),
+      "pid": pid,
+      "ffmpeg_available": bool(shutil.which("ffmpeg")),
+      "started_at": self._started_at if pid else 0,
+      "uptime_sec": uptime,
+      "bytes_sent": self._bytes_sent,
+      "total_mb": round(max(0, self._bytes_sent) / (1024 * 1024), 2),
+      "session_bytes": max(0, self._bytes_sent - self._session_started_bytes),
+      "session_mb": round(max(0, self._bytes_sent - self._session_started_bytes) / (1024 * 1024), 2),
+      "estimated_kbps": int(((self._bytes_sent - self._session_started_bytes) * 8 / 1000) / elapsed) if pid else 0,
+      "restart_count": self._restart_count,
+      "consecutive_failures": self._consecutive_failures,
+      "next_retry_at": self._next_retry_at,
+      "retry_in_sec": max(0, int(self._next_retry_at - now)) if self._next_retry_at else 0,
+      "last_error": self._last_error,
+      "last_frame_at": self._last_frame_at,
+      "last_frame_age_ms": last_frame_age_ms,
+      "last_frame_id": self._last_frame_id,
+      "stderr_tail": list(self._stderr_tail)[-5:],
+      "resource_status": resource_status,
+      "warnings": warnings,
+    }
+
+  def test_config(self) -> dict[str, Any]:
+    stream_key = self.get_stream_key()
+    ffmpeg_path = shutil.which("ffmpeg")
+    ok = bool(stream_key and ffmpeg_path)
+    status = self.status()
+    return {
+      "ok": ok,
+      "configured": bool(stream_key),
+      "ffmpeg_available": bool(ffmpeg_path),
+      "ffmpeg_path": ffmpeg_path or "",
+      "source": PHASE1_SOURCE_SERVICE,
+      "quality": PHASE1_QUALITY,
+      "resource_status": status["resource_status"],
+      "warnings": status["warnings"],
+      "stderr_tail": list(self._stderr_tail),
+      "message": "ready" if ok else "missing stream key or ffmpeg",
+    }
+
+  def diagnostics(self) -> dict[str, Any]:
+    status = self.status()
+    stream_key = self.get_stream_key()
+    return {
+      "generated_at": _now(),
+      "status": status,
+      "config": {
+        "stream_key_configured": bool(stream_key),
+        "stream_key_masked": _mask_stream_key(stream_key),
+        "source": PHASE1_SOURCE_SERVICE,
+        "quality": PHASE1_QUALITY,
+        "rtmps_ingest": f"{YOUTUBE_RTMPS_BASE}/{_mask_stream_key(stream_key)}" if stream_key else "",
+      },
+      "params": {
+        YOUTUBE_LIVE_PARAM: self._param_enabled(),
+        YOUTUBE_QUALITY_PARAM: self._param_int(YOUTUBE_QUALITY_PARAM, 0),
+        "ClusterHud": self._param_int("ClusterHud", 0),
+        "DisableDM": self._param_int("DisableDM", 0),
+        "IsOnroad": self._param_bool("IsOnroad", False),
+      },
+      "ffmpeg": {
+        "available": bool(shutil.which("ffmpeg")),
+        "path": shutil.which("ffmpeg") or "",
+        "stderr_tail": list(self._stderr_tail),
+      },
+      "processes": self._process_status(),
+      "state_path": str(self.state_path),
+    }
+
+  def get_stream_key(self) -> str:
+    payload = _read_json(self.secret_path)
+    return str(payload.get("stream_key") or "").strip()
+
+  def set_stream_key(self, value: str) -> dict[str, Any]:
+    stream_key = _extract_stream_key(value)
+    if not stream_key:
+      raise ValueError("stream key is required")
+    _write_json_atomic(self.secret_path, {"stream_key": stream_key, "updated_at": _now()}, mode=0o600)
+    self._last_error = ""
+    self._write_status(force=True)
+    return self.status()
+
+  def clear_stream_key(self) -> dict[str, Any]:
+    try:
+      self.secret_path.unlink()
+    except FileNotFoundError:
+      pass
+    self._write_status(force=True)
+    return self.status()
+
+  async def _run(self) -> None:
+    while not self._stop_event.is_set():
+      try:
+        await self._tick()
+      except asyncio.CancelledError:
+        raise
+      except Exception as exc:
+        self._last_error = str(exc)
+        self._set_state("error")
+        await self._stop_process()
+        await asyncio.sleep(START_BACKOFF_SECONDS)
+      await asyncio.sleep(0.02 if self._process else 0.25)
+
+  async def _tick(self) -> None:
+    if not self._param_enabled():
+      if self._process is not None:
+        await self._stop_process()
+      self._set_state("disabled")
+      return
+
+    stream_key = self.get_stream_key()
+    if not stream_key:
+      await self._stop_process()
+      self._set_state("needs_setup")
+      return
+
+    if not shutil.which("ffmpeg"):
+      await self._stop_process()
+      self._last_error = "ffmpeg not found"
+      self._set_state("error")
+      return
+
+    if self._param_int(YOUTUBE_QUALITY_PARAM, 0) > 0:
+      await self._stop_process()
+      self._last_error = "high quality YouTube Live is planned for Phase 3"
+      self._set_state("error")
+      return
+
+    if self._next_retry_at and _now() < self._next_retry_at:
+      self._set_state("backoff")
+      return
+
+    payload, frame_id = self._recv_payload()
+    if not payload:
+      if self._process is not None and self._last_frame_at and _now() - self._last_frame_at > NO_FRAME_STOP_SECONDS:
+        self._last_error = "no qRoadEncodeData frames"
+        await self._stop_process()
+        self._schedule_backoff("frame timeout")
+      self._set_state("waiting_frame" if self._process is None else "live")
+      return
+
+    self._last_frame_at = _now()
+    self._last_frame_id = frame_id
+
+    if self._process is None or self._process.returncode is not None:
+      await self._start_process(stream_key)
+
+    await self._write_frame(payload)
+    self._set_state("live")
+
+  def _set_state(self, state: str) -> None:
+    self._state = state
+    self._write_status()
+
+  def _write_status(self, *, force: bool = False) -> None:
+    now = _now()
+    if not force and now - self._last_status_write < STATUS_WRITE_MIN_INTERVAL:
+      return
+    self._last_status_write = now
+    try:
+      _write_json_atomic(self.state_path, {"updated_at": now, **self.status()})
+    except Exception:
+      pass
+
+  def _param_enabled(self) -> bool:
+    try:
+      params = self._get_params()
+      return bool(params and params.get_bool(YOUTUBE_LIVE_PARAM))
+    except Exception:
+      return False
+
+  def _param_bool(self, name: str, default: bool = False) -> bool:
+    try:
+      params = self._get_params()
+      if params is None:
+        return default
+      if hasattr(params, "get_bool"):
+        return bool(params.get_bool(name))
+      raw = params.get(name)
+      if isinstance(raw, bytes):
+        raw = raw.decode("utf-8", errors="replace")
+      return str(raw).strip() in ("1", "true", "True")
+    except Exception:
+      return default
+
+  def _param_int(self, name: str, default: int = 0) -> int:
+    try:
+      params = self._get_params()
+      if params is None:
+        return default
+      if hasattr(params, "get_int"):
+        return int(params.get_int(name))
+      raw = params.get(name)
+      if isinstance(raw, bytes):
+        raw = raw.decode("utf-8", errors="replace")
+      return int(str(raw).strip())
+    except Exception:
+      return default
+
+  def _get_params(self) -> Any | None:
+    if self._params is not None:
+      return self._params
+    try:
+      from openpilot.common.params import Params
+      self._params = Params()
+    except Exception:
+      self._params = None
+    return self._params
+
+  def _get_messaging(self) -> Any | None:
+    if self._messaging is not None:
+      return self._messaging
+    try:
+      from cereal import messaging
+      self._messaging = messaging
+    except Exception as exc:
+      self._last_error = f"messaging unavailable: {exc}"
+      self._messaging = None
+    return self._messaging
+
+  def _get_socket(self) -> Any | None:
+    if self._socket is not None:
+      return self._socket
+    messaging = self._get_messaging()
+    if messaging is None:
+      return None
+    try:
+      self._socket = messaging.sub_sock(PHASE1_SOURCE_SERVICE, conflate=True)
+    except Exception as exc:
+      self._last_error = f"{PHASE1_SOURCE_SERVICE} socket failed: {exc}"
+      self._socket = None
+    return self._socket
+
+  def _recv_payload(self) -> tuple[bytes, int | None]:
+    messaging = self._get_messaging()
+    sock = self._get_socket()
+    if messaging is None or sock is None:
+      return b"", None
+    try:
+      msg = messaging.recv_one_or_none(sock)
+      if msg is None:
+        return b"", None
+      which = msg.which()
+      frame = getattr(msg, which, None)
+      if frame is None:
+        return b"", None
+      header = bytes(getattr(frame, "header", b"") or b"")
+      data = bytes(getattr(frame, "data", b"") or b"")
+      frame_id = None
+      idx = getattr(frame, "idx", None)
+      if idx is not None:
+        try:
+          frame_id = int(getattr(idx, "frameId", 0) or 0) or None
+        except Exception:
+          frame_id = None
+      if frame_id is None:
+        try:
+          frame_id = int(getattr(frame, "frameId", 0) or 0) or None
+        except Exception:
+          frame_id = None
+      return header + data, frame_id
+    except Exception as exc:
+      self._last_error = f"{PHASE1_SOURCE_SERVICE} recv failed: {exc}"
+      return b"", None
+
+  async def _start_process(self, stream_key: str) -> None:
+    await self._stop_process()
+    self._set_state("starting")
+    self._stderr_tail.clear()
+    self._started_at = _now()
+    self._session_started_bytes = self._bytes_sent
+    rtmp_url = f"{YOUTUBE_RTMPS_BASE}/{stream_key}"
+    cmd = [
+      "ffmpeg",
+      "-hide_banner",
+      "-loglevel",
+      "warning",
+      "-fflags",
+      "nobuffer",
+      "-f",
+      "h264",
+      "-framerate",
+      "20",
+      "-i",
+      "pipe:0",
+      "-f",
+      "lavfi",
+      "-i",
+      "anullsrc=r=44100:cl=stereo",
+      "-c:v",
+      "copy",
+      "-c:a",
+      "aac",
+      "-b:a",
+      "128k",
+      "-f",
+      "flv",
+      rtmp_url,
+    ]
+    self._process = await asyncio.create_subprocess_exec(
+      *cmd,
+      stdin=asyncio.subprocess.PIPE,
+      stdout=asyncio.subprocess.DEVNULL,
+      stderr=asyncio.subprocess.PIPE,
+    )
+    self._restart_count += 1
+    self._next_retry_at = 0.0
+    self._stderr_task = asyncio.create_task(self._read_stderr(self._process), name="carrot-youtube-live-stderr")
+
+  async def _write_frame(self, payload: bytes) -> None:
+    proc = self._process
+    if proc is None or proc.stdin is None:
+      return
+    if proc.returncode is not None:
+      self._last_error = f"ffmpeg exited code={proc.returncode}"
+      self._schedule_backoff("ffmpeg exited")
+      await self._stop_process()
+      return
+    try:
+      proc.stdin.write(payload)
+      await proc.stdin.drain()
+      self._bytes_sent += len(payload)
+      self._consecutive_failures = 0
+    except (BrokenPipeError, ConnectionResetError) as exc:
+      self._last_error = f"ffmpeg pipe closed: {exc}"
+      self._schedule_backoff("ffmpeg pipe closed")
+      await self._stop_process()
+
+  async def _read_stderr(self, proc: asyncio.subprocess.Process) -> None:
+    if proc.stderr is None:
+      return
+    while True:
+      line = await proc.stderr.readline()
+      if not line:
+        break
+      text = line.decode("utf-8", errors="replace").strip()
+      if text:
+        self._stderr_tail.append(text[-300:])
+        self._last_error = text[-300:]
+
+  async def _stop_process(self) -> None:
+    proc = self._process
+    self._process = None
+    stderr_task = self._stderr_task
+    self._stderr_task = None
+    if proc is None:
+      if stderr_task is not None and not stderr_task.done():
+        stderr_task.cancel()
+      return
+    self._set_state("stopping")
+    if proc.stdin is not None:
+      try:
+        proc.stdin.close()
+        await proc.stdin.wait_closed()
+      except Exception:
+        pass
+    try:
+      await asyncio.wait_for(proc.wait(), timeout=2.0)
+    except asyncio.TimeoutError:
+      try:
+        proc.terminate()
+      except ProcessLookupError:
+        pass
+      try:
+        await asyncio.wait_for(proc.wait(), timeout=3.0)
+      except asyncio.TimeoutError:
+        try:
+          proc.kill()
+        except ProcessLookupError:
+          pass
+        await proc.wait()
+    if stderr_task is not None and not stderr_task.done():
+      stderr_task.cancel()
+      try:
+        await stderr_task
+      except asyncio.CancelledError:
+        pass
+    self._started_at = 0.0
+
+  def _schedule_backoff(self, reason: str = "") -> None:
+    self._consecutive_failures += 1
+    delay = min(BACKOFF_MAX_SECONDS, BACKOFF_BASE_SECONDS * (2 ** max(0, self._consecutive_failures - 1)))
+    self._next_retry_at = _now() + delay
+    if reason and not self._last_error:
+      self._last_error = reason
+
+  def _process_status(self) -> dict[str, Any]:
+    result = {}
+    for name, match in _PROCESS_MATCHES.items():
+      pids = _find_matching_pids(match)
+      result[name] = {
+        "running": bool(pids),
+        "pids": pids[:8],
+      }
+    return result
+
+  def _resource_status(self) -> dict[str, Any]:
+    processes = self._process_status()
+    cluster_param = self._param_int("ClusterHud", 0)
+    disable_dm = self._param_int("DisableDM", 0)
+    return {
+      "cluster": {
+        "enabled": cluster_param in (1, 2),
+        "param": cluster_param,
+        **processes.get("carrot_cluster", {"running": False, "pids": []}),
+      },
+      "carrot_vision": {
+        "enabled": disable_dm == 2,
+        "disable_dm": disable_dm,
+        "webrtcd_running": bool(processes.get("webrtcd", {}).get("running")),
+        "stream_encoderd_running": bool(processes.get("stream_encoderd", {}).get("running")),
+        "webrtcd_pids": list(processes.get("webrtcd", {}).get("pids") or []),
+        "stream_encoderd_pids": list(processes.get("stream_encoderd", {}).get("pids") or []),
+      },
+    }
+
+  def _warnings(self, resource_status: dict[str, Any]) -> list[str]:
+    warnings = []
+    if not self._param_enabled():
+      return warnings
+    cluster = resource_status.get("cluster") if isinstance(resource_status, dict) else {}
+    vision = resource_status.get("carrot_vision") if isinstance(resource_status, dict) else {}
+    if cluster and cluster.get("enabled"):
+      warnings.append("Cluster HUD is enabled; monitor encoder load and thermal headroom while streaming.")
+    if vision and vision.get("enabled"):
+      warnings.append("Carrot Vision is enabled; YouTube Live shares camera/encoder/network resources.")
+    if self._param_int(YOUTUBE_QUALITY_PARAM, 0) > 0:
+      warnings.append("High quality mode is planned for Phase 3; Phase 2 keeps qRoadEncodeData only.")
+    return warnings
+
+
+def _pid_cmdline(pid: int) -> str:
+  try:
+    return Path(f"/proc/{int(pid)}/cmdline").read_bytes().decode(errors="replace")
+  except Exception:
+    return ""
+
+
+def _pid_alive(pid: int, match: str = "") -> bool:
+  if pid <= 0:
+    return False
+  try:
+    os.kill(pid, 0)
+  except OSError:
+    return False
+  return not match or match in _pid_cmdline(pid)
+
+
+def _find_matching_pids(match: str) -> list[int]:
+  if not Path("/proc").exists():
+    return []
+  matches = []
+  for proc_path in Path("/proc").glob("[0-9]*"):
+    try:
+      pid = int(proc_path.name)
+    except ValueError:
+      continue
+    if _pid_alive(pid, match):
+      matches.append(pid)
+  return sorted(matches)
diff --git a/selfdrive/carrot/web/css/pages/settings/youtube_live.css b/selfdrive/carrot/web/css/pages/settings/youtube_live.css
new file mode 100644
index 00000000000..a2321684a37
--- /dev/null
+++ b/selfdrive/carrot/web/css/pages/settings/youtube_live.css
@@ -0,0 +1,139 @@
+.youtube-live-section {
+  margin-top: var(--sp-lg);
+}
+
+.youtube-live-card {
+  display: grid;
+  gap: var(--sp-md);
+  padding-top: var(--sp-lg);
+  padding-bottom: var(--sp-lg);
+}
+
+.youtube-live-card__head {
+  display: flex;
+  align-items: flex-start;
+  justify-content: space-between;
+  gap: var(--sp-md);
+}
+
+.youtube-live-card__summary {
+  min-width: 0;
+}
+
+.youtube-live-card__title {
+  color: var(--md-on-surface);
+  font-size: var(--fs-title-sm);
+  font-weight: 800;
+  letter-spacing: 0;
+}
+
+.youtube-live-card__desc,
+.youtube-live-metric__label {
+  color: var(--md-on-surface-var);
+  font-size: var(--fs-body-sm);
+  letter-spacing: 0;
+}
+
+.youtube-live-pill {
+  flex: 0 0 auto;
+  max-width: 44%;
+  border: 1px solid color-mix(in srgb, var(--md-outline-var) 38%, transparent);
+  border-radius: 999px;
+  padding: 5px 10px;
+  color: var(--md-on-surface);
+  background: color-mix(in srgb, var(--md-surface) 72%, transparent);
+  font-size: var(--fs-label);
+  font-weight: 800;
+  line-height: 1.2;
+  text-align: center;
+  overflow-wrap: anywhere;
+}
+
+.youtube-live-section[data-live-state="live"] .youtube-live-pill {
+  color: var(--md-primary);
+  border-color: color-mix(in srgb, var(--md-primary) 42%, transparent);
+  background: color-mix(in srgb, var(--md-primary) 14%, transparent);
+}
+
+.youtube-live-section[data-live-state="error"] .youtube-live-pill {
+  color: var(--md-error);
+  border-color: color-mix(in srgb, var(--md-error) 45%, transparent);
+  background: color-mix(in srgb, var(--md-error) 10%, transparent);
+}
+
+.youtube-live-metrics {
+  display: grid;
+  grid-template-columns: repeat(2, minmax(0, 1fr));
+  gap: 8px;
+}
+
+.youtube-live-metric {
+  min-width: 0;
+  border: 1px solid color-mix(in srgb, var(--md-outline-var) 22%, transparent);
+  border-radius: var(--r-md);
+  padding: 8px 10px;
+  background: color-mix(in srgb, var(--md-surface) 55%, transparent);
+}
+
+.youtube-live-metric__value {
+  margin-top: 2px;
+  color: var(--md-on-surface);
+  font-size: var(--fs-body);
+  font-weight: 800;
+  letter-spacing: 0;
+  overflow-wrap: anywhere;
+}
+
+.youtube-live-error {
+  border-left: 3px solid var(--md-error);
+  padding: 8px 10px;
+  color: var(--md-error);
+  background: color-mix(in srgb, var(--md-error) 8%, transparent);
+  font-size: var(--fs-body-sm);
+  overflow-wrap: anywhere;
+}
+
+.youtube-live-warnings {
+  display: grid;
+  gap: 6px;
+}
+
+.youtube-live-warning {
+  border-left: 3px solid var(--md-tertiary, var(--md-primary));
+  padding: 8px 10px;
+  color: var(--md-on-surface);
+  background: color-mix(in srgb, var(--md-tertiary, var(--md-primary)) 9%, transparent);
+  font-size: var(--fs-body-sm);
+  overflow-wrap: anywhere;
+}
+
+.youtube-live-actions {
+  display: flex;
+  flex-wrap: wrap;
+  gap: 8px;
+}
+
+.youtube-live-action {
+  min-height: 36px;
+}
+
+.youtube-live-action--danger {
+  color: var(--md-error);
+  border-color: color-mix(in srgb, var(--md-error) 35%, var(--md-outline-var));
+}
+
+@media (max-width: 430px) {
+  .youtube-live-card__head {
+    align-items: stretch;
+    flex-direction: column;
+  }
+
+  .youtube-live-pill {
+    max-width: none;
+    align-self: flex-start;
+  }
+
+  .youtube-live-metrics {
+    grid-template-columns: 1fr;
+  }
+}
diff --git a/selfdrive/carrot/web/index.html b/selfdrive/carrot/web/index.html
index ed811bb590c..5a0cbc18af2 100644
--- a/selfdrive/carrot/web/index.html
+++ b/selfdrive/carrot/web/index.html
@@ -100,6 +100,7 @@
   <link rel="stylesheet" href="/css/pages/settings/base.css?v=2606-21" />
   <link rel="stylesheet" href="/css/pages/settings/panels.css?v=2606-12" />
   <link rel="stylesheet" href="/css/pages/settings/device.css?v=2606-42" />
+  <link rel="stylesheet" href="/css/pages/settings/youtube_live.css?v=2607-02" />
   <link rel="stylesheet" href="/css/pages/tools/base.css?v=2605-43" />
   <link rel="stylesheet" href="/css/pages/tools/qr.css?v=2605-40" />
   <link rel="stylesheet" href="/css/pages/tools/main.css?v=2605-53" />
@@ -705,9 +706,9 @@ <h2 id="carrotTitle" class="page-title">Home</h2>
   <script src="/js/vendor/qrcode-generator.js?v=1.4.4"></script>
   <script src="/js/vendor/jsQR.js?v=1.4.0"></script>
   <script src="/js/translations/registry.js?v=2605-09"></script>
-  <script src="/js/translations/ko.js?v=2606-11"></script>
-  <script src="/js/translations/en.js?v=2606-11"></script>
-  <script src="/js/translations/zh.js?v=2606-11"></script>
+  <script src="/js/translations/ko.js?v=2607-02"></script>
+  <script src="/js/translations/en.js?v=2607-02"></script>
+  <script src="/js/translations/zh.js?v=2607-02"></script>
   <script src="/js/realtime/hud_card.js?v=2604-05"></script>
   <script src="/js/shared/constants.js?v=2604-72"></script>
   <script src="/js/shared/dom.js?v=2604-72"></script>
@@ -723,6 +724,7 @@ <h2 id="carrotTitle" class="page-title">Home</h2>
   <script src="/js/shared/ui/navigation.js?v=2606-19"></script>
   <script src="/js/pages/car.js?v=2604-75"></script>
   <script src="/js/pages/setting.js?v=2606-39"></script>
+  <script src="/js/pages/setting_youtube_live.js?v=2607-02"></script>
   <script src="/js/pages/setting_device_config.js?v=2605-05"></script>
   <script src="/js/pages/setting_device_render.js?v=2605-04"></script>
   <script src="/js/pages/setting_device_network.js?v=2605-01"></script>
diff --git a/selfdrive/carrot/web/js/pages/setting_youtube_live.js b/selfdrive/carrot/web/js/pages/setting_youtube_live.js
new file mode 100644
index 00000000000..8aa1d176cd7
--- /dev/null
+++ b/selfdrive/carrot/web/js/pages/setting_youtube_live.js
@@ -0,0 +1,362 @@
+"use strict";
+
+(function () {
+  const YOUTUBE_GROUP = "SYS_YOUTUBE";
+  const CARD_ID = "youtubeLiveStatusCard";
+  const POLL_MS = 2500;
+  const state = {
+    timer: null,
+    loading: false,
+    status: null,
+    observer: null,
+  };
+
+  function text(key, fallback, vars) {
+    if (typeof getUIText === "function") return getUIText(key, fallback, vars);
+    let value = fallback || key;
+    if (vars) {
+      Object.keys(vars).forEach((name) => {
+        value = value.replace(new RegExp(`\\{${name}\\}`, "g"), String(vars[name]));
+      });
+    }
+    return value;
+  }
+
+  function toast(message, options) {
+    if (typeof showAppToast === "function") showAppToast(message, options || undefined);
+  }
+
+  function itemsBox() {
+    return document.getElementById("items");
+  }
+
+  function isVisible() {
+    const box = itemsBox();
+    return Boolean(box && box.dataset.renderedGroup === YOUTUBE_GROUP && !box.dataset.renderedDetail);
+  }
+
+  function stateLabel(status) {
+    const key = String(status?.state || "disabled");
+    return text(`youtube_live_state_${key}`, key);
+  }
+
+  function configuredLabel(status) {
+    if (status?.configured) {
+      return text("youtube_live_key_configured", "Key saved: {key}", { key: status.masked_key || "****" });
+    }
+    return text("youtube_live_key_missing", "Stream key is not saved");
+  }
+
+  function metric(label, value) {
+    const item = document.createElement("div");
+    item.className = "youtube-live-metric";
+    const key = document.createElement("div");
+    key.className = "youtube-live-metric__label";
+    key.textContent = label;
+    const val = document.createElement("div");
+    val.className = "youtube-live-metric__value";
+    val.textContent = value;
+    item.appendChild(key);
+    item.appendChild(val);
+    return item;
+  }
+
+  function makeButton(label, action, tone) {
+    const button = document.createElement("button");
+    button.type = "button";
+    button.className = `smallBtn youtube-live-action${tone ? ` youtube-live-action--${tone}` : ""}`;
+    button.textContent = label;
+    button.addEventListener("click", action);
+    return button;
+  }
+
+  function ensureCard() {
+    const box = itemsBox();
+    if (!box) return null;
+    const existing = document.getElementById(CARD_ID);
+    if (existing) return existing;
+
+    const section = document.createElement("section");
+    section.id = CARD_ID;
+    section.className = "setting-section-block youtube-live-section";
+
+    const title = document.createElement("div");
+    title.className = "setting-group-card__title youtube-live-section__title";
+    title.textContent = text("youtube_live_title", "YouTube Live");
+    section.appendChild(title);
+
+    const card = document.createElement("div");
+    card.className = "setting-group-card youtube-live-card";
+    section.appendChild(card);
+
+    const head = document.createElement("div");
+    head.className = "youtube-live-card__head";
+    const summary = document.createElement("div");
+    summary.className = "youtube-live-card__summary";
+    const summaryTitle = document.createElement("div");
+    summaryTitle.className = "youtube-live-card__title";
+    summaryTitle.dataset.role = "title";
+    summaryTitle.textContent = text("youtube_live_phase1_source", "Phase 1 - qRoadEncodeData");
+    const summaryDesc = document.createElement("div");
+    summaryDesc.className = "youtube-live-card__desc";
+    summaryDesc.dataset.role = "configured";
+    summaryDesc.textContent = text("loading", "Loading...");
+    summary.appendChild(summaryTitle);
+    summary.appendChild(summaryDesc);
+    const pill = document.createElement("span");
+    pill.className = "youtube-live-pill";
+    pill.dataset.role = "state";
+    pill.textContent = "-";
+    head.appendChild(summary);
+    head.appendChild(pill);
+    card.appendChild(head);
+
+    const metrics = document.createElement("div");
+    metrics.className = "youtube-live-metrics";
+    metrics.dataset.role = "metrics";
+    card.appendChild(metrics);
+
+    const error = document.createElement("div");
+    error.className = "youtube-live-error";
+    error.dataset.role = "error";
+    error.hidden = true;
+    card.appendChild(error);
+
+    const warnings = document.createElement("div");
+    warnings.className = "youtube-live-warnings";
+    warnings.dataset.role = "warnings";
+    warnings.hidden = true;
+    card.appendChild(warnings);
+
+    const actions = document.createElement("div");
+    actions.className = "youtube-live-actions";
+    actions.appendChild(makeButton(text("youtube_live_set_key", "Set key"), promptSetKey));
+    actions.appendChild(makeButton(text("youtube_live_test", "Test"), testConfig));
+    actions.appendChild(makeButton(text("youtube_live_diagnostics", "Diagnostics"), showDiagnostics));
+    actions.appendChild(makeButton(text("youtube_live_download_logs", "Download logs"), downloadDiagnostics));
+    actions.appendChild(makeButton(text("youtube_live_stop", "Stop"), stopStream));
+    actions.appendChild(makeButton(text("youtube_live_clear_key", "Clear key"), clearKey, "danger"));
+    card.appendChild(actions);
+
+    box.appendChild(section);
+    return section;
+  }
+
+  function renderStatus(status) {
+    const card = ensureCard();
+    if (!card) return;
+    const stateEl = card.querySelector('[data-role="state"]');
+    const configuredEl = card.querySelector('[data-role="configured"]');
+    const metricsEl = card.querySelector('[data-role="metrics"]');
+    const errorEl = card.querySelector('[data-role="error"]');
+    const warningsEl = card.querySelector('[data-role="warnings"]');
+    card.dataset.liveState = String(status?.state || "disabled");
+    if (stateEl) stateEl.textContent = stateLabel(status);
+    if (configuredEl) configuredEl.textContent = configuredLabel(status);
+    if (metricsEl) {
+      metricsEl.innerHTML = "";
+      metricsEl.appendChild(metric(text("youtube_live_metric_source", "Source"), status?.source || "qRoadEncodeData"));
+      metricsEl.appendChild(metric(text("youtube_live_metric_runtime", "Runtime"), formatSeconds(status?.uptime_sec || 0)));
+      metricsEl.appendChild(metric(text("youtube_live_metric_bitrate", "Bitrate"), `${status?.estimated_kbps || 0} kbps`));
+      metricsEl.appendChild(metric(text("youtube_live_metric_session", "Session"), `${status?.session_mb || 0} MB`));
+      metricsEl.appendChild(metric(text("youtube_live_metric_total", "Total"), `${status?.total_mb || 0} MB`));
+      metricsEl.appendChild(metric(text("youtube_live_metric_retry", "Retry"), retryLabel(status)));
+    }
+    const error = String(status?.last_error || "").trim();
+    if (errorEl) {
+      errorEl.hidden = !error;
+      errorEl.textContent = error;
+    }
+    renderWarnings(warningsEl, status);
+  }
+
+  function formatSeconds(seconds) {
+    const total = Math.max(0, Math.floor(Number(seconds) || 0));
+    const h = Math.floor(total / 3600);
+    const m = Math.floor((total % 3600) / 60);
+    const s = total % 60;
+    return [h, m, s].map((v) => String(v).padStart(2, "0")).join(":");
+  }
+
+  function retryLabel(status) {
+    const retry = Number(status?.retry_in_sec || 0);
+    if (String(status?.state || "") === "backoff" && retry > 0) {
+      return text("youtube_live_retry_in", "{seconds}s", { seconds: retry });
+    }
+    return "-";
+  }
+
+  function renderWarnings(container, status) {
+    if (!container) return;
+    const warnings = Array.isArray(status?.warnings) ? status.warnings.filter(Boolean) : [];
+    if (!warnings.length) {
+      container.hidden = true;
+      container.innerHTML = "";
+      return;
+    }
+    container.hidden = false;
+    container.innerHTML = "";
+    warnings.slice(0, 3).forEach((warning) => {
+      const item = document.createElement("div");
+      item.className = "youtube-live-warning";
+      item.textContent = warning;
+      container.appendChild(item);
+    });
+  }
+
+  async function loadStatus() {
+    if (state.loading || !isVisible()) return;
+    state.loading = true;
+    try {
+      const status = await getJson("/api/youtube_live/status");
+      state.status = status;
+      renderStatus(status);
+    } catch (err) {
+      renderStatus({ state: "error", last_error: err?.message || String(err) });
+    } finally {
+      state.loading = false;
+    }
+  }
+
+  async function promptSetKey() {
+    const current = state.status?.configured ? state.status?.masked_key : "";
+    const prompt = text("youtube_live_key_prompt", "Enter YouTube stream key.");
+    const value = await appPrompt(prompt, {
+      title: text("youtube_live_set_key", "Set key"),
+      defaultValue: "",
+      placeholder: current || "xxxx-xxxx-xxxx-xxxx",
+      confirmLabel: text("save", "Save"),
+    });
+    if (value === null || value === false || String(value).trim() === "") return;
+    try {
+      const status = await postJson("/api/youtube_live/stream_key", { stream_key: String(value).trim() });
+      state.status = status;
+      renderStatus(status);
+      toast(text("youtube_live_key_saved", "Stream key saved"));
+    } catch (err) {
+      toast(err?.message || String(err), { tone: "error" });
+    }
+  }
+
+  async function clearKey() {
+    const ok = await appConfirm(text("youtube_live_clear_confirm", "Clear saved stream key?"), {
+      title: text("youtube_live_clear_key", "Clear key"),
+    });
+    if (!ok) return;
+    try {
+      const status = await requestJson("/api/youtube_live/stream_key", { method: "DELETE" });
+      state.status = status;
+      renderStatus(status);
+      toast(text("youtube_live_key_cleared", "Stream key cleared"));
+    } catch (err) {
+      toast(err?.message || String(err), { tone: "error" });
+    }
+  }
+
+  async function stopStream() {
+    try {
+      const status = await postJson("/api/youtube_live/stop", {});
+      state.status = status;
+      renderStatus(status);
+      toast(text("youtube_live_stopped", "Stream stopped"));
+    } catch (err) {
+      toast(err?.message || String(err), { tone: "error" });
+    }
+  }
+
+  async function testConfig() {
+    try {
+      const result = await postJson("/api/youtube_live/test", {});
+      toast(result.message || text("youtube_live_test_ready", "Ready"));
+    } catch (err) {
+      toast(err?.message || text("youtube_live_test_failed", "Test failed"), { tone: "error" });
+    }
+  }
+
+  function diagnosticText(payload) {
+    const diag = payload?.diagnostics || payload || {};
+    const status = diag.status || {};
+    const resources = status.resource_status || {};
+    const cluster = resources.cluster || {};
+    const vision = resources.carrot_vision || {};
+    const lines = [
+      `${text("youtube_live_state_label", "State")}: ${stateLabel(status)}`,
+      `${text("youtube_live_metric_source", "Source")}: ${status.source || "-"}`,
+      `${text("youtube_live_metric_bitrate", "Bitrate")}: ${status.estimated_kbps || 0} kbps`,
+      `${text("youtube_live_metric_session", "Session")}: ${status.session_mb || 0} MB`,
+      `${text("youtube_live_metric_total", "Total")}: ${status.total_mb || 0} MB`,
+      `ClusterHud: ${cluster.enabled ? "on" : "off"} (${cluster.param ?? "-"})`,
+      `CarrotVision: ${vision.enabled ? "on" : "off"} (DisableDM=${vision.disable_dm ?? "-"})`,
+    ];
+    const warnings = Array.isArray(status.warnings) ? status.warnings : [];
+    if (warnings.length) {
+      lines.push("");
+      lines.push(text("youtube_live_warnings", "Warnings"));
+      warnings.forEach((warning) => lines.push(`- ${warning}`));
+    }
+    const stderr = diag.ffmpeg?.stderr_tail || status.stderr_tail || [];
+    if (stderr.length) {
+      lines.push("");
+      lines.push("ffmpeg stderr");
+      stderr.slice(-8).forEach((line) => lines.push(`- ${line}`));
+    }
+    return lines.join("\n");
+  }
+
+  async function showDiagnostics() {
+    try {
+      const payload = await getJson("/api/youtube_live/diagnostics");
+      const raw = JSON.stringify(payload.diagnostics || payload, null, 2);
+      await appAlert(diagnosticText(payload), {
+        title: text("youtube_live_diagnostics", "Diagnostics"),
+        copyText: raw,
+      });
+    } catch (err) {
+      toast(err?.message || String(err), { tone: "error" });
+    }
+  }
+
+  function downloadDiagnostics() {
+    window.open("/api/youtube_live/diagnostics/download", "_blank", "noopener");
+  }
+
+  function startPolling() {
+    if (!state.timer) state.timer = window.setInterval(loadStatus, POLL_MS);
+    loadStatus();
+  }
+
+  function stopPolling() {
+    if (state.timer) window.clearInterval(state.timer);
+    state.timer = null;
+  }
+
+  function sync() {
+    if (isVisible()) {
+      ensureCard();
+      startPolling();
+      return;
+    }
+    stopPolling();
+    const card = document.getElementById(CARD_ID);
+    if (card) card.remove();
+  }
+
+  function init() {
+    const box = itemsBox();
+    if (!box || state.observer) return;
+    state.observer = new MutationObserver(sync);
+    state.observer.observe(box, {
+      childList: true,
+      attributes: true,
+      attributeFilter: ["data-rendered-group", "data-rendered-detail"],
+    });
+    window.addEventListener("carrot:paramchange", (event) => {
+      const name = event?.detail?.name;
+      if (name === "CarrotYouTubeLive" || name === "CarrotYouTubeQuality") loadStatus();
+    });
+    sync();
+  }
+
+  if (document.readyState === "loading") document.addEventListener("DOMContentLoaded", init, { once: true });
+  else init();
+})();
diff --git a/selfdrive/carrot/web/js/translations/en.js b/selfdrive/carrot/web/js/translations/en.js
index 64c7487c20a..b0a38f21bc4 100644
--- a/selfdrive/carrot/web/js/translations/en.js
+++ b/selfdrive/carrot/web/js/translations/en.js
@@ -5,6 +5,40 @@ window.CarrotTranslations.register("en", {
   nativeName: "English",
   shortName: "EN",
   strings: {
+    youtube_live_title: "YouTube Live",
+    youtube_live_phase1_source: "Phase 1 - qRoadEncodeData",
+    youtube_live_key_configured: "Key saved: {key}",
+    youtube_live_key_missing: "Stream key is not saved",
+    youtube_live_key_prompt: "Enter YouTube stream key.",
+    youtube_live_set_key: "Set key",
+    youtube_live_clear_key: "Clear key",
+    youtube_live_clear_confirm: "Clear saved stream key?",
+    youtube_live_key_saved: "Stream key saved",
+    youtube_live_key_cleared: "Stream key cleared",
+    youtube_live_test: "Test",
+    youtube_live_test_ready: "Ready",
+    youtube_live_test_failed: "Test failed",
+    youtube_live_stop: "Stop",
+    youtube_live_stopped: "Stream stopped",
+    youtube_live_metric_source: "Source",
+    youtube_live_metric_runtime: "Runtime",
+    youtube_live_metric_bitrate: "Bitrate",
+    youtube_live_metric_session: "Session",
+    youtube_live_metric_total: "Total",
+    youtube_live_metric_retry: "Retry",
+    youtube_live_retry_in: "{seconds}s",
+    youtube_live_diagnostics: "Diagnostics",
+    youtube_live_download_logs: "Download logs",
+    youtube_live_state_label: "State",
+    youtube_live_warnings: "Warnings",
+    youtube_live_state_backoff: "Backoff",
+    youtube_live_state_disabled: "Disabled",
+    youtube_live_state_needs_setup: "Needs setup",
+    youtube_live_state_waiting_frame: "Waiting frame",
+    youtube_live_state_starting: "Starting",
+    youtube_live_state_live: "Live",
+    youtube_live_state_stopping: "Stopping",
+    youtube_live_state_error: "Error",
     home: "Drive",
     setting: "Setting",
     setting_tab_device: "Device",
diff --git a/selfdrive/carrot/web/js/translations/ko.js b/selfdrive/carrot/web/js/translations/ko.js
index 024cbce7fae..0e253e99ec2 100644
--- a/selfdrive/carrot/web/js/translations/ko.js
+++ b/selfdrive/carrot/web/js/translations/ko.js
@@ -5,6 +5,40 @@ window.CarrotTranslations.register("ko", {
   nativeName: "한국어",
   shortName: "KO",
   strings: {
+    youtube_live_title: "YouTube 라이브",
+    youtube_live_phase1_source: "페이즈 1 - qRoadEncodeData",
+    youtube_live_key_configured: "키 저장됨: {key}",
+    youtube_live_key_missing: "스트림 키가 저장되지 않음",
+    youtube_live_key_prompt: "YouTube 스트림 키를 입력하세요.",
+    youtube_live_set_key: "키 설정",
+    youtube_live_clear_key: "키 삭제",
+    youtube_live_clear_confirm: "저장된 스트림 키를 삭제할까요?",
+    youtube_live_key_saved: "스트림 키 저장됨",
+    youtube_live_key_cleared: "스트림 키 삭제됨",
+    youtube_live_test: "테스트",
+    youtube_live_test_ready: "준비됨",
+    youtube_live_test_failed: "테스트 실패",
+    youtube_live_stop: "중지",
+    youtube_live_stopped: "송출 중지됨",
+    youtube_live_metric_source: "소스",
+    youtube_live_metric_runtime: "시간",
+    youtube_live_metric_bitrate: "비트레이트",
+    youtube_live_metric_session: "세션",
+    youtube_live_metric_total: "누적",
+    youtube_live_metric_retry: "재시도",
+    youtube_live_retry_in: "{seconds}초",
+    youtube_live_diagnostics: "진단",
+    youtube_live_download_logs: "로그 다운로드",
+    youtube_live_state_label: "상태",
+    youtube_live_warnings: "경고",
+    youtube_live_state_backoff: "재시도 대기",
+    youtube_live_state_disabled: "꺼짐",
+    youtube_live_state_needs_setup: "설정 필요",
+    youtube_live_state_waiting_frame: "프레임 대기",
+    youtube_live_state_starting: "시작 중",
+    youtube_live_state_live: "송출 중",
+    youtube_live_state_stopping: "중지 중",
+    youtube_live_state_error: "오류",
     home: "주행",
     setting: "설정",
     setting_tab_device: "디바이스",
diff --git a/selfdrive/carrot/web/js/translations/zh.js b/selfdrive/carrot/web/js/translations/zh.js
index 1ffd015343c..d5a9b0e1f53 100644
--- a/selfdrive/carrot/web/js/translations/zh.js
+++ b/selfdrive/carrot/web/js/translations/zh.js
@@ -5,6 +5,40 @@ window.CarrotTranslations.register("zh", {
   nativeName: "中文",
   shortName: "ZH",
   strings: {
+    youtube_live_title: "YouTube Live",
+    youtube_live_phase1_source: "Phase 1 - qRoadEncodeData",
+    youtube_live_key_configured: "Key saved: {key}",
+    youtube_live_key_missing: "Stream key is not saved",
+    youtube_live_key_prompt: "Enter YouTube stream key.",
+    youtube_live_set_key: "Set key",
+    youtube_live_clear_key: "Clear key",
+    youtube_live_clear_confirm: "Clear saved stream key?",
+    youtube_live_key_saved: "Stream key saved",
+    youtube_live_key_cleared: "Stream key cleared",
+    youtube_live_test: "Test",
+    youtube_live_test_ready: "Ready",
+    youtube_live_test_failed: "Test failed",
+    youtube_live_stop: "Stop",
+    youtube_live_stopped: "Stream stopped",
+    youtube_live_metric_source: "Source",
+    youtube_live_metric_runtime: "Runtime",
+    youtube_live_metric_bitrate: "Bitrate",
+    youtube_live_metric_session: "Session",
+    youtube_live_metric_total: "Total",
+    youtube_live_metric_retry: "Retry",
+    youtube_live_retry_in: "{seconds}s",
+    youtube_live_diagnostics: "Diagnostics",
+    youtube_live_download_logs: "Download logs",
+    youtube_live_state_label: "State",
+    youtube_live_warnings: "Warnings",
+    youtube_live_state_backoff: "Backoff",
+    youtube_live_state_disabled: "Disabled",
+    youtube_live_state_needs_setup: "Needs setup",
+    youtube_live_state_waiting_frame: "Waiting frame",
+    youtube_live_state_starting: "Starting",
+    youtube_live_state_live: "Live",
+    youtube_live_state_stopping: "Stopping",
+    youtube_live_state_error: "Error",
     home: "驾驶",
     setting: "设置",
     setting_tab_device: "设备",
diff --git a/selfdrive/carrot_settings.json b/selfdrive/carrot_settings.json
index dd43f399604..733391e161e 100644
--- a/selfdrive/carrot_settings.json
+++ b/selfdrive/carrot_settings.json
@@ -544,6 +544,16 @@
             "MaxTimeOffroadMin"
           ]
         },
+        {
+          "id": "SYS_YOUTUBE",
+          "ko": "YouTube 라이브",
+          "en": "YouTube Live",
+          "zh": "YouTube Live",
+          "params": [
+            "CarrotYouTubeLive",
+            "CarrotYouTubeQuality"
+          ]
+        },
         {
           "id": "SYS_NET",
           "ko": "네트워크·지도",
@@ -1729,6 +1739,38 @@
       "default": 0,
       "unit": 1
     },
+    {
+      "group": "SYS_YOUTUBE",
+      "name": "CarrotYouTubeLive",
+      "title": "YouTube 송출",
+      "descr": "YouTube Live로 qRoadEncodeData 영상을 송출합니다.\n0: 끄기, 1: 켜기",
+      "egroup": "System",
+      "etitle": "YouTube Live",
+      "edescr": "Stream qRoadEncodeData video to YouTube Live.\n0: OFF, 1: ON",
+      "cgroup": "System",
+      "ctitle": "YouTube Live",
+      "cdescr": "Stream qRoadEncodeData video to YouTube Live.\n0: OFF, 1: ON",
+      "min": 0,
+      "max": 1,
+      "default": 0,
+      "unit": 1
+    },
+    {
+      "group": "SYS_YOUTUBE",
+      "name": "CarrotYouTubeQuality",
+      "title": "YouTube 화질",
+      "descr": "0: 표준(qRoadEncodeData), 1: 고화질(준비중)",
+      "egroup": "System",
+      "etitle": "YouTube Quality",
+      "edescr": "0: Standard(qRoadEncodeData), 1: High quality(preparing)",
+      "cgroup": "System",
+      "ctitle": "YouTube Quality",
+      "cdescr": "0: Standard(qRoadEncodeData), 1: High quality(preparing)",
+      "min": 0,
+      "max": 1,
+      "default": 0,
+      "unit": 1
+    },
     {
       "group": "시작",
       "name": "HDPuse",

From bfab1ffbf5c6a9759ffcc0d9c45fb4adc8932c02 Mon Sep 17 00:00:00 2001
From: jominki354 <jominki354@gmail.com>
Date: Wed, 1 Jul 2026 12:46:31 +0900
Subject: [PATCH 31/61] f

---
 .../carrot/server/features/youtube_live.py    |  14 ++
 .../carrot/server/services/youtube_live.py    |  49 ++++++
 .../web/css/pages/settings/youtube_live.css   |  87 ++++++++++-
 selfdrive/carrot/web/index.html               |  10 +-
 .../web/js/pages/setting_youtube_live.js      | 143 +++++++++++++++---
 selfdrive/carrot/web/js/translations/en.js    |  14 ++
 selfdrive/carrot/web/js/translations/ko.js    |  14 ++
 selfdrive/carrot/web/js/translations/zh.js    |  14 ++
 8 files changed, 316 insertions(+), 29 deletions(-)

diff --git a/selfdrive/carrot/server/features/youtube_live.py b/selfdrive/carrot/server/features/youtube_live.py
index 4108bcba42a..f5fb6c352ba 100644
--- a/selfdrive/carrot/server/features/youtube_live.py
+++ b/selfdrive/carrot/server/features/youtube_live.py
@@ -1,6 +1,7 @@
 from __future__ import annotations
 
 import json
+import asyncio
 
 from aiohttp import web
 
@@ -59,6 +60,18 @@ async def api_test(request: web.Request) -> web.Response:
   return web.json_response(result, status=200 if result.get("ok") else 409)
 
 
+async def api_validate_stream_key(request: web.Request) -> web.Response:
+  body = {}
+  if request.can_read_body:
+    try:
+      body = await request.json()
+    except Exception:
+      return web.json_response({"ok": False, "error": "invalid json"}, status=400)
+  key = body.get("stream_key", body.get("key")) if isinstance(body, dict) else None
+  result = await asyncio.to_thread(_service(request).validate_stream_key, key)
+  return web.json_response(result, status=200 if result.get("ok") else 409)
+
+
 async def api_diagnostics(request: web.Request) -> web.Response:
   return web.json_response({"ok": True, "diagnostics": _service(request).diagnostics()})
 
@@ -81,6 +94,7 @@ def register(app: web.Application) -> None:
   app.router.add_get("/api/youtube_live/diagnostics", api_diagnostics)
   app.router.add_get("/api/youtube_live/diagnostics/download", api_download_diagnostics)
   app.router.add_post("/api/youtube_live/stream_key", api_set_stream_key)
+  app.router.add_post("/api/youtube_live/stream_key/validate", api_validate_stream_key)
   app.router.add_delete("/api/youtube_live/stream_key", api_clear_stream_key)
   app.router.add_post("/api/youtube_live/stop", api_stop)
   app.router.add_post("/api/youtube_live/test", api_test)
diff --git a/selfdrive/carrot/server/services/youtube_live.py b/selfdrive/carrot/server/services/youtube_live.py
index a1d13928d2b..d655361bc14 100644
--- a/selfdrive/carrot/server/services/youtube_live.py
+++ b/selfdrive/carrot/server/services/youtube_live.py
@@ -3,7 +3,10 @@
 import asyncio
 import json
 import os
+import re
 import shutil
+import socket
+import ssl
 import time
 from collections import deque
 from pathlib import Path
@@ -17,6 +20,8 @@
 PHASE1_SOURCE_SERVICE = "qRoadEncodeData"
 PHASE1_QUALITY = "standard"
 YOUTUBE_RTMPS_BASE = "rtmps://a.rtmps.youtube.com/live2"
+YOUTUBE_RTMPS_HOST = "a.rtmps.youtube.com"
+YOUTUBE_RTMPS_PORT = 443
 NO_FRAME_STOP_SECONDS = 8.0
 START_BACKOFF_SECONDS = 5.0
 STATUS_WRITE_MIN_INTERVAL = 1.0
@@ -77,6 +82,31 @@ def _extract_stream_key(value: str) -> str:
   return raw
 
 
+def _validate_stream_key_format(stream_key: str) -> tuple[bool, str]:
+  key = stream_key.strip()
+  if not key:
+    return False, "stream key is required"
+  if len(key) < 8:
+    return False, "stream key is too short"
+  if len(key) > 256:
+    return False, "stream key is too long"
+  if re.search(r"\s", key):
+    return False, "stream key must not contain spaces"
+  if not re.fullmatch(r"[A-Za-z0-9._/-]+", key):
+    return False, "stream key contains unsupported characters"
+  return True, "format looks valid"
+
+
+def _check_rtmps_reachable(timeout: float = 2.5) -> tuple[bool, str]:
+  try:
+    context = ssl.create_default_context()
+    with socket.create_connection((YOUTUBE_RTMPS_HOST, YOUTUBE_RTMPS_PORT), timeout=timeout) as sock:
+      with context.wrap_socket(sock, server_hostname=YOUTUBE_RTMPS_HOST):
+        return True, "YouTube RTMPS ingest is reachable"
+  except Exception as exc:
+    return False, f"YouTube RTMPS ingest unreachable: {exc}"
+
+
 class YouTubeLiveService:
   def __init__(
     self,
@@ -195,6 +225,25 @@ def test_config(self) -> dict[str, Any]:
       "message": "ready" if ok else "missing stream key or ffmpeg",
     }
 
+  def validate_stream_key(self, value: str | None = None) -> dict[str, Any]:
+    stream_key = _extract_stream_key(value) if value is not None else self.get_stream_key()
+    format_ok, format_message = _validate_stream_key_format(stream_key)
+    rtmps_ok, rtmps_message = _check_rtmps_reachable()
+    ffmpeg_path = shutil.which("ffmpeg")
+    ok = bool(format_ok and rtmps_ok and ffmpeg_path)
+    return {
+      "ok": ok,
+      "configured": bool(self.get_stream_key()),
+      "format_ok": format_ok,
+      "format_message": format_message,
+      "rtmps_reachable": rtmps_ok,
+      "rtmps_message": rtmps_message,
+      "ffmpeg_available": bool(ffmpeg_path),
+      "ffmpeg_path": ffmpeg_path or "",
+      "masked_key": _mask_stream_key(stream_key),
+      "note": "YouTube only confirms whether the key is accepted when an encoder starts streaming.",
+    }
+
   def diagnostics(self) -> dict[str, Any]:
     status = self.status()
     stream_key = self.get_stream_key()
diff --git a/selfdrive/carrot/web/css/pages/settings/youtube_live.css b/selfdrive/carrot/web/css/pages/settings/youtube_live.css
index a2321684a37..7abfd8615fa 100644
--- a/selfdrive/carrot/web/css/pages/settings/youtube_live.css
+++ b/selfdrive/carrot/web/css/pages/settings/youtube_live.css
@@ -1,14 +1,25 @@
 .youtube-live-section {
+  display: grid;
+  gap: var(--sp-md);
   margin-top: var(--sp-lg);
 }
 
-.youtube-live-card {
+.youtube-live-key-card,
+.youtube-live-card,
+.youtube-live-ops-card {
   display: grid;
   gap: var(--sp-md);
   padding-top: var(--sp-lg);
   padding-bottom: var(--sp-lg);
 }
 
+.youtube-live-key-card__head {
+  display: flex;
+  align-items: flex-start;
+  justify-content: space-between;
+  gap: var(--sp-md);
+}
+
 .youtube-live-card__head {
   display: flex;
   align-items: flex-start;
@@ -16,7 +27,8 @@
   gap: var(--sp-md);
 }
 
-.youtube-live-card__summary {
+.youtube-live-card__summary,
+.youtube-live-key-card__head > div {
   min-width: 0;
 }
 
@@ -34,6 +46,55 @@
   letter-spacing: 0;
 }
 
+.youtube-live-guide {
+  display: grid;
+  gap: 4px;
+  color: var(--md-on-surface-var);
+  font-size: var(--fs-body-sm);
+  letter-spacing: 0;
+}
+
+.youtube-live-guide span {
+  min-width: 0;
+  overflow-wrap: anywhere;
+}
+
+.youtube-live-key-row {
+  display: grid;
+  grid-template-columns: minmax(0, 1fr) auto;
+  gap: 8px;
+  align-items: center;
+}
+
+.youtube-live-key-input {
+  min-width: 0;
+  min-height: 40px;
+  border: 1px solid color-mix(in srgb, var(--md-outline-var) 42%, transparent);
+  border-radius: var(--r-md);
+  padding: 0 12px;
+  color: var(--md-on-surface);
+  background: color-mix(in srgb, var(--md-surface) 72%, transparent);
+  font: inherit;
+  font-size: var(--fs-body);
+  letter-spacing: 0;
+}
+
+.youtube-live-key-input:focus {
+  outline: none;
+  border-color: color-mix(in srgb, var(--md-primary) 62%, var(--md-outline-var));
+  box-shadow: 0 0 0 2px color-mix(in srgb, var(--md-primary) 16%, transparent);
+}
+
+.youtube-live-key-actions {
+  display: flex;
+  flex-wrap: wrap;
+  gap: 8px;
+}
+
+.youtube-live-link-btn {
+  flex: 0 0 auto;
+}
+
 .youtube-live-pill {
   flex: 0 0 auto;
   max-width: 44%;
@@ -63,7 +124,7 @@
 
 .youtube-live-metrics {
   display: grid;
-  grid-template-columns: repeat(2, minmax(0, 1fr));
+  grid-template-columns: repeat(3, minmax(0, 1fr));
   gap: 8px;
 }
 
@@ -113,8 +174,19 @@
   gap: 8px;
 }
 
+.youtube-live-ops-card__title {
+  color: var(--md-on-surface);
+  font-size: var(--fs-title-sm);
+  font-weight: 800;
+  letter-spacing: 0;
+}
+
 .youtube-live-action {
+  width: auto;
+  min-width: 0;
   min-height: 36px;
+  flex: 0 1 auto;
+  white-space: nowrap;
 }
 
 .youtube-live-action--danger {
@@ -128,6 +200,15 @@
     flex-direction: column;
   }
 
+  .youtube-live-key-card__head,
+  .youtube-live-key-row {
+    grid-template-columns: 1fr;
+  }
+
+  .youtube-live-key-card__head {
+    flex-direction: column;
+  }
+
   .youtube-live-pill {
     max-width: none;
     align-self: flex-start;
diff --git a/selfdrive/carrot/web/index.html b/selfdrive/carrot/web/index.html
index 5a0cbc18af2..9aba9ee74cf 100644
--- a/selfdrive/carrot/web/index.html
+++ b/selfdrive/carrot/web/index.html
@@ -100,7 +100,7 @@
   <link rel="stylesheet" href="/css/pages/settings/base.css?v=2606-21" />
   <link rel="stylesheet" href="/css/pages/settings/panels.css?v=2606-12" />
   <link rel="stylesheet" href="/css/pages/settings/device.css?v=2606-42" />
-  <link rel="stylesheet" href="/css/pages/settings/youtube_live.css?v=2607-02" />
+  <link rel="stylesheet" href="/css/pages/settings/youtube_live.css?v=2607-03" />
   <link rel="stylesheet" href="/css/pages/tools/base.css?v=2605-43" />
   <link rel="stylesheet" href="/css/pages/tools/qr.css?v=2605-40" />
   <link rel="stylesheet" href="/css/pages/tools/main.css?v=2605-53" />
@@ -706,9 +706,9 @@ <h2 id="carrotTitle" class="page-title">Home</h2>
   <script src="/js/vendor/qrcode-generator.js?v=1.4.4"></script>
   <script src="/js/vendor/jsQR.js?v=1.4.0"></script>
   <script src="/js/translations/registry.js?v=2605-09"></script>
-  <script src="/js/translations/ko.js?v=2607-02"></script>
-  <script src="/js/translations/en.js?v=2607-02"></script>
-  <script src="/js/translations/zh.js?v=2607-02"></script>
+  <script src="/js/translations/ko.js?v=2607-03"></script>
+  <script src="/js/translations/en.js?v=2607-03"></script>
+  <script src="/js/translations/zh.js?v=2607-03"></script>
   <script src="/js/realtime/hud_card.js?v=2604-05"></script>
   <script src="/js/shared/constants.js?v=2604-72"></script>
   <script src="/js/shared/dom.js?v=2604-72"></script>
@@ -724,7 +724,7 @@ <h2 id="carrotTitle" class="page-title">Home</h2>
   <script src="/js/shared/ui/navigation.js?v=2606-19"></script>
   <script src="/js/pages/car.js?v=2604-75"></script>
   <script src="/js/pages/setting.js?v=2606-39"></script>
-  <script src="/js/pages/setting_youtube_live.js?v=2607-02"></script>
+  <script src="/js/pages/setting_youtube_live.js?v=2607-03"></script>
   <script src="/js/pages/setting_device_config.js?v=2605-05"></script>
   <script src="/js/pages/setting_device_render.js?v=2605-04"></script>
   <script src="/js/pages/setting_device_network.js?v=2605-01"></script>
diff --git a/selfdrive/carrot/web/js/pages/setting_youtube_live.js b/selfdrive/carrot/web/js/pages/setting_youtube_live.js
index 8aa1d176cd7..78faad742b9 100644
--- a/selfdrive/carrot/web/js/pages/setting_youtube_live.js
+++ b/selfdrive/carrot/web/js/pages/setting_youtube_live.js
@@ -3,6 +3,8 @@
 (function () {
   const YOUTUBE_GROUP = "SYS_YOUTUBE";
   const CARD_ID = "youtubeLiveStatusCard";
+  const LIVE_CONTROL_ROOM_URL = "https://www.youtube.com/livestreaming";
+  const YOUTUBE_ENCODER_HELP_URL = "https://support.google.com/youtube/answer/2907883";
   const POLL_MS = 2500;
   const state = {
     timer: null,
@@ -85,9 +87,34 @@
     title.textContent = text("youtube_live_title", "YouTube Live");
     section.appendChild(title);
 
-    const card = document.createElement("div");
-    card.className = "setting-group-card youtube-live-card";
-    section.appendChild(card);
+    const keyCard = document.createElement("div");
+    keyCard.className = "setting-group-card youtube-live-key-card";
+    keyCard.innerHTML = `
+      <div class="youtube-live-key-card__head">
+        <div>
+          <div class="youtube-live-card__title">${escapeHtmlLocal(text("youtube_live_key_panel_title", "Stream key"))}</div>
+          <div class="youtube-live-card__desc" data-role="key-status">${escapeHtmlLocal(text("loading", "Loading..."))}</div>
+        </div>
+        <button class="smallBtn youtube-live-link-btn" type="button" data-action="open-studio">${escapeHtmlLocal(text("youtube_live_open_studio", "Open Studio"))}</button>
+      </div>
+      <div class="youtube-live-guide">
+        <span>${escapeHtmlLocal(text("youtube_live_key_guide_1", "YouTube Studio > Create > Go live"))}</span>
+        <span>${escapeHtmlLocal(text("youtube_live_key_guide_2", "Live Control Room > Stream > copy Stream key"))}</span>
+      </div>
+      <div class="youtube-live-key-row">
+        <input class="youtube-live-key-input" data-role="key-input" type="password" autocomplete="off" spellcheck="false" placeholder="${escapeHtmlLocal(text("youtube_live_key_placeholder", "Paste stream key"))}" />
+        <button class="smallBtn btn--filled youtube-live-action" type="button" data-action="save-key">${escapeHtmlLocal(text("save", "Save"))}</button>
+      </div>
+      <div class="youtube-live-key-actions">
+        <button class="smallBtn youtube-live-action" type="button" data-action="validate-key">${escapeHtmlLocal(text("youtube_live_validate_key", "Validate key"))}</button>
+        <button class="smallBtn youtube-live-action" type="button" data-action="open-help">${escapeHtmlLocal(text("youtube_live_help", "Help"))}</button>
+      </div>
+    `;
+    section.appendChild(keyCard);
+
+    const statusCard = document.createElement("div");
+    statusCard.className = "setting-group-card youtube-live-card youtube-live-status-card";
+    section.appendChild(statusCard);
 
     const head = document.createElement("div");
     head.className = "youtube-live-card__head";
@@ -109,49 +136,79 @@
     pill.textContent = "-";
     head.appendChild(summary);
     head.appendChild(pill);
-    card.appendChild(head);
+    statusCard.appendChild(head);
 
     const metrics = document.createElement("div");
     metrics.className = "youtube-live-metrics";
     metrics.dataset.role = "metrics";
-    card.appendChild(metrics);
+    statusCard.appendChild(metrics);
 
     const error = document.createElement("div");
     error.className = "youtube-live-error";
     error.dataset.role = "error";
     error.hidden = true;
-    card.appendChild(error);
+    statusCard.appendChild(error);
 
     const warnings = document.createElement("div");
     warnings.className = "youtube-live-warnings";
     warnings.dataset.role = "warnings";
     warnings.hidden = true;
-    card.appendChild(warnings);
+    statusCard.appendChild(warnings);
+
+    const opsCard = document.createElement("div");
+    opsCard.className = "setting-group-card youtube-live-ops-card";
+    const opsTitle = document.createElement("div");
+    opsTitle.className = "youtube-live-ops-card__title";
+    opsTitle.textContent = text("youtube_live_operations", "Operations");
+    opsCard.appendChild(opsTitle);
 
     const actions = document.createElement("div");
     actions.className = "youtube-live-actions";
-    actions.appendChild(makeButton(text("youtube_live_set_key", "Set key"), promptSetKey));
     actions.appendChild(makeButton(text("youtube_live_test", "Test"), testConfig));
     actions.appendChild(makeButton(text("youtube_live_diagnostics", "Diagnostics"), showDiagnostics));
     actions.appendChild(makeButton(text("youtube_live_download_logs", "Download logs"), downloadDiagnostics));
     actions.appendChild(makeButton(text("youtube_live_stop", "Stop"), stopStream));
     actions.appendChild(makeButton(text("youtube_live_clear_key", "Clear key"), clearKey, "danger"));
-    card.appendChild(actions);
+    opsCard.appendChild(actions);
+    section.appendChild(opsCard);
+
+    keyCard.querySelector('[data-action="open-studio"]')?.addEventListener("click", openLiveControlRoom);
+    keyCard.querySelector('[data-action="open-help"]')?.addEventListener("click", openYouTubeHelp);
+    keyCard.querySelector('[data-action="save-key"]')?.addEventListener("click", saveKeyFromInput);
+    keyCard.querySelector('[data-action="validate-key"]')?.addEventListener("click", validateStreamKey);
+    keyCard.querySelector('[data-role="key-input"]')?.addEventListener("keydown", (event) => {
+      if (event.key === "Enter") {
+        event.preventDefault();
+        saveKeyFromInput();
+      }
+    });
 
-    box.appendChild(section);
+    box.insertBefore(section, box.firstChild);
     return section;
   }
 
+  function escapeHtmlLocal(value) {
+    return String(value ?? "").replace(/[&<>"']/g, (ch) => ({
+      "&": "&amp;",
+      "<": "&lt;",
+      ">": "&gt;",
+      '"': "&quot;",
+      "'": "&#39;",
+    }[ch]));
+  }
+
   function renderStatus(status) {
     const card = ensureCard();
     if (!card) return;
     const stateEl = card.querySelector('[data-role="state"]');
+    const keyStatusEl = card.querySelector('[data-role="key-status"]');
     const configuredEl = card.querySelector('[data-role="configured"]');
     const metricsEl = card.querySelector('[data-role="metrics"]');
     const errorEl = card.querySelector('[data-role="error"]');
     const warningsEl = card.querySelector('[data-role="warnings"]');
     card.dataset.liveState = String(status?.state || "disabled");
     if (stateEl) stateEl.textContent = stateLabel(status);
+    if (keyStatusEl) keyStatusEl.textContent = configuredLabel(status);
     if (configuredEl) configuredEl.textContent = configuredLabel(status);
     if (metricsEl) {
       metricsEl.innerHTML = "";
@@ -218,26 +275,70 @@
     }
   }
 
-  async function promptSetKey() {
-    const current = state.status?.configured ? state.status?.masked_key : "";
-    const prompt = text("youtube_live_key_prompt", "Enter YouTube stream key.");
-    const value = await appPrompt(prompt, {
-      title: text("youtube_live_set_key", "Set key"),
-      defaultValue: "",
-      placeholder: current || "xxxx-xxxx-xxxx-xxxx",
-      confirmLabel: text("save", "Save"),
-    });
-    if (value === null || value === false || String(value).trim() === "") return;
+  function keyInputValue() {
+    return String(document.querySelector(`#${CARD_ID} [data-role="key-input"]`)?.value || "").trim();
+  }
+
+  async function saveKeyFromInput() {
+    const value = keyInputValue();
+    if (!value) {
+      toast(text("youtube_live_key_empty", "Enter a stream key first."), { tone: "error" });
+      return;
+    }
     try {
-      const status = await postJson("/api/youtube_live/stream_key", { stream_key: String(value).trim() });
+      const status = await postJson("/api/youtube_live/stream_key", { stream_key: value });
       state.status = status;
       renderStatus(status);
+      const input = document.querySelector(`#${CARD_ID} [data-role="key-input"]`);
+      if (input) input.value = "";
       toast(text("youtube_live_key_saved", "Stream key saved"));
     } catch (err) {
       toast(err?.message || String(err), { tone: "error" });
     }
   }
 
+  async function validateStreamKey() {
+    const value = keyInputValue();
+    try {
+      const payload = value
+        ? { stream_key: value }
+        : {};
+      const result = await postJson("/api/youtube_live/stream_key/validate", payload);
+      await appAlert(validationText(result), {
+        title: text("youtube_live_validate_key", "Validate key"),
+      });
+    } catch (err) {
+      const payload = err?.payload || null;
+      if (payload) {
+        await appAlert(validationText(payload), {
+          title: text("youtube_live_validate_key", "Validate key"),
+        });
+        return;
+      }
+      toast(err?.message || String(err), { tone: "error" });
+    }
+  }
+
+  function validationText(result) {
+    const lines = [
+      `${text("youtube_live_validation_format", "Key format")}: ${result?.format_ok ? "OK" : "FAIL"} - ${result?.format_message || "-"}`,
+      `${text("youtube_live_validation_ffmpeg", "FFmpeg")}: ${result?.ffmpeg_available ? "OK" : "FAIL"}`,
+      `${text("youtube_live_validation_rtmps", "YouTube RTMPS")}: ${result?.rtmps_reachable ? "OK" : "FAIL"} - ${result?.rtmps_message || "-"}`,
+    ];
+    if (result?.masked_key) lines.push(`${text("youtube_live_key", "Stream key")}: ${result.masked_key}`);
+    lines.push("");
+    lines.push(result?.note || text("youtube_live_validation_note", "YouTube confirms the key only when streaming starts."));
+    return lines.join("\n");
+  }
+
+  function openLiveControlRoom() {
+    window.open(LIVE_CONTROL_ROOM_URL, "_blank", "noopener");
+  }
+
+  function openYouTubeHelp() {
+    window.open(YOUTUBE_ENCODER_HELP_URL, "_blank", "noopener");
+  }
+
   async function clearKey() {
     const ok = await appConfirm(text("youtube_live_clear_confirm", "Clear saved stream key?"), {
       title: text("youtube_live_clear_key", "Clear key"),
diff --git a/selfdrive/carrot/web/js/translations/en.js b/selfdrive/carrot/web/js/translations/en.js
index b0a38f21bc4..62f33287308 100644
--- a/selfdrive/carrot/web/js/translations/en.js
+++ b/selfdrive/carrot/web/js/translations/en.js
@@ -9,6 +9,20 @@ window.CarrotTranslations.register("en", {
     youtube_live_phase1_source: "Phase 1 - qRoadEncodeData",
     youtube_live_key_configured: "Key saved: {key}",
     youtube_live_key_missing: "Stream key is not saved",
+    youtube_live_key_panel_title: "Stream key",
+    youtube_live_key_guide_1: "YouTube Studio > Create > Go live",
+    youtube_live_key_guide_2: "Live Control Room > Stream > copy Stream key",
+    youtube_live_key_placeholder: "Paste stream key",
+    youtube_live_open_studio: "Open Studio",
+    youtube_live_help: "Help",
+    youtube_live_key_empty: "Enter a stream key first.",
+    youtube_live_validate_key: "Validate key",
+    youtube_live_validation_format: "Key format",
+    youtube_live_validation_ffmpeg: "FFmpeg",
+    youtube_live_validation_rtmps: "YouTube RTMPS",
+    youtube_live_validation_note: "YouTube confirms the key only when streaming starts.",
+    youtube_live_key: "Stream key",
+    youtube_live_operations: "Operations",
     youtube_live_key_prompt: "Enter YouTube stream key.",
     youtube_live_set_key: "Set key",
     youtube_live_clear_key: "Clear key",
diff --git a/selfdrive/carrot/web/js/translations/ko.js b/selfdrive/carrot/web/js/translations/ko.js
index 0e253e99ec2..0d26a4b0cc9 100644
--- a/selfdrive/carrot/web/js/translations/ko.js
+++ b/selfdrive/carrot/web/js/translations/ko.js
@@ -9,6 +9,20 @@ window.CarrotTranslations.register("ko", {
     youtube_live_phase1_source: "페이즈 1 - qRoadEncodeData",
     youtube_live_key_configured: "키 저장됨: {key}",
     youtube_live_key_missing: "스트림 키가 저장되지 않음",
+    youtube_live_key_panel_title: "스트림 키",
+    youtube_live_key_guide_1: "YouTube Studio > 만들기 > Go live",
+    youtube_live_key_guide_2: "Live Control Room > Stream > Stream key 복사",
+    youtube_live_key_placeholder: "스트림 키 붙여넣기",
+    youtube_live_open_studio: "Studio 열기",
+    youtube_live_help: "도움말",
+    youtube_live_key_empty: "스트림 키를 먼저 입력하세요.",
+    youtube_live_validate_key: "키 검증",
+    youtube_live_validation_format: "키 형식",
+    youtube_live_validation_ffmpeg: "FFmpeg",
+    youtube_live_validation_rtmps: "YouTube RTMPS",
+    youtube_live_validation_note: "YouTube는 송출 시작 시점에만 키 수락 여부를 확정합니다.",
+    youtube_live_key: "스트림 키",
+    youtube_live_operations: "운영",
     youtube_live_key_prompt: "YouTube 스트림 키를 입력하세요.",
     youtube_live_set_key: "키 설정",
     youtube_live_clear_key: "키 삭제",
diff --git a/selfdrive/carrot/web/js/translations/zh.js b/selfdrive/carrot/web/js/translations/zh.js
index d5a9b0e1f53..2f97efec914 100644
--- a/selfdrive/carrot/web/js/translations/zh.js
+++ b/selfdrive/carrot/web/js/translations/zh.js
@@ -9,6 +9,20 @@ window.CarrotTranslations.register("zh", {
     youtube_live_phase1_source: "Phase 1 - qRoadEncodeData",
     youtube_live_key_configured: "Key saved: {key}",
     youtube_live_key_missing: "Stream key is not saved",
+    youtube_live_key_panel_title: "Stream key",
+    youtube_live_key_guide_1: "YouTube Studio > Create > Go live",
+    youtube_live_key_guide_2: "Live Control Room > Stream > copy Stream key",
+    youtube_live_key_placeholder: "Paste stream key",
+    youtube_live_open_studio: "Open Studio",
+    youtube_live_help: "Help",
+    youtube_live_key_empty: "Enter a stream key first.",
+    youtube_live_validate_key: "Validate key",
+    youtube_live_validation_format: "Key format",
+    youtube_live_validation_ffmpeg: "FFmpeg",
+    youtube_live_validation_rtmps: "YouTube RTMPS",
+    youtube_live_validation_note: "YouTube confirms the key only when streaming starts.",
+    youtube_live_key: "Stream key",
+    youtube_live_operations: "Operations",
     youtube_live_key_prompt: "Enter YouTube stream key.",
     youtube_live_set_key: "Set key",
     youtube_live_clear_key: "Clear key",

From 81a8ff3c5dbac13d9a4e8babce607acac5e43f99 Mon Sep 17 00:00:00 2001
From: jominki354 <jominki354@gmail.com>
Date: Wed, 1 Jul 2026 12:53:52 +0900
Subject: [PATCH 32/61] f

---
 .../web/css/pages/settings/youtube_live.css   |  52 ++---
 selfdrive/carrot/web/index.html               |  10 +-
 .../web/js/pages/setting_youtube_live.js      | 218 +++++++++---------
 selfdrive/carrot/web/js/translations/en.js    |   7 +
 selfdrive/carrot/web/js/translations/ko.js    |   7 +
 selfdrive/carrot/web/js/translations/zh.js    |   7 +
 6 files changed, 156 insertions(+), 145 deletions(-)

diff --git a/selfdrive/carrot/web/css/pages/settings/youtube_live.css b/selfdrive/carrot/web/css/pages/settings/youtube_live.css
index 7abfd8615fa..5802f3f330d 100644
--- a/selfdrive/carrot/web/css/pages/settings/youtube_live.css
+++ b/selfdrive/carrot/web/css/pages/settings/youtube_live.css
@@ -6,20 +6,14 @@
 
 .youtube-live-key-card,
 .youtube-live-card,
-.youtube-live-ops-card {
+.youtube-live-help-card,
+.youtube-live-studio-card {
   display: grid;
   gap: var(--sp-md);
   padding-top: var(--sp-lg);
   padding-bottom: var(--sp-lg);
 }
 
-.youtube-live-key-card__head {
-  display: flex;
-  align-items: flex-start;
-  justify-content: space-between;
-  gap: var(--sp-md);
-}
-
 .youtube-live-card__head {
   display: flex;
   align-items: flex-start;
@@ -27,8 +21,7 @@
   gap: var(--sp-md);
 }
 
-.youtube-live-card__summary,
-.youtube-live-key-card__head > div {
+.youtube-live-card__summary {
   min-width: 0;
 }
 
@@ -46,22 +39,22 @@
   letter-spacing: 0;
 }
 
-.youtube-live-guide {
+.youtube-live-help-list {
   display: grid;
-  gap: 4px;
+  gap: 6px;
   color: var(--md-on-surface-var);
   font-size: var(--fs-body-sm);
   letter-spacing: 0;
 }
 
-.youtube-live-guide span {
+.youtube-live-help-list > div {
   min-width: 0;
   overflow-wrap: anywhere;
 }
 
 .youtube-live-key-row {
   display: grid;
-  grid-template-columns: minmax(0, 1fr) auto;
+  grid-template-columns: minmax(0, 1fr) auto auto;
   gap: 8px;
   align-items: center;
 }
@@ -85,14 +78,9 @@
   box-shadow: 0 0 0 2px color-mix(in srgb, var(--md-primary) 16%, transparent);
 }
 
-.youtube-live-key-actions {
-  display: flex;
-  flex-wrap: wrap;
-  gap: 8px;
-}
-
-.youtube-live-link-btn {
-  flex: 0 0 auto;
+.youtube-live-studio-card {
+  grid-template-columns: minmax(0, 1fr) auto;
+  align-items: center;
 }
 
 .youtube-live-pill {
@@ -174,19 +162,17 @@
   gap: 8px;
 }
 
-.youtube-live-ops-card__title {
-  color: var(--md-on-surface);
-  font-size: var(--fs-title-sm);
-  font-weight: 800;
-  letter-spacing: 0;
-}
-
+.youtube-live-section .smallBtn,
 .youtube-live-action {
+  display: inline-flex;
+  align-items: center;
+  justify-content: center;
   width: auto;
   min-width: 0;
   min-height: 36px;
   flex: 0 1 auto;
   white-space: nowrap;
+  padding: 0 12px;
 }
 
 .youtube-live-action--danger {
@@ -200,15 +186,11 @@
     flex-direction: column;
   }
 
-  .youtube-live-key-card__head,
-  .youtube-live-key-row {
+  .youtube-live-key-row,
+  .youtube-live-studio-card {
     grid-template-columns: 1fr;
   }
 
-  .youtube-live-key-card__head {
-    flex-direction: column;
-  }
-
   .youtube-live-pill {
     max-width: none;
     align-self: flex-start;
diff --git a/selfdrive/carrot/web/index.html b/selfdrive/carrot/web/index.html
index 9aba9ee74cf..dabd37b5468 100644
--- a/selfdrive/carrot/web/index.html
+++ b/selfdrive/carrot/web/index.html
@@ -100,7 +100,7 @@
   <link rel="stylesheet" href="/css/pages/settings/base.css?v=2606-21" />
   <link rel="stylesheet" href="/css/pages/settings/panels.css?v=2606-12" />
   <link rel="stylesheet" href="/css/pages/settings/device.css?v=2606-42" />
-  <link rel="stylesheet" href="/css/pages/settings/youtube_live.css?v=2607-03" />
+  <link rel="stylesheet" href="/css/pages/settings/youtube_live.css?v=2607-04" />
   <link rel="stylesheet" href="/css/pages/tools/base.css?v=2605-43" />
   <link rel="stylesheet" href="/css/pages/tools/qr.css?v=2605-40" />
   <link rel="stylesheet" href="/css/pages/tools/main.css?v=2605-53" />
@@ -706,9 +706,9 @@ <h2 id="carrotTitle" class="page-title">Home</h2>
   <script src="/js/vendor/qrcode-generator.js?v=1.4.4"></script>
   <script src="/js/vendor/jsQR.js?v=1.4.0"></script>
   <script src="/js/translations/registry.js?v=2605-09"></script>
-  <script src="/js/translations/ko.js?v=2607-03"></script>
-  <script src="/js/translations/en.js?v=2607-03"></script>
-  <script src="/js/translations/zh.js?v=2607-03"></script>
+  <script src="/js/translations/ko.js?v=2607-04"></script>
+  <script src="/js/translations/en.js?v=2607-04"></script>
+  <script src="/js/translations/zh.js?v=2607-04"></script>
   <script src="/js/realtime/hud_card.js?v=2604-05"></script>
   <script src="/js/shared/constants.js?v=2604-72"></script>
   <script src="/js/shared/dom.js?v=2604-72"></script>
@@ -724,7 +724,7 @@ <h2 id="carrotTitle" class="page-title">Home</h2>
   <script src="/js/shared/ui/navigation.js?v=2606-19"></script>
   <script src="/js/pages/car.js?v=2604-75"></script>
   <script src="/js/pages/setting.js?v=2606-39"></script>
-  <script src="/js/pages/setting_youtube_live.js?v=2607-03"></script>
+  <script src="/js/pages/setting_youtube_live.js?v=2607-04"></script>
   <script src="/js/pages/setting_device_config.js?v=2605-05"></script>
   <script src="/js/pages/setting_device_render.js?v=2605-04"></script>
   <script src="/js/pages/setting_device_network.js?v=2605-01"></script>
diff --git a/selfdrive/carrot/web/js/pages/setting_youtube_live.js b/selfdrive/carrot/web/js/pages/setting_youtube_live.js
index 78faad742b9..475aea40d3d 100644
--- a/selfdrive/carrot/web/js/pages/setting_youtube_live.js
+++ b/selfdrive/carrot/web/js/pages/setting_youtube_live.js
@@ -2,9 +2,9 @@
 
 (function () {
   const YOUTUBE_GROUP = "SYS_YOUTUBE";
+  const KEY_SECTION_ID = "youtubeLiveKeySection";
   const CARD_ID = "youtubeLiveStatusCard";
   const LIVE_CONTROL_ROOM_URL = "https://www.youtube.com/livestreaming";
-  const YOUTUBE_ENCODER_HELP_URL = "https://support.google.com/youtube/answer/2907883";
   const POLL_MS = 2500;
   const state = {
     timer: null,
@@ -76,114 +76,124 @@
     const box = itemsBox();
     if (!box) return null;
     const existing = document.getElementById(CARD_ID);
-    if (existing) return existing;
-
-    const section = document.createElement("section");
-    section.id = CARD_ID;
-    section.className = "setting-section-block youtube-live-section";
-
-    const title = document.createElement("div");
-    title.className = "setting-group-card__title youtube-live-section__title";
-    title.textContent = text("youtube_live_title", "YouTube Live");
-    section.appendChild(title);
+    const existingKey = document.getElementById(KEY_SECTION_ID);
+    if (existing && existingKey) {
+      if (existing.nextSibling) box.appendChild(existing);
+      return existing;
+    }
 
+    if (!existingKey) {
+      const keySection = document.createElement("section");
+      keySection.id = KEY_SECTION_ID;
+      keySection.className = "setting-section-block youtube-live-section youtube-live-section--key";
     const keyCard = document.createElement("div");
     keyCard.className = "setting-group-card youtube-live-key-card";
     keyCard.innerHTML = `
-      <div class="youtube-live-key-card__head">
-        <div>
-          <div class="youtube-live-card__title">${escapeHtmlLocal(text("youtube_live_key_panel_title", "Stream key"))}</div>
-          <div class="youtube-live-card__desc" data-role="key-status">${escapeHtmlLocal(text("loading", "Loading..."))}</div>
-        </div>
-        <button class="smallBtn youtube-live-link-btn" type="button" data-action="open-studio">${escapeHtmlLocal(text("youtube_live_open_studio", "Open Studio"))}</button>
-      </div>
-      <div class="youtube-live-guide">
-        <span>${escapeHtmlLocal(text("youtube_live_key_guide_1", "YouTube Studio > Create > Go live"))}</span>
-        <span>${escapeHtmlLocal(text("youtube_live_key_guide_2", "Live Control Room > Stream > copy Stream key"))}</span>
-      </div>
+      <div class="youtube-live-card__title">${escapeHtmlLocal(text("youtube_live_key_panel_title", "Stream key"))}</div>
+      <div class="youtube-live-card__desc" data-role="key-status">${escapeHtmlLocal(text("loading", "Loading..."))}</div>
       <div class="youtube-live-key-row">
         <input class="youtube-live-key-input" data-role="key-input" type="password" autocomplete="off" spellcheck="false" placeholder="${escapeHtmlLocal(text("youtube_live_key_placeholder", "Paste stream key"))}" />
         <button class="smallBtn btn--filled youtube-live-action" type="button" data-action="save-key">${escapeHtmlLocal(text("save", "Save"))}</button>
-      </div>
-      <div class="youtube-live-key-actions">
         <button class="smallBtn youtube-live-action" type="button" data-action="validate-key">${escapeHtmlLocal(text("youtube_live_validate_key", "Validate key"))}</button>
-        <button class="smallBtn youtube-live-action" type="button" data-action="open-help">${escapeHtmlLocal(text("youtube_live_help", "Help"))}</button>
       </div>
     `;
-    section.appendChild(keyCard);
-
-    const statusCard = document.createElement("div");
-    statusCard.className = "setting-group-card youtube-live-card youtube-live-status-card";
-    section.appendChild(statusCard);
-
-    const head = document.createElement("div");
-    head.className = "youtube-live-card__head";
-    const summary = document.createElement("div");
-    summary.className = "youtube-live-card__summary";
-    const summaryTitle = document.createElement("div");
-    summaryTitle.className = "youtube-live-card__title";
-    summaryTitle.dataset.role = "title";
-    summaryTitle.textContent = text("youtube_live_phase1_source", "Phase 1 - qRoadEncodeData");
-    const summaryDesc = document.createElement("div");
-    summaryDesc.className = "youtube-live-card__desc";
-    summaryDesc.dataset.role = "configured";
-    summaryDesc.textContent = text("loading", "Loading...");
-    summary.appendChild(summaryTitle);
-    summary.appendChild(summaryDesc);
-    const pill = document.createElement("span");
-    pill.className = "youtube-live-pill";
-    pill.dataset.role = "state";
-    pill.textContent = "-";
-    head.appendChild(summary);
-    head.appendChild(pill);
-    statusCard.appendChild(head);
-
-    const metrics = document.createElement("div");
-    metrics.className = "youtube-live-metrics";
-    metrics.dataset.role = "metrics";
-    statusCard.appendChild(metrics);
-
-    const error = document.createElement("div");
-    error.className = "youtube-live-error";
-    error.dataset.role = "error";
-    error.hidden = true;
-    statusCard.appendChild(error);
-
-    const warnings = document.createElement("div");
-    warnings.className = "youtube-live-warnings";
-    warnings.dataset.role = "warnings";
-    warnings.hidden = true;
-    statusCard.appendChild(warnings);
-
-    const opsCard = document.createElement("div");
-    opsCard.className = "setting-group-card youtube-live-ops-card";
-    const opsTitle = document.createElement("div");
-    opsTitle.className = "youtube-live-ops-card__title";
-    opsTitle.textContent = text("youtube_live_operations", "Operations");
-    opsCard.appendChild(opsTitle);
-
-    const actions = document.createElement("div");
-    actions.className = "youtube-live-actions";
-    actions.appendChild(makeButton(text("youtube_live_test", "Test"), testConfig));
-    actions.appendChild(makeButton(text("youtube_live_diagnostics", "Diagnostics"), showDiagnostics));
-    actions.appendChild(makeButton(text("youtube_live_download_logs", "Download logs"), downloadDiagnostics));
-    actions.appendChild(makeButton(text("youtube_live_stop", "Stop"), stopStream));
-    actions.appendChild(makeButton(text("youtube_live_clear_key", "Clear key"), clearKey, "danger"));
-    opsCard.appendChild(actions);
-    section.appendChild(opsCard);
-
-    keyCard.querySelector('[data-action="open-studio"]')?.addEventListener("click", openLiveControlRoom);
-    keyCard.querySelector('[data-action="open-help"]')?.addEventListener("click", openYouTubeHelp);
-    keyCard.querySelector('[data-action="save-key"]')?.addEventListener("click", saveKeyFromInput);
-    keyCard.querySelector('[data-action="validate-key"]')?.addEventListener("click", validateStreamKey);
-    keyCard.querySelector('[data-role="key-input"]')?.addEventListener("keydown", (event) => {
-      if (event.key === "Enter") {
-        event.preventDefault();
-        saveKeyFromInput();
-      }
-    });
+      keySection.appendChild(keyCard);
+      keyCard.querySelector('[data-action="save-key"]')?.addEventListener("click", saveKeyFromInput);
+      keyCard.querySelector('[data-action="validate-key"]')?.addEventListener("click", validateStreamKey);
+      keyCard.querySelector('[data-role="key-input"]')?.addEventListener("keydown", (event) => {
+        if (event.key === "Enter") {
+          event.preventDefault();
+          saveKeyFromInput();
+        }
+      });
+      box.insertBefore(keySection, box.firstChild);
+    }
+
+    const section = existing || document.createElement("section");
+    if (!existing) {
+      section.id = CARD_ID;
+      section.className = "setting-section-block youtube-live-section youtube-live-section--info";
+
+      const helpCard = document.createElement("div");
+      helpCard.className = "setting-group-card youtube-live-help-card";
+      helpCard.innerHTML = `
+        <div class="youtube-live-card__title">${escapeHtmlLocal(text("youtube_live_help", "Help"))}</div>
+        <div class="youtube-live-help-list">
+          <div>${escapeHtmlLocal(text("youtube_live_help_step_1", "1. Open YouTube Studio and click Create > Go live."))}</div>
+          <div>${escapeHtmlLocal(text("youtube_live_help_step_2", "2. In Live Control Room, open Stream and copy Stream key."))}</div>
+          <div>${escapeHtmlLocal(text("youtube_live_help_step_3", "3. Paste the key here, save it, then run Validate key."))}</div>
+          <div>${escapeHtmlLocal(text("youtube_live_help_note", "Validation checks local format, FFmpeg, and RTMPS reachability. YouTube confirms the key only after streaming starts."))}</div>
+        </div>
+      `;
+      section.appendChild(helpCard);
+
+      const studioCard = document.createElement("div");
+      studioCard.className = "setting-group-card youtube-live-studio-card";
+      studioCard.innerHTML = `
+        <div>
+          <div class="youtube-live-card__title">${escapeHtmlLocal(text("youtube_live_studio_title", "Studio"))}</div>
+          <div class="youtube-live-card__desc">${escapeHtmlLocal(text("youtube_live_studio_desc", "Open Live Control Room to copy the stream key and monitor stream health."))}</div>
+        </div>
+        <button class="smallBtn youtube-live-action youtube-live-studio-button" type="button" data-action="open-studio">${escapeHtmlLocal(text("youtube_live_open_studio", "Open Studio"))}</button>
+      `;
+      section.appendChild(studioCard);
+
+      const statusCard = document.createElement("div");
+      statusCard.className = "setting-group-card youtube-live-card youtube-live-status-card";
+      section.appendChild(statusCard);
+
+      const head = document.createElement("div");
+      head.className = "youtube-live-card__head";
+      const summary = document.createElement("div");
+      summary.className = "youtube-live-card__summary";
+      const summaryTitle = document.createElement("div");
+      summaryTitle.className = "youtube-live-card__title";
+      summaryTitle.dataset.role = "title";
+      summaryTitle.textContent = text("youtube_live_phase_status_title", "Phase 1 / status");
+      const summaryDesc = document.createElement("div");
+      summaryDesc.className = "youtube-live-card__desc";
+      summaryDesc.dataset.role = "configured";
+      summaryDesc.textContent = text("loading", "Loading...");
+      summary.appendChild(summaryTitle);
+      summary.appendChild(summaryDesc);
+      const pill = document.createElement("span");
+      pill.className = "youtube-live-pill";
+      pill.dataset.role = "state";
+      pill.textContent = "-";
+      head.appendChild(summary);
+      head.appendChild(pill);
+      statusCard.appendChild(head);
+
+      const metrics = document.createElement("div");
+      metrics.className = "youtube-live-metrics";
+      metrics.dataset.role = "metrics";
+      statusCard.appendChild(metrics);
+
+      const error = document.createElement("div");
+      error.className = "youtube-live-error";
+      error.dataset.role = "error";
+      error.hidden = true;
+      statusCard.appendChild(error);
+
+      const warnings = document.createElement("div");
+      warnings.className = "youtube-live-warnings";
+      warnings.dataset.role = "warnings";
+      warnings.hidden = true;
+      statusCard.appendChild(warnings);
+
+      const actions = document.createElement("div");
+      actions.className = "youtube-live-actions";
+      actions.appendChild(makeButton(text("youtube_live_test", "Test"), testConfig));
+      actions.appendChild(makeButton(text("youtube_live_diagnostics", "Diagnostics"), showDiagnostics));
+      actions.appendChild(makeButton(text("youtube_live_download_logs", "Download logs"), downloadDiagnostics));
+      actions.appendChild(makeButton(text("youtube_live_stop", "Stop"), stopStream));
+      actions.appendChild(makeButton(text("youtube_live_clear_key", "Clear key"), clearKey, "danger"));
+      statusCard.appendChild(actions);
+
+      studioCard.querySelector('[data-action="open-studio"]')?.addEventListener("click", openLiveControlRoom);
+    }
 
-    box.insertBefore(section, box.firstChild);
+    box.appendChild(section);
     return section;
   }
 
@@ -201,7 +211,7 @@
     const card = ensureCard();
     if (!card) return;
     const stateEl = card.querySelector('[data-role="state"]');
-    const keyStatusEl = card.querySelector('[data-role="key-status"]');
+    const keyStatusEl = document.querySelector(`#${KEY_SECTION_ID} [data-role="key-status"]`);
     const configuredEl = card.querySelector('[data-role="configured"]');
     const metricsEl = card.querySelector('[data-role="metrics"]');
     const errorEl = card.querySelector('[data-role="error"]');
@@ -276,7 +286,7 @@
   }
 
   function keyInputValue() {
-    return String(document.querySelector(`#${CARD_ID} [data-role="key-input"]`)?.value || "").trim();
+    return String(document.querySelector(`#${KEY_SECTION_ID} [data-role="key-input"]`)?.value || "").trim();
   }
 
   async function saveKeyFromInput() {
@@ -289,7 +299,7 @@
       const status = await postJson("/api/youtube_live/stream_key", { stream_key: value });
       state.status = status;
       renderStatus(status);
-      const input = document.querySelector(`#${CARD_ID} [data-role="key-input"]`);
+      const input = document.querySelector(`#${KEY_SECTION_ID} [data-role="key-input"]`);
       if (input) input.value = "";
       toast(text("youtube_live_key_saved", "Stream key saved"));
     } catch (err) {
@@ -335,10 +345,6 @@
     window.open(LIVE_CONTROL_ROOM_URL, "_blank", "noopener");
   }
 
-  function openYouTubeHelp() {
-    window.open(YOUTUBE_ENCODER_HELP_URL, "_blank", "noopener");
-  }
-
   async function clearKey() {
     const ok = await appConfirm(text("youtube_live_clear_confirm", "Clear saved stream key?"), {
       title: text("youtube_live_clear_key", "Clear key"),
@@ -440,6 +446,8 @@
     stopPolling();
     const card = document.getElementById(CARD_ID);
     if (card) card.remove();
+    const keySection = document.getElementById(KEY_SECTION_ID);
+    if (keySection) keySection.remove();
   }
 
   function init() {
diff --git a/selfdrive/carrot/web/js/translations/en.js b/selfdrive/carrot/web/js/translations/en.js
index 62f33287308..ab7f7ba5400 100644
--- a/selfdrive/carrot/web/js/translations/en.js
+++ b/selfdrive/carrot/web/js/translations/en.js
@@ -15,6 +15,13 @@ window.CarrotTranslations.register("en", {
     youtube_live_key_placeholder: "Paste stream key",
     youtube_live_open_studio: "Open Studio",
     youtube_live_help: "Help",
+    youtube_live_help_step_1: "1. Open YouTube Studio and click Create > Go live.",
+    youtube_live_help_step_2: "2. In Live Control Room, open Stream and copy Stream key.",
+    youtube_live_help_step_3: "3. Paste the key here, save it, then run Validate key.",
+    youtube_live_help_note: "Validation checks local format, FFmpeg, and RTMPS reachability. YouTube confirms the key only after streaming starts.",
+    youtube_live_studio_title: "Studio",
+    youtube_live_studio_desc: "Open Live Control Room to copy the stream key and monitor stream health.",
+    youtube_live_phase_status_title: "Phase 1 / status",
     youtube_live_key_empty: "Enter a stream key first.",
     youtube_live_validate_key: "Validate key",
     youtube_live_validation_format: "Key format",
diff --git a/selfdrive/carrot/web/js/translations/ko.js b/selfdrive/carrot/web/js/translations/ko.js
index 0d26a4b0cc9..441962f6546 100644
--- a/selfdrive/carrot/web/js/translations/ko.js
+++ b/selfdrive/carrot/web/js/translations/ko.js
@@ -15,6 +15,13 @@ window.CarrotTranslations.register("ko", {
     youtube_live_key_placeholder: "스트림 키 붙여넣기",
     youtube_live_open_studio: "Studio 열기",
     youtube_live_help: "도움말",
+    youtube_live_help_step_1: "1. YouTube Studio에서 만들기 > Go live를 엽니다.",
+    youtube_live_help_step_2: "2. Live Control Room의 Stream 탭에서 Stream key를 복사합니다.",
+    youtube_live_help_step_3: "3. 위 스트림 키 칸에 붙여넣고 저장 후 키 검증을 실행합니다.",
+    youtube_live_help_note: "키 검증은 로컬 형식, FFmpeg, RTMPS 접속만 확인합니다. YouTube의 키 수락 여부는 실제 송출 시작 후 확정됩니다.",
+    youtube_live_studio_title: "스튜디오",
+    youtube_live_studio_desc: "Live Control Room을 열어 스트림 키를 복사하고 스트림 상태를 확인합니다.",
+    youtube_live_phase_status_title: "페이즈 1 / 상태",
     youtube_live_key_empty: "스트림 키를 먼저 입력하세요.",
     youtube_live_validate_key: "키 검증",
     youtube_live_validation_format: "키 형식",
diff --git a/selfdrive/carrot/web/js/translations/zh.js b/selfdrive/carrot/web/js/translations/zh.js
index 2f97efec914..406e438ff9c 100644
--- a/selfdrive/carrot/web/js/translations/zh.js
+++ b/selfdrive/carrot/web/js/translations/zh.js
@@ -15,6 +15,13 @@ window.CarrotTranslations.register("zh", {
     youtube_live_key_placeholder: "Paste stream key",
     youtube_live_open_studio: "Open Studio",
     youtube_live_help: "Help",
+    youtube_live_help_step_1: "1. Open YouTube Studio and click Create > Go live.",
+    youtube_live_help_step_2: "2. In Live Control Room, open Stream and copy Stream key.",
+    youtube_live_help_step_3: "3. Paste the key here, save it, then run Validate key.",
+    youtube_live_help_note: "Validation checks local format, FFmpeg, and RTMPS reachability. YouTube confirms the key only after streaming starts.",
+    youtube_live_studio_title: "Studio",
+    youtube_live_studio_desc: "Open Live Control Room to copy the stream key and monitor stream health.",
+    youtube_live_phase_status_title: "Phase 1 / status",
     youtube_live_key_empty: "Enter a stream key first.",
     youtube_live_validate_key: "Validate key",
     youtube_live_validation_format: "Key format",

From 7ff3320b8b345136b73c8372459776a6bc98fd32 Mon Sep 17 00:00:00 2001
From: jominki354 <jominki354@gmail.com>
Date: Wed, 1 Jul 2026 13:01:21 +0900
Subject: [PATCH 33/61] f

---
 common/params_keys.h                          |  2 +
 .../web/css/pages/settings/youtube_live.css   | 38 ++++++++---
 selfdrive/carrot/web/index.html               | 10 +--
 .../web/js/pages/setting_youtube_live.js      | 65 ++++++++++++-------
 selfdrive/carrot/web/js/translations/en.js    | 14 +++-
 selfdrive/carrot/web/js/translations/ko.js    | 16 ++++-
 selfdrive/carrot/web/js/translations/zh.js    | 14 +++-
 7 files changed, 116 insertions(+), 43 deletions(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index bc4bd8ffe17..0f651a838da 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -183,6 +183,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ClusterHudRadarDisplay", {PERSISTENT, INT, "0"}},
     {"ClusterHudRadarSourceColor", {PERSISTENT, INT, "0"}},
     {"RecordRoadCam", {PERSISTENT, INT, "0"}},
+    {"CarrotYouTubeLive", {PERSISTENT, INT, "0"}},
+    {"CarrotYouTubeQuality", {PERSISTENT, INT, "0"}},
     {"HDPuse", {PERSISTENT, INT, "0"}},
 
     {"AutoCruiseControl", {PERSISTENT, INT, "0"}},
diff --git a/selfdrive/carrot/web/css/pages/settings/youtube_live.css b/selfdrive/carrot/web/css/pages/settings/youtube_live.css
index 5802f3f330d..c9f0d216f1f 100644
--- a/selfdrive/carrot/web/css/pages/settings/youtube_live.css
+++ b/selfdrive/carrot/web/css/pages/settings/youtube_live.css
@@ -6,8 +6,7 @@
 
 .youtube-live-key-card,
 .youtube-live-card,
-.youtube-live-help-card,
-.youtube-live-studio-card {
+.youtube-live-help-card {
   display: grid;
   gap: var(--sp-md);
   padding-top: var(--sp-lg);
@@ -54,7 +53,7 @@
 
 .youtube-live-key-row {
   display: grid;
-  grid-template-columns: minmax(0, 1fr) auto auto;
+  grid-template-columns: minmax(0, 1fr) auto auto auto;
   gap: 8px;
   align-items: center;
 }
@@ -78,11 +77,6 @@
   box-shadow: 0 0 0 2px color-mix(in srgb, var(--md-primary) 16%, transparent);
 }
 
-.youtube-live-studio-card {
-  grid-template-columns: minmax(0, 1fr) auto;
-  align-items: center;
-}
-
 .youtube-live-pill {
   flex: 0 0 auto;
   max-width: 44%;
@@ -162,6 +156,23 @@
   gap: 8px;
 }
 
+.youtube-live-menu {
+  border-top: 1px solid color-mix(in srgb, var(--md-outline-var) 20%, transparent);
+  padding-top: var(--sp-sm);
+}
+
+.youtube-live-menu > summary {
+  cursor: pointer;
+  color: var(--md-on-surface);
+  font-size: var(--fs-body);
+  font-weight: 800;
+  list-style-position: inside;
+}
+
+.youtube-live-actions--menu {
+  margin-top: var(--sp-sm);
+}
+
 .youtube-live-section .smallBtn,
 .youtube-live-action {
   display: inline-flex;
@@ -187,10 +198,19 @@
   }
 
   .youtube-live-key-row,
-  .youtube-live-studio-card {
+  .youtube-live-actions--menu {
     grid-template-columns: 1fr;
   }
 
+  .youtube-live-key-row {
+    display: grid;
+  }
+
+  .youtube-live-section .smallBtn,
+  .youtube-live-action {
+    width: 100%;
+  }
+
   .youtube-live-pill {
     max-width: none;
     align-self: flex-start;
diff --git a/selfdrive/carrot/web/index.html b/selfdrive/carrot/web/index.html
index dabd37b5468..e1e9dfbe9f9 100644
--- a/selfdrive/carrot/web/index.html
+++ b/selfdrive/carrot/web/index.html
@@ -100,7 +100,7 @@
   <link rel="stylesheet" href="/css/pages/settings/base.css?v=2606-21" />
   <link rel="stylesheet" href="/css/pages/settings/panels.css?v=2606-12" />
   <link rel="stylesheet" href="/css/pages/settings/device.css?v=2606-42" />
-  <link rel="stylesheet" href="/css/pages/settings/youtube_live.css?v=2607-04" />
+  <link rel="stylesheet" href="/css/pages/settings/youtube_live.css?v=2607-06" />
   <link rel="stylesheet" href="/css/pages/tools/base.css?v=2605-43" />
   <link rel="stylesheet" href="/css/pages/tools/qr.css?v=2605-40" />
   <link rel="stylesheet" href="/css/pages/tools/main.css?v=2605-53" />
@@ -706,9 +706,9 @@ <h2 id="carrotTitle" class="page-title">Home</h2>
   <script src="/js/vendor/qrcode-generator.js?v=1.4.4"></script>
   <script src="/js/vendor/jsQR.js?v=1.4.0"></script>
   <script src="/js/translations/registry.js?v=2605-09"></script>
-  <script src="/js/translations/ko.js?v=2607-04"></script>
-  <script src="/js/translations/en.js?v=2607-04"></script>
-  <script src="/js/translations/zh.js?v=2607-04"></script>
+  <script src="/js/translations/ko.js?v=2607-06"></script>
+  <script src="/js/translations/en.js?v=2607-06"></script>
+  <script src="/js/translations/zh.js?v=2607-06"></script>
   <script src="/js/realtime/hud_card.js?v=2604-05"></script>
   <script src="/js/shared/constants.js?v=2604-72"></script>
   <script src="/js/shared/dom.js?v=2604-72"></script>
@@ -724,7 +724,7 @@ <h2 id="carrotTitle" class="page-title">Home</h2>
   <script src="/js/shared/ui/navigation.js?v=2606-19"></script>
   <script src="/js/pages/car.js?v=2604-75"></script>
   <script src="/js/pages/setting.js?v=2606-39"></script>
-  <script src="/js/pages/setting_youtube_live.js?v=2607-04"></script>
+  <script src="/js/pages/setting_youtube_live.js?v=2607-06"></script>
   <script src="/js/pages/setting_device_config.js?v=2605-05"></script>
   <script src="/js/pages/setting_device_render.js?v=2605-04"></script>
   <script src="/js/pages/setting_device_network.js?v=2605-01"></script>
diff --git a/selfdrive/carrot/web/js/pages/setting_youtube_live.js b/selfdrive/carrot/web/js/pages/setting_youtube_live.js
index 475aea40d3d..50334273d3b 100644
--- a/selfdrive/carrot/web/js/pages/setting_youtube_live.js
+++ b/selfdrive/carrot/web/js/pages/setting_youtube_live.js
@@ -94,11 +94,13 @@
       <div class="youtube-live-key-row">
         <input class="youtube-live-key-input" data-role="key-input" type="password" autocomplete="off" spellcheck="false" placeholder="${escapeHtmlLocal(text("youtube_live_key_placeholder", "Paste stream key"))}" />
         <button class="smallBtn btn--filled youtube-live-action" type="button" data-action="save-key">${escapeHtmlLocal(text("save", "Save"))}</button>
+        <button class="smallBtn youtube-live-action youtube-live-action--danger" type="button" data-action="clear-key">${escapeHtmlLocal(text("youtube_live_clear_key", "Clear key"))}</button>
         <button class="smallBtn youtube-live-action" type="button" data-action="validate-key">${escapeHtmlLocal(text("youtube_live_validate_key", "Validate key"))}</button>
       </div>
     `;
       keySection.appendChild(keyCard);
       keyCard.querySelector('[data-action="save-key"]')?.addEventListener("click", saveKeyFromInput);
+      keyCard.querySelector('[data-action="clear-key"]')?.addEventListener("click", clearKey);
       keyCard.querySelector('[data-action="validate-key"]')?.addEventListener("click", validateStreamKey);
       keyCard.querySelector('[data-role="key-input"]')?.addEventListener("keydown", (event) => {
         if (event.key === "Enter") {
@@ -122,21 +124,24 @@
           <div>${escapeHtmlLocal(text("youtube_live_help_step_1", "1. Open YouTube Studio and click Create > Go live."))}</div>
           <div>${escapeHtmlLocal(text("youtube_live_help_step_2", "2. In Live Control Room, open Stream and copy Stream key."))}</div>
           <div>${escapeHtmlLocal(text("youtube_live_help_step_3", "3. Paste the key here, save it, then run Validate key."))}</div>
+          <div>${escapeHtmlLocal(text("youtube_live_help_step_4", "Standard mode uses qRoadEncodeData, about 526x330 at 20fps. This fits YouTube's 240p-720p encoder range; stereo audio uses AAC 128Kbps."))}</div>
           <div>${escapeHtmlLocal(text("youtube_live_help_note", "Validation checks local format, FFmpeg, and RTMPS reachability. YouTube confirms the key only after streaming starts."))}</div>
         </div>
+        <details class="youtube-live-menu">
+          <summary>${escapeHtmlLocal(text("youtube_live_menu_title", "Actions"))}</summary>
+          <div class="youtube-live-actions youtube-live-actions--menu" data-role="action-menu"></div>
+        </details>
       `;
       section.appendChild(helpCard);
 
-      const studioCard = document.createElement("div");
-      studioCard.className = "setting-group-card youtube-live-studio-card";
-      studioCard.innerHTML = `
-        <div>
-          <div class="youtube-live-card__title">${escapeHtmlLocal(text("youtube_live_studio_title", "Studio"))}</div>
-          <div class="youtube-live-card__desc">${escapeHtmlLocal(text("youtube_live_studio_desc", "Open Live Control Room to copy the stream key and monitor stream health."))}</div>
-        </div>
-        <button class="smallBtn youtube-live-action youtube-live-studio-button" type="button" data-action="open-studio">${escapeHtmlLocal(text("youtube_live_open_studio", "Open Studio"))}</button>
-      `;
-      section.appendChild(studioCard);
+      const menuActions = helpCard.querySelector('[data-role="action-menu"]');
+      if (menuActions) {
+        menuActions.appendChild(makeButton(text("youtube_live_open_studio", "Open Studio"), openLiveControlRoom));
+        menuActions.appendChild(makeButton(text("youtube_live_test", "Test"), testConfig));
+        menuActions.appendChild(makeButton(text("youtube_live_diagnostics", "Diagnostics"), showDiagnostics));
+        menuActions.appendChild(makeButton(text("youtube_live_download_logs", "Download logs"), downloadDiagnostics));
+        menuActions.appendChild(makeButton(text("youtube_live_stop", "Stop"), stopStream));
+      }
 
       const statusCard = document.createElement("div");
       statusCard.className = "setting-group-card youtube-live-card youtube-live-status-card";
@@ -181,16 +186,6 @@
       warnings.hidden = true;
       statusCard.appendChild(warnings);
 
-      const actions = document.createElement("div");
-      actions.className = "youtube-live-actions";
-      actions.appendChild(makeButton(text("youtube_live_test", "Test"), testConfig));
-      actions.appendChild(makeButton(text("youtube_live_diagnostics", "Diagnostics"), showDiagnostics));
-      actions.appendChild(makeButton(text("youtube_live_download_logs", "Download logs"), downloadDiagnostics));
-      actions.appendChild(makeButton(text("youtube_live_stop", "Stop"), stopStream));
-      actions.appendChild(makeButton(text("youtube_live_clear_key", "Clear key"), clearKey, "danger"));
-      statusCard.appendChild(actions);
-
-      studioCard.querySelector('[data-action="open-studio"]')?.addEventListener("click", openLiveControlRoom);
     }
 
     box.appendChild(section);
@@ -330,10 +325,12 @@
   }
 
   function validationText(result) {
+    const pass = text("youtube_live_validation_pass", "OK");
+    const fail = text("youtube_live_validation_fail", "FAIL");
     const lines = [
-      `${text("youtube_live_validation_format", "Key format")}: ${result?.format_ok ? "OK" : "FAIL"} - ${result?.format_message || "-"}`,
-      `${text("youtube_live_validation_ffmpeg", "FFmpeg")}: ${result?.ffmpeg_available ? "OK" : "FAIL"}`,
-      `${text("youtube_live_validation_rtmps", "YouTube RTMPS")}: ${result?.rtmps_reachable ? "OK" : "FAIL"} - ${result?.rtmps_message || "-"}`,
+      `${text("youtube_live_validation_format", "Key format")}: ${result?.format_ok ? pass : fail} - ${localizedValidationMessage(result?.format_message)}`,
+      `${text("youtube_live_validation_ffmpeg", "FFmpeg")}: ${result?.ffmpeg_available ? pass : fail}`,
+      `${text("youtube_live_validation_rtmps", "YouTube RTMPS")}: ${result?.rtmps_reachable ? pass : fail} - ${localizedValidationMessage(result?.rtmps_message)}`,
     ];
     if (result?.masked_key) lines.push(`${text("youtube_live_key", "Stream key")}: ${result.masked_key}`);
     lines.push("");
@@ -341,6 +338,22 @@
     return lines.join("\n");
   }
 
+  function localizedValidationMessage(message) {
+    const raw = String(message || "").trim();
+    if (!raw) return "-";
+    const map = {
+      "stream key is required": text("youtube_live_validation_required", "Stream key is required."),
+      "stream key is too short": text("youtube_live_validation_too_short", "Stream key is too short."),
+      "stream key is too long": text("youtube_live_validation_too_long", "Stream key is too long."),
+      "stream key must not contain spaces": text("youtube_live_validation_no_spaces", "Stream key must not contain spaces."),
+      "stream key contains unsupported characters": text("youtube_live_validation_bad_chars", "Stream key contains unsupported characters."),
+      "format looks valid": text("youtube_live_validation_format_ok", "Format looks valid."),
+      "YouTube RTMPS ingest is reachable": text("youtube_live_validation_rtmps_ok", "YouTube RTMPS ingest is reachable."),
+      "missing stream key or ffmpeg": text("youtube_live_test_missing", "Missing stream key or FFmpeg."),
+    };
+    return map[raw] || raw;
+  }
+
   function openLiveControlRoom() {
     window.open(LIVE_CONTROL_ROOM_URL, "_blank", "noopener");
   }
@@ -374,9 +387,11 @@
   async function testConfig() {
     try {
       const result = await postJson("/api/youtube_live/test", {});
-      toast(result.message || text("youtube_live_test_ready", "Ready"));
+      toast(result.ok ? text("youtube_live_test_ready", "Ready") : localizedValidationMessage(result.message));
     } catch (err) {
-      toast(err?.message || text("youtube_live_test_failed", "Test failed"), { tone: "error" });
+      const payload = err?.payload || null;
+      const reason = payload?.message ? localizedValidationMessage(payload.message) : (err?.message || text("youtube_live_test_failed", "Test failed"));
+      toast(reason, { tone: "error" });
     }
   }
 
diff --git a/selfdrive/carrot/web/js/translations/en.js b/selfdrive/carrot/web/js/translations/en.js
index ab7f7ba5400..e405e41ef58 100644
--- a/selfdrive/carrot/web/js/translations/en.js
+++ b/selfdrive/carrot/web/js/translations/en.js
@@ -16,8 +16,9 @@ window.CarrotTranslations.register("en", {
     youtube_live_open_studio: "Open Studio",
     youtube_live_help: "Help",
     youtube_live_help_step_1: "1. Open YouTube Studio and click Create > Go live.",
-    youtube_live_help_step_2: "2. In Live Control Room, open Stream and copy Stream key.",
+    youtube_live_help_step_2: "2. In Live Control Room, open the Stream tab, create a Stream key, then copy it.",
     youtube_live_help_step_3: "3. Paste the key here, save it, then run Validate key.",
+    youtube_live_help_step_4: "Standard mode uses qRoadEncodeData, about 526x330 at 20fps. This fits YouTube's 240p-720p encoder range; stereo audio uses AAC 128Kbps.",
     youtube_live_help_note: "Validation checks local format, FFmpeg, and RTMPS reachability. YouTube confirms the key only after streaming starts.",
     youtube_live_studio_title: "Studio",
     youtube_live_studio_desc: "Open Live Control Room to copy the stream key and monitor stream health.",
@@ -28,8 +29,18 @@ window.CarrotTranslations.register("en", {
     youtube_live_validation_ffmpeg: "FFmpeg",
     youtube_live_validation_rtmps: "YouTube RTMPS",
     youtube_live_validation_note: "YouTube confirms the key only when streaming starts.",
+    youtube_live_validation_pass: "OK",
+    youtube_live_validation_fail: "FAIL",
+    youtube_live_validation_required: "Stream key is required.",
+    youtube_live_validation_too_short: "Stream key is too short.",
+    youtube_live_validation_too_long: "Stream key is too long.",
+    youtube_live_validation_no_spaces: "Stream key must not contain spaces.",
+    youtube_live_validation_bad_chars: "Stream key contains unsupported characters.",
+    youtube_live_validation_format_ok: "Format looks valid.",
+    youtube_live_validation_rtmps_ok: "YouTube RTMPS ingest is reachable.",
     youtube_live_key: "Stream key",
     youtube_live_operations: "Operations",
+    youtube_live_menu_title: "Actions",
     youtube_live_key_prompt: "Enter YouTube stream key.",
     youtube_live_set_key: "Set key",
     youtube_live_clear_key: "Clear key",
@@ -38,6 +49,7 @@ window.CarrotTranslations.register("en", {
     youtube_live_key_cleared: "Stream key cleared",
     youtube_live_test: "Test",
     youtube_live_test_ready: "Ready",
+    youtube_live_test_missing: "Missing stream key or FFmpeg.",
     youtube_live_test_failed: "Test failed",
     youtube_live_stop: "Stop",
     youtube_live_stopped: "Stream stopped",
diff --git a/selfdrive/carrot/web/js/translations/ko.js b/selfdrive/carrot/web/js/translations/ko.js
index 441962f6546..778eb1fb38e 100644
--- a/selfdrive/carrot/web/js/translations/ko.js
+++ b/selfdrive/carrot/web/js/translations/ko.js
@@ -15,9 +15,10 @@ window.CarrotTranslations.register("ko", {
     youtube_live_key_placeholder: "스트림 키 붙여넣기",
     youtube_live_open_studio: "Studio 열기",
     youtube_live_help: "도움말",
-    youtube_live_help_step_1: "1. YouTube Studio에서 만들기 > Go live를 엽니다.",
-    youtube_live_help_step_2: "2. Live Control Room의 Stream 탭에서 Stream key를 복사합니다.",
+    youtube_live_help_step_1: "1. YouTube Studio에서 만들기 > 라이브 스트리밍을 엽니다.",
+    youtube_live_help_step_2: "2. Live Control Room의 스트림 탭에서 Stream key를 생성한 뒤 복사합니다.",
     youtube_live_help_step_3: "3. 위 스트림 키 칸에 붙여넣고 저장 후 키 검증을 실행합니다.",
+    youtube_live_help_step_4: "표준 모드는 qRoadEncodeData를 사용합니다. 영상은 약 526x330/20fps이며 YouTube의 240p-720p 인코더 범위에 맞고, 오디오는 AAC 128Kbps입니다.",
     youtube_live_help_note: "키 검증은 로컬 형식, FFmpeg, RTMPS 접속만 확인합니다. YouTube의 키 수락 여부는 실제 송출 시작 후 확정됩니다.",
     youtube_live_studio_title: "스튜디오",
     youtube_live_studio_desc: "Live Control Room을 열어 스트림 키를 복사하고 스트림 상태를 확인합니다.",
@@ -28,8 +29,18 @@ window.CarrotTranslations.register("ko", {
     youtube_live_validation_ffmpeg: "FFmpeg",
     youtube_live_validation_rtmps: "YouTube RTMPS",
     youtube_live_validation_note: "YouTube는 송출 시작 시점에만 키 수락 여부를 확정합니다.",
+    youtube_live_validation_pass: "정상",
+    youtube_live_validation_fail: "실패",
+    youtube_live_validation_required: "스트림 키가 필요합니다.",
+    youtube_live_validation_too_short: "스트림 키가 너무 짧습니다.",
+    youtube_live_validation_too_long: "스트림 키가 너무 깁니다.",
+    youtube_live_validation_no_spaces: "스트림 키에는 공백이 들어가면 안 됩니다.",
+    youtube_live_validation_bad_chars: "스트림 키에 지원하지 않는 문자가 있습니다.",
+    youtube_live_validation_format_ok: "형식은 정상입니다.",
+    youtube_live_validation_rtmps_ok: "YouTube RTMPS 서버에 접속 가능합니다.",
     youtube_live_key: "스트림 키",
     youtube_live_operations: "운영",
+    youtube_live_menu_title: "작업 메뉴",
     youtube_live_key_prompt: "YouTube 스트림 키를 입력하세요.",
     youtube_live_set_key: "키 설정",
     youtube_live_clear_key: "키 삭제",
@@ -38,6 +49,7 @@ window.CarrotTranslations.register("ko", {
     youtube_live_key_cleared: "스트림 키 삭제됨",
     youtube_live_test: "테스트",
     youtube_live_test_ready: "준비됨",
+    youtube_live_test_missing: "스트림 키 또는 FFmpeg가 없습니다.",
     youtube_live_test_failed: "테스트 실패",
     youtube_live_stop: "중지",
     youtube_live_stopped: "송출 중지됨",
diff --git a/selfdrive/carrot/web/js/translations/zh.js b/selfdrive/carrot/web/js/translations/zh.js
index 406e438ff9c..6516991331b 100644
--- a/selfdrive/carrot/web/js/translations/zh.js
+++ b/selfdrive/carrot/web/js/translations/zh.js
@@ -16,8 +16,9 @@ window.CarrotTranslations.register("zh", {
     youtube_live_open_studio: "Open Studio",
     youtube_live_help: "Help",
     youtube_live_help_step_1: "1. Open YouTube Studio and click Create > Go live.",
-    youtube_live_help_step_2: "2. In Live Control Room, open Stream and copy Stream key.",
+    youtube_live_help_step_2: "2. In Live Control Room, open the Stream tab, create a Stream key, then copy it.",
     youtube_live_help_step_3: "3. Paste the key here, save it, then run Validate key.",
+    youtube_live_help_step_4: "Standard mode uses qRoadEncodeData, about 526x330 at 20fps. This fits YouTube's 240p-720p encoder range; stereo audio uses AAC 128Kbps.",
     youtube_live_help_note: "Validation checks local format, FFmpeg, and RTMPS reachability. YouTube confirms the key only after streaming starts.",
     youtube_live_studio_title: "Studio",
     youtube_live_studio_desc: "Open Live Control Room to copy the stream key and monitor stream health.",
@@ -28,8 +29,18 @@ window.CarrotTranslations.register("zh", {
     youtube_live_validation_ffmpeg: "FFmpeg",
     youtube_live_validation_rtmps: "YouTube RTMPS",
     youtube_live_validation_note: "YouTube confirms the key only when streaming starts.",
+    youtube_live_validation_pass: "OK",
+    youtube_live_validation_fail: "FAIL",
+    youtube_live_validation_required: "Stream key is required.",
+    youtube_live_validation_too_short: "Stream key is too short.",
+    youtube_live_validation_too_long: "Stream key is too long.",
+    youtube_live_validation_no_spaces: "Stream key must not contain spaces.",
+    youtube_live_validation_bad_chars: "Stream key contains unsupported characters.",
+    youtube_live_validation_format_ok: "Format looks valid.",
+    youtube_live_validation_rtmps_ok: "YouTube RTMPS ingest is reachable.",
     youtube_live_key: "Stream key",
     youtube_live_operations: "Operations",
+    youtube_live_menu_title: "Actions",
     youtube_live_key_prompt: "Enter YouTube stream key.",
     youtube_live_set_key: "Set key",
     youtube_live_clear_key: "Clear key",
@@ -38,6 +49,7 @@ window.CarrotTranslations.register("zh", {
     youtube_live_key_cleared: "Stream key cleared",
     youtube_live_test: "Test",
     youtube_live_test_ready: "Ready",
+    youtube_live_test_missing: "Missing stream key or FFmpeg.",
     youtube_live_test_failed: "Test failed",
     youtube_live_stop: "Stop",
     youtube_live_stopped: "Stream stopped",

From 30535b36c319fb87d98b7c4121da0b5b015a120e Mon Sep 17 00:00:00 2001
From: jominki354 <jominki354@gmail.com>
Date: Wed, 1 Jul 2026 13:06:22 +0900
Subject: [PATCH 34/61] f

---
 .../carrot/server/features/youtube_live.py    | 20 -----
 .../carrot/server/services/youtube_live.py    |  5 --
 selfdrive/carrot/web/index.html               |  8 +-
 .../web/js/pages/setting_youtube_live.js      | 85 ++++++++++++-------
 selfdrive/carrot/web/js/translations/en.js    |  7 +-
 selfdrive/carrot/web/js/translations/ko.js    |  7 +-
 selfdrive/carrot/web/js/translations/zh.js    |  7 +-
 7 files changed, 68 insertions(+), 71 deletions(-)

diff --git a/selfdrive/carrot/server/features/youtube_live.py b/selfdrive/carrot/server/features/youtube_live.py
index f5fb6c352ba..f2e4c7d121b 100644
--- a/selfdrive/carrot/server/features/youtube_live.py
+++ b/selfdrive/carrot/server/features/youtube_live.py
@@ -1,6 +1,5 @@
 from __future__ import annotations
 
-import json
 import asyncio
 
 from aiohttp import web
@@ -50,11 +49,6 @@ async def api_clear_stream_key(request: web.Request) -> web.Response:
   return web.json_response({"ok": True, **_service(request).clear_stream_key()})
 
 
-async def api_stop(request: web.Request) -> web.Response:
-  status = await _service(request).stop_stream()
-  return web.json_response({"ok": True, **status})
-
-
 async def api_test(request: web.Request) -> web.Response:
   result = _service(request).test_config()
   return web.json_response(result, status=200 if result.get("ok") else 409)
@@ -76,25 +70,11 @@ async def api_diagnostics(request: web.Request) -> web.Response:
   return web.json_response({"ok": True, "diagnostics": _service(request).diagnostics()})
 
 
-async def api_download_diagnostics(request: web.Request) -> web.Response:
-  body = json.dumps(_service(request).diagnostics(), ensure_ascii=False, indent=2, sort_keys=True)
-  return web.Response(
-    text=body,
-    content_type="application/json",
-    headers={
-      "Cache-Control": "no-store",
-      "Content-Disposition": "attachment; filename=carrot-youtube-live-diagnostics.json",
-    },
-  )
-
-
 def register(app: web.Application) -> None:
   app.cleanup_ctx.append(youtube_live_context)
   app.router.add_get("/api/youtube_live/status", api_status)
   app.router.add_get("/api/youtube_live/diagnostics", api_diagnostics)
-  app.router.add_get("/api/youtube_live/diagnostics/download", api_download_diagnostics)
   app.router.add_post("/api/youtube_live/stream_key", api_set_stream_key)
   app.router.add_post("/api/youtube_live/stream_key/validate", api_validate_stream_key)
   app.router.add_delete("/api/youtube_live/stream_key", api_clear_stream_key)
-  app.router.add_post("/api/youtube_live/stop", api_stop)
   app.router.add_post("/api/youtube_live/test", api_test)
diff --git a/selfdrive/carrot/server/services/youtube_live.py b/selfdrive/carrot/server/services/youtube_live.py
index d655361bc14..b46f294c7db 100644
--- a/selfdrive/carrot/server/services/youtube_live.py
+++ b/selfdrive/carrot/server/services/youtube_live.py
@@ -161,11 +161,6 @@ async def stop(self) -> None:
     self._task = None
     self._write_status(force=True)
 
-  async def stop_stream(self) -> dict[str, Any]:
-    await self._stop_process()
-    self._set_state("disabled")
-    return self.status()
-
   def status(self) -> dict[str, Any]:
     stream_key = self.get_stream_key()
     pid = self._process.pid if self._process and self._process.returncode is None else None
diff --git a/selfdrive/carrot/web/index.html b/selfdrive/carrot/web/index.html
index e1e9dfbe9f9..d6a43451a15 100644
--- a/selfdrive/carrot/web/index.html
+++ b/selfdrive/carrot/web/index.html
@@ -706,9 +706,9 @@ <h2 id="carrotTitle" class="page-title">Home</h2>
   <script src="/js/vendor/qrcode-generator.js?v=1.4.4"></script>
   <script src="/js/vendor/jsQR.js?v=1.4.0"></script>
   <script src="/js/translations/registry.js?v=2605-09"></script>
-  <script src="/js/translations/ko.js?v=2607-06"></script>
-  <script src="/js/translations/en.js?v=2607-06"></script>
-  <script src="/js/translations/zh.js?v=2607-06"></script>
+  <script src="/js/translations/ko.js?v=2607-07"></script>
+  <script src="/js/translations/en.js?v=2607-07"></script>
+  <script src="/js/translations/zh.js?v=2607-07"></script>
   <script src="/js/realtime/hud_card.js?v=2604-05"></script>
   <script src="/js/shared/constants.js?v=2604-72"></script>
   <script src="/js/shared/dom.js?v=2604-72"></script>
@@ -724,7 +724,7 @@ <h2 id="carrotTitle" class="page-title">Home</h2>
   <script src="/js/shared/ui/navigation.js?v=2606-19"></script>
   <script src="/js/pages/car.js?v=2604-75"></script>
   <script src="/js/pages/setting.js?v=2606-39"></script>
-  <script src="/js/pages/setting_youtube_live.js?v=2607-06"></script>
+  <script src="/js/pages/setting_youtube_live.js?v=2607-07"></script>
   <script src="/js/pages/setting_device_config.js?v=2605-05"></script>
   <script src="/js/pages/setting_device_render.js?v=2605-04"></script>
   <script src="/js/pages/setting_device_network.js?v=2605-01"></script>
diff --git a/selfdrive/carrot/web/js/pages/setting_youtube_live.js b/selfdrive/carrot/web/js/pages/setting_youtube_live.js
index 50334273d3b..6399ab23bfd 100644
--- a/selfdrive/carrot/web/js/pages/setting_youtube_live.js
+++ b/selfdrive/carrot/web/js/pages/setting_youtube_live.js
@@ -137,10 +137,7 @@
       const menuActions = helpCard.querySelector('[data-role="action-menu"]');
       if (menuActions) {
         menuActions.appendChild(makeButton(text("youtube_live_open_studio", "Open Studio"), openLiveControlRoom));
-        menuActions.appendChild(makeButton(text("youtube_live_test", "Test"), testConfig));
-        menuActions.appendChild(makeButton(text("youtube_live_diagnostics", "Diagnostics"), showDiagnostics));
-        menuActions.appendChild(makeButton(text("youtube_live_download_logs", "Download logs"), downloadDiagnostics));
-        menuActions.appendChild(makeButton(text("youtube_live_stop", "Stop"), stopStream));
+        menuActions.appendChild(makeButton(text("youtube_live_check", "Check"), runCheck));
       }
 
       const statusCard = document.createElement("div");
@@ -350,6 +347,7 @@
       "format looks valid": text("youtube_live_validation_format_ok", "Format looks valid."),
       "YouTube RTMPS ingest is reachable": text("youtube_live_validation_rtmps_ok", "YouTube RTMPS ingest is reachable."),
       "missing stream key or ffmpeg": text("youtube_live_test_missing", "Missing stream key or FFmpeg."),
+      "ready": text("youtube_live_check_ready", "Ready"),
     };
     return map[raw] || raw;
   }
@@ -373,26 +371,51 @@
     }
   }
 
-  async function stopStream() {
+  async function fetchTestResult() {
     try {
-      const status = await postJson("/api/youtube_live/stop", {});
-      state.status = status;
-      renderStatus(status);
-      toast(text("youtube_live_stopped", "Stream stopped"));
+      const result = await postJson("/api/youtube_live/test", {});
+      return { ok: Boolean(result?.ok), payload: result };
     } catch (err) {
-      toast(err?.message || String(err), { tone: "error" });
+      const payload = err?.payload || null;
+      return {
+        ok: false,
+        payload,
+        error: payload?.message ? localizedValidationMessage(payload.message) : (err?.message || text("youtube_live_test_failed", "Test failed")),
+      };
     }
   }
 
-  async function testConfig() {
+  async function fetchDiagnosticsResult() {
     try {
-      const result = await postJson("/api/youtube_live/test", {});
-      toast(result.ok ? text("youtube_live_test_ready", "Ready") : localizedValidationMessage(result.message));
+      const payload = await getJson("/api/youtube_live/diagnostics");
+      return { ok: true, payload };
     } catch (err) {
-      const payload = err?.payload || null;
-      const reason = payload?.message ? localizedValidationMessage(payload.message) : (err?.message || text("youtube_live_test_failed", "Test failed"));
-      toast(reason, { tone: "error" });
+      return { ok: false, error: err?.message || String(err) };
+    }
+  }
+
+  function checkText(testResult, diagnosticsResult) {
+    const pass = text("youtube_live_validation_pass", "OK");
+    const fail = text("youtube_live_validation_fail", "FAIL");
+    const test = testResult?.payload || {};
+    const lines = [
+      `${text("youtube_live_test", "Test")}: ${testResult?.ok ? pass : fail} - ${localizedValidationMessage(test.message || testResult?.error)}`,
+      `${text("youtube_live_key", "Stream key")}: ${test.configured ? pass : fail}`,
+      `${text("youtube_live_validation_ffmpeg", "FFmpeg")}: ${test.ffmpeg_available ? pass : fail}`,
+      `${text("youtube_live_metric_source", "Source")}: ${test.source || "-"}`,
+    ];
+    if (Array.isArray(test.warnings) && test.warnings.length) {
+      lines.push("");
+      lines.push(text("youtube_live_warnings", "Warnings"));
+      test.warnings.forEach((warning) => lines.push(`- ${warning}`));
+    }
+    lines.push("");
+    if (diagnosticsResult?.ok) {
+      lines.push(diagnosticText(diagnosticsResult.payload));
+    } else {
+      lines.push(`${text("youtube_live_diagnostics", "Diagnostics")}: ${fail} - ${diagnosticsResult?.error || "-"}`);
     }
+    return lines.join("\n");
   }
 
   function diagnosticText(payload) {
@@ -425,21 +448,23 @@
     return lines.join("\n");
   }
 
-  async function showDiagnostics() {
-    try {
-      const payload = await getJson("/api/youtube_live/diagnostics");
-      const raw = JSON.stringify(payload.diagnostics || payload, null, 2);
-      await appAlert(diagnosticText(payload), {
-        title: text("youtube_live_diagnostics", "Diagnostics"),
-        copyText: raw,
-      });
-    } catch (err) {
-      toast(err?.message || String(err), { tone: "error" });
+  async function runCheck() {
+    const [testResult, diagnosticsResult] = await Promise.all([
+      fetchTestResult(),
+      fetchDiagnosticsResult(),
+    ]);
+    const status = diagnosticsResult?.payload?.diagnostics?.status;
+    if (status) {
+      state.status = status;
+      renderStatus(status);
     }
-  }
-
-  function downloadDiagnostics() {
-    window.open("/api/youtube_live/diagnostics/download", "_blank", "noopener");
+    await appAlert(checkText(testResult, diagnosticsResult), {
+      title: text("youtube_live_check_result", "Check result"),
+      copyText: JSON.stringify({
+        test: testResult.payload || { ok: false, error: testResult.error },
+        diagnostics: diagnosticsResult.payload?.diagnostics || { ok: false, error: diagnosticsResult.error },
+      }, null, 2),
+    });
   }
 
   function startPolling() {
diff --git a/selfdrive/carrot/web/js/translations/en.js b/selfdrive/carrot/web/js/translations/en.js
index e405e41ef58..f62793fa2ce 100644
--- a/selfdrive/carrot/web/js/translations/en.js
+++ b/selfdrive/carrot/web/js/translations/en.js
@@ -47,12 +47,12 @@ window.CarrotTranslations.register("en", {
     youtube_live_clear_confirm: "Clear saved stream key?",
     youtube_live_key_saved: "Stream key saved",
     youtube_live_key_cleared: "Stream key cleared",
+    youtube_live_check: "Check",
+    youtube_live_check_result: "Check result",
+    youtube_live_check_ready: "Ready",
     youtube_live_test: "Test",
-    youtube_live_test_ready: "Ready",
     youtube_live_test_missing: "Missing stream key or FFmpeg.",
     youtube_live_test_failed: "Test failed",
-    youtube_live_stop: "Stop",
-    youtube_live_stopped: "Stream stopped",
     youtube_live_metric_source: "Source",
     youtube_live_metric_runtime: "Runtime",
     youtube_live_metric_bitrate: "Bitrate",
@@ -61,7 +61,6 @@ window.CarrotTranslations.register("en", {
     youtube_live_metric_retry: "Retry",
     youtube_live_retry_in: "{seconds}s",
     youtube_live_diagnostics: "Diagnostics",
-    youtube_live_download_logs: "Download logs",
     youtube_live_state_label: "State",
     youtube_live_warnings: "Warnings",
     youtube_live_state_backoff: "Backoff",
diff --git a/selfdrive/carrot/web/js/translations/ko.js b/selfdrive/carrot/web/js/translations/ko.js
index 778eb1fb38e..f143953d639 100644
--- a/selfdrive/carrot/web/js/translations/ko.js
+++ b/selfdrive/carrot/web/js/translations/ko.js
@@ -47,12 +47,12 @@ window.CarrotTranslations.register("ko", {
     youtube_live_clear_confirm: "저장된 스트림 키를 삭제할까요?",
     youtube_live_key_saved: "스트림 키 저장됨",
     youtube_live_key_cleared: "스트림 키 삭제됨",
+    youtube_live_check: "점검",
+    youtube_live_check_result: "점검 결과",
+    youtube_live_check_ready: "준비됨",
     youtube_live_test: "테스트",
-    youtube_live_test_ready: "준비됨",
     youtube_live_test_missing: "스트림 키 또는 FFmpeg가 없습니다.",
     youtube_live_test_failed: "테스트 실패",
-    youtube_live_stop: "중지",
-    youtube_live_stopped: "송출 중지됨",
     youtube_live_metric_source: "소스",
     youtube_live_metric_runtime: "시간",
     youtube_live_metric_bitrate: "비트레이트",
@@ -61,7 +61,6 @@ window.CarrotTranslations.register("ko", {
     youtube_live_metric_retry: "재시도",
     youtube_live_retry_in: "{seconds}초",
     youtube_live_diagnostics: "진단",
-    youtube_live_download_logs: "로그 다운로드",
     youtube_live_state_label: "상태",
     youtube_live_warnings: "경고",
     youtube_live_state_backoff: "재시도 대기",
diff --git a/selfdrive/carrot/web/js/translations/zh.js b/selfdrive/carrot/web/js/translations/zh.js
index 6516991331b..0f02697acaa 100644
--- a/selfdrive/carrot/web/js/translations/zh.js
+++ b/selfdrive/carrot/web/js/translations/zh.js
@@ -47,12 +47,12 @@ window.CarrotTranslations.register("zh", {
     youtube_live_clear_confirm: "Clear saved stream key?",
     youtube_live_key_saved: "Stream key saved",
     youtube_live_key_cleared: "Stream key cleared",
+    youtube_live_check: "Check",
+    youtube_live_check_result: "Check result",
+    youtube_live_check_ready: "Ready",
     youtube_live_test: "Test",
-    youtube_live_test_ready: "Ready",
     youtube_live_test_missing: "Missing stream key or FFmpeg.",
     youtube_live_test_failed: "Test failed",
-    youtube_live_stop: "Stop",
-    youtube_live_stopped: "Stream stopped",
     youtube_live_metric_source: "Source",
     youtube_live_metric_runtime: "Runtime",
     youtube_live_metric_bitrate: "Bitrate",
@@ -61,7 +61,6 @@ window.CarrotTranslations.register("zh", {
     youtube_live_metric_retry: "Retry",
     youtube_live_retry_in: "{seconds}s",
     youtube_live_diagnostics: "Diagnostics",
-    youtube_live_download_logs: "Download logs",
     youtube_live_state_label: "State",
     youtube_live_warnings: "Warnings",
     youtube_live_state_backoff: "Backoff",

From 8351a3636a65e40588cbf50d915107be5fcdfdc2 Mon Sep 17 00:00:00 2001
From: jominki354 <jominki354@gmail.com>
Date: Wed, 1 Jul 2026 13:10:07 +0900
Subject: [PATCH 35/61] f

---
 .../web/css/pages/settings/youtube_live.css   | 51 ++++++-------------
 selfdrive/carrot/web/index.html               | 10 ++--
 .../web/js/pages/setting_youtube_live.js      | 23 ++++-----
 selfdrive/carrot/web/js/translations/en.js    | 14 ++---
 selfdrive/carrot/web/js/translations/ko.js    | 14 ++---
 selfdrive/carrot/web/js/translations/zh.js    | 14 ++---
 6 files changed, 39 insertions(+), 87 deletions(-)

diff --git a/selfdrive/carrot/web/css/pages/settings/youtube_live.css b/selfdrive/carrot/web/css/pages/settings/youtube_live.css
index c9f0d216f1f..6e511562993 100644
--- a/selfdrive/carrot/web/css/pages/settings/youtube_live.css
+++ b/selfdrive/carrot/web/css/pages/settings/youtube_live.css
@@ -40,17 +40,26 @@
 
 .youtube-live-help-list {
   display: grid;
-  gap: 6px;
+  gap: var(--sp-sm);
+  margin: 0;
+  padding-left: 1.35em;
   color: var(--md-on-surface-var);
   font-size: var(--fs-body-sm);
   letter-spacing: 0;
 }
 
-.youtube-live-help-list > div {
+.youtube-live-help-list > li,
+.youtube-live-help-note {
   min-width: 0;
   overflow-wrap: anywhere;
 }
 
+.youtube-live-help-note {
+  color: var(--md-on-surface-var);
+  font-size: var(--fs-body-sm);
+  letter-spacing: 0;
+}
+
 .youtube-live-key-row {
   display: grid;
   grid-template-columns: minmax(0, 1fr) auto auto auto;
@@ -151,30 +160,10 @@
 }
 
 .youtube-live-actions {
-  display: flex;
-  flex-wrap: wrap;
-  gap: 8px;
-}
-
-.youtube-live-menu {
-  border-top: 1px solid color-mix(in srgb, var(--md-outline-var) 20%, transparent);
-  padding-top: var(--sp-sm);
-}
-
-.youtube-live-menu > summary {
-  cursor: pointer;
-  color: var(--md-on-surface);
-  font-size: var(--fs-body);
-  font-weight: 800;
-  list-style-position: inside;
+  --ui-action-min: 136px;
 }
 
-.youtube-live-actions--menu {
-  margin-top: var(--sp-sm);
-}
-
-.youtube-live-section .smallBtn,
-.youtube-live-action {
+.youtube-live-key-row .smallBtn {
   display: inline-flex;
   align-items: center;
   justify-content: center;
@@ -186,28 +175,18 @@
   padding: 0 12px;
 }
 
-.youtube-live-action--danger {
-  color: var(--md-error);
-  border-color: color-mix(in srgb, var(--md-error) 35%, var(--md-outline-var));
-}
-
 @media (max-width: 430px) {
   .youtube-live-card__head {
     align-items: stretch;
     flex-direction: column;
   }
 
-  .youtube-live-key-row,
-  .youtube-live-actions--menu {
-    grid-template-columns: 1fr;
-  }
-
   .youtube-live-key-row {
     display: grid;
+    grid-template-columns: 1fr;
   }
 
-  .youtube-live-section .smallBtn,
-  .youtube-live-action {
+  .youtube-live-key-row .smallBtn {
     width: 100%;
   }
 
diff --git a/selfdrive/carrot/web/index.html b/selfdrive/carrot/web/index.html
index d6a43451a15..fba532e614a 100644
--- a/selfdrive/carrot/web/index.html
+++ b/selfdrive/carrot/web/index.html
@@ -100,7 +100,7 @@
   <link rel="stylesheet" href="/css/pages/settings/base.css?v=2606-21" />
   <link rel="stylesheet" href="/css/pages/settings/panels.css?v=2606-12" />
   <link rel="stylesheet" href="/css/pages/settings/device.css?v=2606-42" />
-  <link rel="stylesheet" href="/css/pages/settings/youtube_live.css?v=2607-06" />
+  <link rel="stylesheet" href="/css/pages/settings/youtube_live.css?v=2607-08" />
   <link rel="stylesheet" href="/css/pages/tools/base.css?v=2605-43" />
   <link rel="stylesheet" href="/css/pages/tools/qr.css?v=2605-40" />
   <link rel="stylesheet" href="/css/pages/tools/main.css?v=2605-53" />
@@ -706,9 +706,9 @@ <h2 id="carrotTitle" class="page-title">Home</h2>
   <script src="/js/vendor/qrcode-generator.js?v=1.4.4"></script>
   <script src="/js/vendor/jsQR.js?v=1.4.0"></script>
   <script src="/js/translations/registry.js?v=2605-09"></script>
-  <script src="/js/translations/ko.js?v=2607-07"></script>
-  <script src="/js/translations/en.js?v=2607-07"></script>
-  <script src="/js/translations/zh.js?v=2607-07"></script>
+  <script src="/js/translations/ko.js?v=2607-08"></script>
+  <script src="/js/translations/en.js?v=2607-08"></script>
+  <script src="/js/translations/zh.js?v=2607-08"></script>
   <script src="/js/realtime/hud_card.js?v=2604-05"></script>
   <script src="/js/shared/constants.js?v=2604-72"></script>
   <script src="/js/shared/dom.js?v=2604-72"></script>
@@ -724,7 +724,7 @@ <h2 id="carrotTitle" class="page-title">Home</h2>
   <script src="/js/shared/ui/navigation.js?v=2606-19"></script>
   <script src="/js/pages/car.js?v=2604-75"></script>
   <script src="/js/pages/setting.js?v=2606-39"></script>
-  <script src="/js/pages/setting_youtube_live.js?v=2607-07"></script>
+  <script src="/js/pages/setting_youtube_live.js?v=2607-08"></script>
   <script src="/js/pages/setting_device_config.js?v=2605-05"></script>
   <script src="/js/pages/setting_device_render.js?v=2605-04"></script>
   <script src="/js/pages/setting_device_network.js?v=2605-01"></script>
diff --git a/selfdrive/carrot/web/js/pages/setting_youtube_live.js b/selfdrive/carrot/web/js/pages/setting_youtube_live.js
index 6399ab23bfd..60c4c7f699f 100644
--- a/selfdrive/carrot/web/js/pages/setting_youtube_live.js
+++ b/selfdrive/carrot/web/js/pages/setting_youtube_live.js
@@ -66,7 +66,7 @@
   function makeButton(label, action, tone) {
     const button = document.createElement("button");
     button.type = "button";
-    button.className = `smallBtn youtube-live-action${tone ? ` youtube-live-action--${tone}` : ""}`;
+    button.className = `smallBtn${tone ? ` btn--${tone}` : ""}`;
     button.textContent = label;
     button.addEventListener("click", action);
     return button;
@@ -94,7 +94,7 @@
       <div class="youtube-live-key-row">
         <input class="youtube-live-key-input" data-role="key-input" type="password" autocomplete="off" spellcheck="false" placeholder="${escapeHtmlLocal(text("youtube_live_key_placeholder", "Paste stream key"))}" />
         <button class="smallBtn btn--filled youtube-live-action" type="button" data-action="save-key">${escapeHtmlLocal(text("save", "Save"))}</button>
-        <button class="smallBtn youtube-live-action youtube-live-action--danger" type="button" data-action="clear-key">${escapeHtmlLocal(text("youtube_live_clear_key", "Clear key"))}</button>
+        <button class="smallBtn youtube-live-action btn--danger" type="button" data-action="clear-key">${escapeHtmlLocal(text("youtube_live_clear_key", "Clear key"))}</button>
         <button class="smallBtn youtube-live-action" type="button" data-action="validate-key">${escapeHtmlLocal(text("youtube_live_validate_key", "Validate key"))}</button>
       </div>
     `;
@@ -120,17 +120,14 @@
       helpCard.className = "setting-group-card youtube-live-help-card";
       helpCard.innerHTML = `
         <div class="youtube-live-card__title">${escapeHtmlLocal(text("youtube_live_help", "Help"))}</div>
-        <div class="youtube-live-help-list">
-          <div>${escapeHtmlLocal(text("youtube_live_help_step_1", "1. Open YouTube Studio and click Create > Go live."))}</div>
-          <div>${escapeHtmlLocal(text("youtube_live_help_step_2", "2. In Live Control Room, open Stream and copy Stream key."))}</div>
-          <div>${escapeHtmlLocal(text("youtube_live_help_step_3", "3. Paste the key here, save it, then run Validate key."))}</div>
-          <div>${escapeHtmlLocal(text("youtube_live_help_step_4", "Standard mode uses qRoadEncodeData, about 526x330 at 20fps. This fits YouTube's 240p-720p encoder range; stereo audio uses AAC 128Kbps."))}</div>
-          <div>${escapeHtmlLocal(text("youtube_live_help_note", "Validation checks local format, FFmpeg, and RTMPS reachability. YouTube confirms the key only after streaming starts."))}</div>
-        </div>
-        <details class="youtube-live-menu">
-          <summary>${escapeHtmlLocal(text("youtube_live_menu_title", "Actions"))}</summary>
-          <div class="youtube-live-actions youtube-live-actions--menu" data-role="action-menu"></div>
-        </details>
+        <ol class="youtube-live-help-list">
+          <li>${escapeHtmlLocal(text("youtube_live_help_step_1", "Open YouTube Studio and click Create > Go live."))}</li>
+          <li>${escapeHtmlLocal(text("youtube_live_help_step_2", "In Live Control Room, open Stream and copy Stream key."))}</li>
+          <li>${escapeHtmlLocal(text("youtube_live_help_step_3", "Paste the key here, save it, then run Validate key."))}</li>
+        </ol>
+        <div class="youtube-live-help-note">${escapeHtmlLocal(text("youtube_live_help_step_4", "Standard mode uses qRoadEncodeData, about 526x330 at 20fps. This fits YouTube's 240p-720p encoder range; stereo audio uses AAC 128Kbps."))}</div>
+        <div class="youtube-live-help-note">${escapeHtmlLocal(text("youtube_live_help_note", "Validation checks local format, FFmpeg, and RTMPS reachability. YouTube confirms the key only after streaming starts."))}</div>
+        <div class="ui-action-grid ui-action-grid--quick youtube-live-actions" data-role="action-menu"></div>
       `;
       section.appendChild(helpCard);
 
diff --git a/selfdrive/carrot/web/js/translations/en.js b/selfdrive/carrot/web/js/translations/en.js
index f62793fa2ce..5fe8df6f163 100644
--- a/selfdrive/carrot/web/js/translations/en.js
+++ b/selfdrive/carrot/web/js/translations/en.js
@@ -10,18 +10,14 @@ window.CarrotTranslations.register("en", {
     youtube_live_key_configured: "Key saved: {key}",
     youtube_live_key_missing: "Stream key is not saved",
     youtube_live_key_panel_title: "Stream key",
-    youtube_live_key_guide_1: "YouTube Studio > Create > Go live",
-    youtube_live_key_guide_2: "Live Control Room > Stream > copy Stream key",
     youtube_live_key_placeholder: "Paste stream key",
     youtube_live_open_studio: "Open Studio",
     youtube_live_help: "Help",
-    youtube_live_help_step_1: "1. Open YouTube Studio and click Create > Go live.",
-    youtube_live_help_step_2: "2. In Live Control Room, open the Stream tab, create a Stream key, then copy it.",
-    youtube_live_help_step_3: "3. Paste the key here, save it, then run Validate key.",
+    youtube_live_help_step_1: "Open YouTube Studio and click Create > Go live.",
+    youtube_live_help_step_2: "In Live Control Room, open the Stream tab, create a Stream key, then copy it.",
+    youtube_live_help_step_3: "Paste the key here, save it, then run Validate key.",
     youtube_live_help_step_4: "Standard mode uses qRoadEncodeData, about 526x330 at 20fps. This fits YouTube's 240p-720p encoder range; stereo audio uses AAC 128Kbps.",
     youtube_live_help_note: "Validation checks local format, FFmpeg, and RTMPS reachability. YouTube confirms the key only after streaming starts.",
-    youtube_live_studio_title: "Studio",
-    youtube_live_studio_desc: "Open Live Control Room to copy the stream key and monitor stream health.",
     youtube_live_phase_status_title: "Phase 1 / status",
     youtube_live_key_empty: "Enter a stream key first.",
     youtube_live_validate_key: "Validate key",
@@ -39,10 +35,6 @@ window.CarrotTranslations.register("en", {
     youtube_live_validation_format_ok: "Format looks valid.",
     youtube_live_validation_rtmps_ok: "YouTube RTMPS ingest is reachable.",
     youtube_live_key: "Stream key",
-    youtube_live_operations: "Operations",
-    youtube_live_menu_title: "Actions",
-    youtube_live_key_prompt: "Enter YouTube stream key.",
-    youtube_live_set_key: "Set key",
     youtube_live_clear_key: "Clear key",
     youtube_live_clear_confirm: "Clear saved stream key?",
     youtube_live_key_saved: "Stream key saved",
diff --git a/selfdrive/carrot/web/js/translations/ko.js b/selfdrive/carrot/web/js/translations/ko.js
index f143953d639..d5e59a6bbbb 100644
--- a/selfdrive/carrot/web/js/translations/ko.js
+++ b/selfdrive/carrot/web/js/translations/ko.js
@@ -10,18 +10,14 @@ window.CarrotTranslations.register("ko", {
     youtube_live_key_configured: "키 저장됨: {key}",
     youtube_live_key_missing: "스트림 키가 저장되지 않음",
     youtube_live_key_panel_title: "스트림 키",
-    youtube_live_key_guide_1: "YouTube Studio > 만들기 > Go live",
-    youtube_live_key_guide_2: "Live Control Room > Stream > Stream key 복사",
     youtube_live_key_placeholder: "스트림 키 붙여넣기",
     youtube_live_open_studio: "Studio 열기",
     youtube_live_help: "도움말",
-    youtube_live_help_step_1: "1. YouTube Studio에서 만들기 > 라이브 스트리밍을 엽니다.",
-    youtube_live_help_step_2: "2. Live Control Room의 스트림 탭에서 Stream key를 생성한 뒤 복사합니다.",
-    youtube_live_help_step_3: "3. 위 스트림 키 칸에 붙여넣고 저장 후 키 검증을 실행합니다.",
+    youtube_live_help_step_1: "YouTube Studio에서 만들기 > 라이브 스트리밍을 엽니다.",
+    youtube_live_help_step_2: "Live Control Room의 스트림 탭에서 Stream key를 생성한 뒤 복사합니다.",
+    youtube_live_help_step_3: "위 스트림 키 칸에 붙여넣고 저장 후 키 검증을 실행합니다.",
     youtube_live_help_step_4: "표준 모드는 qRoadEncodeData를 사용합니다. 영상은 약 526x330/20fps이며 YouTube의 240p-720p 인코더 범위에 맞고, 오디오는 AAC 128Kbps입니다.",
     youtube_live_help_note: "키 검증은 로컬 형식, FFmpeg, RTMPS 접속만 확인합니다. YouTube의 키 수락 여부는 실제 송출 시작 후 확정됩니다.",
-    youtube_live_studio_title: "스튜디오",
-    youtube_live_studio_desc: "Live Control Room을 열어 스트림 키를 복사하고 스트림 상태를 확인합니다.",
     youtube_live_phase_status_title: "페이즈 1 / 상태",
     youtube_live_key_empty: "스트림 키를 먼저 입력하세요.",
     youtube_live_validate_key: "키 검증",
@@ -39,10 +35,6 @@ window.CarrotTranslations.register("ko", {
     youtube_live_validation_format_ok: "형식은 정상입니다.",
     youtube_live_validation_rtmps_ok: "YouTube RTMPS 서버에 접속 가능합니다.",
     youtube_live_key: "스트림 키",
-    youtube_live_operations: "운영",
-    youtube_live_menu_title: "작업 메뉴",
-    youtube_live_key_prompt: "YouTube 스트림 키를 입력하세요.",
-    youtube_live_set_key: "키 설정",
     youtube_live_clear_key: "키 삭제",
     youtube_live_clear_confirm: "저장된 스트림 키를 삭제할까요?",
     youtube_live_key_saved: "스트림 키 저장됨",
diff --git a/selfdrive/carrot/web/js/translations/zh.js b/selfdrive/carrot/web/js/translations/zh.js
index 0f02697acaa..b793c3bee97 100644
--- a/selfdrive/carrot/web/js/translations/zh.js
+++ b/selfdrive/carrot/web/js/translations/zh.js
@@ -10,18 +10,14 @@ window.CarrotTranslations.register("zh", {
     youtube_live_key_configured: "Key saved: {key}",
     youtube_live_key_missing: "Stream key is not saved",
     youtube_live_key_panel_title: "Stream key",
-    youtube_live_key_guide_1: "YouTube Studio > Create > Go live",
-    youtube_live_key_guide_2: "Live Control Room > Stream > copy Stream key",
     youtube_live_key_placeholder: "Paste stream key",
     youtube_live_open_studio: "Open Studio",
     youtube_live_help: "Help",
-    youtube_live_help_step_1: "1. Open YouTube Studio and click Create > Go live.",
-    youtube_live_help_step_2: "2. In Live Control Room, open the Stream tab, create a Stream key, then copy it.",
-    youtube_live_help_step_3: "3. Paste the key here, save it, then run Validate key.",
+    youtube_live_help_step_1: "Open YouTube Studio and click Create > Go live.",
+    youtube_live_help_step_2: "In Live Control Room, open the Stream tab, create a Stream key, then copy it.",
+    youtube_live_help_step_3: "Paste the key here, save it, then run Validate key.",
     youtube_live_help_step_4: "Standard mode uses qRoadEncodeData, about 526x330 at 20fps. This fits YouTube's 240p-720p encoder range; stereo audio uses AAC 128Kbps.",
     youtube_live_help_note: "Validation checks local format, FFmpeg, and RTMPS reachability. YouTube confirms the key only after streaming starts.",
-    youtube_live_studio_title: "Studio",
-    youtube_live_studio_desc: "Open Live Control Room to copy the stream key and monitor stream health.",
     youtube_live_phase_status_title: "Phase 1 / status",
     youtube_live_key_empty: "Enter a stream key first.",
     youtube_live_validate_key: "Validate key",
@@ -39,10 +35,6 @@ window.CarrotTranslations.register("zh", {
     youtube_live_validation_format_ok: "Format looks valid.",
     youtube_live_validation_rtmps_ok: "YouTube RTMPS ingest is reachable.",
     youtube_live_key: "Stream key",
-    youtube_live_operations: "Operations",
-    youtube_live_menu_title: "Actions",
-    youtube_live_key_prompt: "Enter YouTube stream key.",
-    youtube_live_set_key: "Set key",
     youtube_live_clear_key: "Clear key",
     youtube_live_clear_confirm: "Clear saved stream key?",
     youtube_live_key_saved: "Stream key saved",

From d7c6dbf118c0009f1fdb008188969ec72c2ccc53 Mon Sep 17 00:00:00 2001
From: jominki354 <jominki354@gmail.com>
Date: Wed, 1 Jul 2026 13:18:12 +0900
Subject: [PATCH 36/61] f

---
 selfdrive/carrot/web/index.html               | 10 +--
 selfdrive/carrot/web/js/pages/setting.js      |  1 +
 .../web/js/pages/setting_youtube_live.js      | 87 ++++++++++++++++---
 selfdrive/carrot/web/js/translations/en.js    |  8 +-
 selfdrive/carrot/web/js/translations/ko.js    |  8 +-
 selfdrive/carrot/web/js/translations/zh.js    |  8 +-
 selfdrive/carrot_settings.json                | 34 +++++---
 7 files changed, 118 insertions(+), 38 deletions(-)

diff --git a/selfdrive/carrot/web/index.html b/selfdrive/carrot/web/index.html
index fba532e614a..d02c5f6cfc4 100644
--- a/selfdrive/carrot/web/index.html
+++ b/selfdrive/carrot/web/index.html
@@ -706,9 +706,9 @@ <h2 id="carrotTitle" class="page-title">Home</h2>
   <script src="/js/vendor/qrcode-generator.js?v=1.4.4"></script>
   <script src="/js/vendor/jsQR.js?v=1.4.0"></script>
   <script src="/js/translations/registry.js?v=2605-09"></script>
-  <script src="/js/translations/ko.js?v=2607-08"></script>
-  <script src="/js/translations/en.js?v=2607-08"></script>
-  <script src="/js/translations/zh.js?v=2607-08"></script>
+  <script src="/js/translations/ko.js?v=2607-09"></script>
+  <script src="/js/translations/en.js?v=2607-09"></script>
+  <script src="/js/translations/zh.js?v=2607-09"></script>
   <script src="/js/realtime/hud_card.js?v=2604-05"></script>
   <script src="/js/shared/constants.js?v=2604-72"></script>
   <script src="/js/shared/dom.js?v=2604-72"></script>
@@ -723,8 +723,8 @@ <h2 id="carrotTitle" class="page-title">Home</h2>
   <script src="/js/shared/ui/effects.js?v=2604-72"></script>
   <script src="/js/shared/ui/navigation.js?v=2606-19"></script>
   <script src="/js/pages/car.js?v=2604-75"></script>
-  <script src="/js/pages/setting.js?v=2606-39"></script>
-  <script src="/js/pages/setting_youtube_live.js?v=2607-08"></script>
+  <script src="/js/pages/setting.js?v=2607-09"></script>
+  <script src="/js/pages/setting_youtube_live.js?v=2607-09"></script>
   <script src="/js/pages/setting_device_config.js?v=2605-05"></script>
   <script src="/js/pages/setting_device_render.js?v=2605-04"></script>
   <script src="/js/pages/setting_device_network.js?v=2605-01"></script>
diff --git a/selfdrive/carrot/web/js/pages/setting.js b/selfdrive/carrot/web/js/pages/setting.js
index 0c38db1ecd6..ec81157a5d2 100644
--- a/selfdrive/carrot/web/js/pages/setting.js
+++ b/selfdrive/carrot/web/js/pages/setting.js
@@ -2666,6 +2666,7 @@ async function renderItems(group, options = {}) {
         lastCategorySectionKey = secKey;
         const sectionBlock = document.createElement("section");
         sectionBlock.className = animateItems ? "setting-section-block ui-stagger-item" : "setting-section-block";
+        sectionBlock.dataset.settingSectionId = secKey;
         if (animateItems) sectionBlock.style.setProperty("--i", String(Math.min(index + 1, 14)));
         const cardLabel = settingNodeLabel(p.__section);
         if (cardLabel) {
diff --git a/selfdrive/carrot/web/js/pages/setting_youtube_live.js b/selfdrive/carrot/web/js/pages/setting_youtube_live.js
index 60c4c7f699f..f8fe13cf9a9 100644
--- a/selfdrive/carrot/web/js/pages/setting_youtube_live.js
+++ b/selfdrive/carrot/web/js/pages/setting_youtube_live.js
@@ -1,7 +1,8 @@
 "use strict";
 
 (function () {
-  const YOUTUBE_GROUP = "SYS_YOUTUBE";
+  const YOUTUBE_GROUP = "SYS_RECORD";
+  const YOUTUBE_SECTION = "SYS_YOUTUBE";
   const KEY_SECTION_ID = "youtubeLiveKeySection";
   const CARD_ID = "youtubeLiveStatusCard";
   const LIVE_CONTROL_ROOM_URL = "https://www.youtube.com/livestreaming";
@@ -49,6 +50,19 @@
     return text("youtube_live_key_missing", "Stream key is not saved");
   }
 
+  function streamTitle(status) {
+    return status?.enabled
+      ? text("youtube_live_stream_active", "Streaming")
+      : text("youtube_live_stream_inactive", "Stream stopped");
+  }
+
+  function streamSummary(status) {
+    const quality = text("youtube_live_quality_standard", "Standard");
+    const source = status?.source || "qRoadEncodeData";
+    const visibility = text("youtube_live_visibility_studio", "Visibility: set in YouTube Studio");
+    return `${quality} · ${source} · ${visibility}`;
+  }
+
   function metric(label, value) {
     const item = document.createElement("div");
     item.className = "youtube-live-metric";
@@ -72,13 +86,24 @@
     return button;
   }
 
+  function placeYoutubeSections(box, keySection, infoSection) {
+    const target = box.querySelector(`[data-setting-section-id="${YOUTUBE_SECTION}"]`);
+    if (!target) {
+      box.insertBefore(keySection, box.firstChild);
+      box.appendChild(infoSection);
+      return;
+    }
+    box.insertBefore(keySection, target);
+    box.insertBefore(infoSection, target.nextSibling);
+  }
+
   function ensureCard() {
     const box = itemsBox();
     if (!box) return null;
     const existing = document.getElementById(CARD_ID);
     const existingKey = document.getElementById(KEY_SECTION_ID);
     if (existing && existingKey) {
-      if (existing.nextSibling) box.appendChild(existing);
+      placeYoutubeSections(box, existingKey, existing);
       return existing;
     }
 
@@ -92,7 +117,7 @@
       <div class="youtube-live-card__title">${escapeHtmlLocal(text("youtube_live_key_panel_title", "Stream key"))}</div>
       <div class="youtube-live-card__desc" data-role="key-status">${escapeHtmlLocal(text("loading", "Loading..."))}</div>
       <div class="youtube-live-key-row">
-        <input class="youtube-live-key-input" data-role="key-input" type="password" autocomplete="off" spellcheck="false" placeholder="${escapeHtmlLocal(text("youtube_live_key_placeholder", "Paste stream key"))}" />
+        <input class="youtube-live-key-input" data-role="key-input" type="text" autocomplete="off" spellcheck="false" placeholder="${escapeHtmlLocal(text("youtube_live_key_placeholder", "Paste stream key"))}" />
         <button class="smallBtn btn--filled youtube-live-action" type="button" data-action="save-key">${escapeHtmlLocal(text("save", "Save"))}</button>
         <button class="smallBtn youtube-live-action btn--danger" type="button" data-action="clear-key">${escapeHtmlLocal(text("youtube_live_clear_key", "Clear key"))}</button>
         <button class="smallBtn youtube-live-action" type="button" data-action="validate-key">${escapeHtmlLocal(text("youtube_live_validate_key", "Validate key"))}</button>
@@ -108,7 +133,6 @@
           saveKeyFromInput();
         }
       });
-      box.insertBefore(keySection, box.firstChild);
     }
 
     const section = existing || document.createElement("section");
@@ -148,10 +172,10 @@
       const summaryTitle = document.createElement("div");
       summaryTitle.className = "youtube-live-card__title";
       summaryTitle.dataset.role = "title";
-      summaryTitle.textContent = text("youtube_live_phase_status_title", "Phase 1 / status");
+      summaryTitle.textContent = text("youtube_live_stream_inactive", "Stream stopped");
       const summaryDesc = document.createElement("div");
       summaryDesc.className = "youtube-live-card__desc";
-      summaryDesc.dataset.role = "configured";
+      summaryDesc.dataset.role = "summary";
       summaryDesc.textContent = text("loading", "Loading...");
       summary.appendChild(summaryTitle);
       summary.appendChild(summaryDesc);
@@ -182,7 +206,8 @@
 
     }
 
-    box.appendChild(section);
+    const keySection = document.getElementById(KEY_SECTION_ID);
+    if (keySection) placeYoutubeSections(box, keySection, section);
     return section;
   }
 
@@ -199,16 +224,18 @@
   function renderStatus(status) {
     const card = ensureCard();
     if (!card) return;
+    const titleEl = card.querySelector('[data-role="title"]');
     const stateEl = card.querySelector('[data-role="state"]');
     const keyStatusEl = document.querySelector(`#${KEY_SECTION_ID} [data-role="key-status"]`);
-    const configuredEl = card.querySelector('[data-role="configured"]');
+    const summaryEl = card.querySelector('[data-role="summary"]');
     const metricsEl = card.querySelector('[data-role="metrics"]');
     const errorEl = card.querySelector('[data-role="error"]');
     const warningsEl = card.querySelector('[data-role="warnings"]');
     card.dataset.liveState = String(status?.state || "disabled");
+    if (titleEl) titleEl.textContent = streamTitle(status);
     if (stateEl) stateEl.textContent = stateLabel(status);
     if (keyStatusEl) keyStatusEl.textContent = configuredLabel(status);
-    if (configuredEl) configuredEl.textContent = configuredLabel(status);
+    if (summaryEl) summaryEl.textContent = streamSummary(status);
     if (metricsEl) {
       metricsEl.innerHTML = "";
       metricsEl.appendChild(metric(text("youtube_live_metric_source", "Source"), status?.source || "qRoadEncodeData"));
@@ -290,19 +317,40 @@
       renderStatus(status);
       const input = document.querySelector(`#${KEY_SECTION_ID} [data-role="key-input"]`);
       if (input) input.value = "";
-      toast(text("youtube_live_key_saved", "Stream key saved"));
+      const validation = await fetchStreamKeyValidation();
+      await appAlert(saveResultText(status, validation), {
+        title: text("youtube_live_save_result", "Stream key saved"),
+        copyText: JSON.stringify({
+          status,
+          validation,
+        }, null, 2),
+      });
     } catch (err) {
       toast(err?.message || String(err), { tone: "error" });
     }
   }
 
+  async function fetchStreamKeyValidation(value) {
+    const payload = value ? { stream_key: value } : {};
+    try {
+      return await postJson("/api/youtube_live/stream_key/validate", payload);
+    } catch (err) {
+      if (err?.payload) return err.payload;
+      return {
+        ok: false,
+        format_ok: false,
+        format_message: err?.message || String(err),
+        ffmpeg_available: false,
+        rtmps_reachable: false,
+        rtmps_message: "-",
+      };
+    }
+  }
+
   async function validateStreamKey() {
     const value = keyInputValue();
     try {
-      const payload = value
-        ? { stream_key: value }
-        : {};
-      const result = await postJson("/api/youtube_live/stream_key/validate", payload);
+      const result = await fetchStreamKeyValidation(value);
       await appAlert(validationText(result), {
         title: text("youtube_live_validate_key", "Validate key"),
       });
@@ -318,6 +366,17 @@
     }
   }
 
+  function saveResultText(status, validation) {
+    const pass = text("youtube_live_validation_pass", "OK");
+    const fail = text("youtube_live_validation_fail", "FAIL");
+    const lines = [
+      `${text("youtube_live_save_status", "Save")}: ${status?.configured ? pass : fail} - ${configuredLabel(status)}`,
+      "",
+      validationText(validation),
+    ];
+    return lines.join("\n");
+  }
+
   function validationText(result) {
     const pass = text("youtube_live_validation_pass", "OK");
     const fail = text("youtube_live_validation_fail", "FAIL");
diff --git a/selfdrive/carrot/web/js/translations/en.js b/selfdrive/carrot/web/js/translations/en.js
index 5fe8df6f163..5b81125694c 100644
--- a/selfdrive/carrot/web/js/translations/en.js
+++ b/selfdrive/carrot/web/js/translations/en.js
@@ -18,7 +18,10 @@ window.CarrotTranslations.register("en", {
     youtube_live_help_step_3: "Paste the key here, save it, then run Validate key.",
     youtube_live_help_step_4: "Standard mode uses qRoadEncodeData, about 526x330 at 20fps. This fits YouTube's 240p-720p encoder range; stereo audio uses AAC 128Kbps.",
     youtube_live_help_note: "Validation checks local format, FFmpeg, and RTMPS reachability. YouTube confirms the key only after streaming starts.",
-    youtube_live_phase_status_title: "Phase 1 / status",
+    youtube_live_stream_active: "Streaming",
+    youtube_live_stream_inactive: "Stream stopped",
+    youtube_live_quality_standard: "Standard",
+    youtube_live_visibility_studio: "Visibility: set in YouTube Studio",
     youtube_live_key_empty: "Enter a stream key first.",
     youtube_live_validate_key: "Validate key",
     youtube_live_validation_format: "Key format",
@@ -37,8 +40,9 @@ window.CarrotTranslations.register("en", {
     youtube_live_key: "Stream key",
     youtube_live_clear_key: "Clear key",
     youtube_live_clear_confirm: "Clear saved stream key?",
-    youtube_live_key_saved: "Stream key saved",
     youtube_live_key_cleared: "Stream key cleared",
+    youtube_live_save_result: "Stream key saved",
+    youtube_live_save_status: "Save",
     youtube_live_check: "Check",
     youtube_live_check_result: "Check result",
     youtube_live_check_ready: "Ready",
diff --git a/selfdrive/carrot/web/js/translations/ko.js b/selfdrive/carrot/web/js/translations/ko.js
index d5e59a6bbbb..c6bdde385dc 100644
--- a/selfdrive/carrot/web/js/translations/ko.js
+++ b/selfdrive/carrot/web/js/translations/ko.js
@@ -18,7 +18,10 @@ window.CarrotTranslations.register("ko", {
     youtube_live_help_step_3: "위 스트림 키 칸에 붙여넣고 저장 후 키 검증을 실행합니다.",
     youtube_live_help_step_4: "표준 모드는 qRoadEncodeData를 사용합니다. 영상은 약 526x330/20fps이며 YouTube의 240p-720p 인코더 범위에 맞고, 오디오는 AAC 128Kbps입니다.",
     youtube_live_help_note: "키 검증은 로컬 형식, FFmpeg, RTMPS 접속만 확인합니다. YouTube의 키 수락 여부는 실제 송출 시작 후 확정됩니다.",
-    youtube_live_phase_status_title: "페이즈 1 / 상태",
+    youtube_live_stream_active: "송출 중",
+    youtube_live_stream_inactive: "송출 중지",
+    youtube_live_quality_standard: "표준",
+    youtube_live_visibility_studio: "공개 범위: YouTube Studio 설정",
     youtube_live_key_empty: "스트림 키를 먼저 입력하세요.",
     youtube_live_validate_key: "키 검증",
     youtube_live_validation_format: "키 형식",
@@ -37,8 +40,9 @@ window.CarrotTranslations.register("ko", {
     youtube_live_key: "스트림 키",
     youtube_live_clear_key: "키 삭제",
     youtube_live_clear_confirm: "저장된 스트림 키를 삭제할까요?",
-    youtube_live_key_saved: "스트림 키 저장됨",
     youtube_live_key_cleared: "스트림 키 삭제됨",
+    youtube_live_save_result: "스트림 키 저장",
+    youtube_live_save_status: "저장",
     youtube_live_check: "점검",
     youtube_live_check_result: "점검 결과",
     youtube_live_check_ready: "준비됨",
diff --git a/selfdrive/carrot/web/js/translations/zh.js b/selfdrive/carrot/web/js/translations/zh.js
index b793c3bee97..09eed1b20e3 100644
--- a/selfdrive/carrot/web/js/translations/zh.js
+++ b/selfdrive/carrot/web/js/translations/zh.js
@@ -18,7 +18,10 @@ window.CarrotTranslations.register("zh", {
     youtube_live_help_step_3: "Paste the key here, save it, then run Validate key.",
     youtube_live_help_step_4: "Standard mode uses qRoadEncodeData, about 526x330 at 20fps. This fits YouTube's 240p-720p encoder range; stereo audio uses AAC 128Kbps.",
     youtube_live_help_note: "Validation checks local format, FFmpeg, and RTMPS reachability. YouTube confirms the key only after streaming starts.",
-    youtube_live_phase_status_title: "Phase 1 / status",
+    youtube_live_stream_active: "Streaming",
+    youtube_live_stream_inactive: "Stream stopped",
+    youtube_live_quality_standard: "Standard",
+    youtube_live_visibility_studio: "Visibility: set in YouTube Studio",
     youtube_live_key_empty: "Enter a stream key first.",
     youtube_live_validate_key: "Validate key",
     youtube_live_validation_format: "Key format",
@@ -37,8 +40,9 @@ window.CarrotTranslations.register("zh", {
     youtube_live_key: "Stream key",
     youtube_live_clear_key: "Clear key",
     youtube_live_clear_confirm: "Clear saved stream key?",
-    youtube_live_key_saved: "Stream key saved",
     youtube_live_key_cleared: "Stream key cleared",
+    youtube_live_save_result: "Stream key saved",
+    youtube_live_save_status: "Save",
     youtube_live_check: "Check",
     youtube_live_check_result: "Check result",
     youtube_live_check_ready: "Ready",
diff --git a/selfdrive/carrot_settings.json b/selfdrive/carrot_settings.json
index 733391e161e..70c8d417e43 100644
--- a/selfdrive/carrot_settings.json
+++ b/selfdrive/carrot_settings.json
@@ -539,19 +539,27 @@
           "ko": "녹화·전원",
           "en": "Record & Power",
           "zh": "录制与电源",
-          "params": [
-            "RecordRoadCam",
-            "MaxTimeOffroadMin"
-          ]
-        },
-        {
-          "id": "SYS_YOUTUBE",
-          "ko": "YouTube 라이브",
-          "en": "YouTube Live",
-          "zh": "YouTube Live",
-          "params": [
-            "CarrotYouTubeLive",
-            "CarrotYouTubeQuality"
+          "groups": [
+            {
+              "id": "SYS_RECORD_BASIC",
+              "ko": "녹화·전원",
+              "en": "Record & Power",
+              "zh": "录制与电源",
+              "params": [
+                "RecordRoadCam",
+                "MaxTimeOffroadMin"
+              ]
+            },
+            {
+              "id": "SYS_YOUTUBE",
+              "ko": "YouTube 라이브",
+              "en": "YouTube Live",
+              "zh": "YouTube Live",
+              "params": [
+                "CarrotYouTubeLive",
+                "CarrotYouTubeQuality"
+              ]
+            }
           ]
         },
         {

From 59a80306ab0f70dab3cfb517eb7cad3cb46fc539 Mon Sep 17 00:00:00 2001
From: jominki354 <jominki354@gmail.com>
Date: Wed, 1 Jul 2026 13:23:29 +0900
Subject: [PATCH 37/61] f

---
 .../carrot/server/features/youtube_live.py    |  6 ++
 .../web/css/pages/settings/youtube_live.css   |  1 +
 selfdrive/carrot/web/index.html               | 10 +--
 .../web/js/pages/setting_youtube_live.js      | 86 +++++++++++++------
 selfdrive/carrot/web/js/translations/en.js    |  3 +-
 selfdrive/carrot/web/js/translations/ko.js    |  3 +-
 selfdrive/carrot/web/js/translations/zh.js    |  3 +-
 7 files changed, 74 insertions(+), 38 deletions(-)

diff --git a/selfdrive/carrot/server/features/youtube_live.py b/selfdrive/carrot/server/features/youtube_live.py
index f2e4c7d121b..6389832e9cb 100644
--- a/selfdrive/carrot/server/features/youtube_live.py
+++ b/selfdrive/carrot/server/features/youtube_live.py
@@ -45,6 +45,11 @@ async def api_set_stream_key(request: web.Request) -> web.Response:
   return web.json_response({"ok": True, **status})
 
 
+async def api_get_stream_key(request: web.Request) -> web.Response:
+  stream_key = _service(request).get_stream_key()
+  return web.json_response({"ok": True, "configured": bool(stream_key), "stream_key": stream_key})
+
+
 async def api_clear_stream_key(request: web.Request) -> web.Response:
   return web.json_response({"ok": True, **_service(request).clear_stream_key()})
 
@@ -74,6 +79,7 @@ def register(app: web.Application) -> None:
   app.cleanup_ctx.append(youtube_live_context)
   app.router.add_get("/api/youtube_live/status", api_status)
   app.router.add_get("/api/youtube_live/diagnostics", api_diagnostics)
+  app.router.add_get("/api/youtube_live/stream_key", api_get_stream_key)
   app.router.add_post("/api/youtube_live/stream_key", api_set_stream_key)
   app.router.add_post("/api/youtube_live/stream_key/validate", api_validate_stream_key)
   app.router.add_delete("/api/youtube_live/stream_key", api_clear_stream_key)
diff --git a/selfdrive/carrot/web/css/pages/settings/youtube_live.css b/selfdrive/carrot/web/css/pages/settings/youtube_live.css
index 6e511562993..a6305c6132d 100644
--- a/selfdrive/carrot/web/css/pages/settings/youtube_live.css
+++ b/selfdrive/carrot/web/css/pages/settings/youtube_live.css
@@ -36,6 +36,7 @@
   color: var(--md-on-surface-var);
   font-size: var(--fs-body-sm);
   letter-spacing: 0;
+  overflow-wrap: anywhere;
 }
 
 .youtube-live-help-list {
diff --git a/selfdrive/carrot/web/index.html b/selfdrive/carrot/web/index.html
index d02c5f6cfc4..8093d79dd7c 100644
--- a/selfdrive/carrot/web/index.html
+++ b/selfdrive/carrot/web/index.html
@@ -100,7 +100,7 @@
   <link rel="stylesheet" href="/css/pages/settings/base.css?v=2606-21" />
   <link rel="stylesheet" href="/css/pages/settings/panels.css?v=2606-12" />
   <link rel="stylesheet" href="/css/pages/settings/device.css?v=2606-42" />
-  <link rel="stylesheet" href="/css/pages/settings/youtube_live.css?v=2607-08" />
+  <link rel="stylesheet" href="/css/pages/settings/youtube_live.css?v=2607-10" />
   <link rel="stylesheet" href="/css/pages/tools/base.css?v=2605-43" />
   <link rel="stylesheet" href="/css/pages/tools/qr.css?v=2605-40" />
   <link rel="stylesheet" href="/css/pages/tools/main.css?v=2605-53" />
@@ -706,9 +706,9 @@ <h2 id="carrotTitle" class="page-title">Home</h2>
   <script src="/js/vendor/qrcode-generator.js?v=1.4.4"></script>
   <script src="/js/vendor/jsQR.js?v=1.4.0"></script>
   <script src="/js/translations/registry.js?v=2605-09"></script>
-  <script src="/js/translations/ko.js?v=2607-09"></script>
-  <script src="/js/translations/en.js?v=2607-09"></script>
-  <script src="/js/translations/zh.js?v=2607-09"></script>
+  <script src="/js/translations/ko.js?v=2607-10"></script>
+  <script src="/js/translations/en.js?v=2607-10"></script>
+  <script src="/js/translations/zh.js?v=2607-10"></script>
   <script src="/js/realtime/hud_card.js?v=2604-05"></script>
   <script src="/js/shared/constants.js?v=2604-72"></script>
   <script src="/js/shared/dom.js?v=2604-72"></script>
@@ -724,7 +724,7 @@ <h2 id="carrotTitle" class="page-title">Home</h2>
   <script src="/js/shared/ui/navigation.js?v=2606-19"></script>
   <script src="/js/pages/car.js?v=2604-75"></script>
   <script src="/js/pages/setting.js?v=2607-09"></script>
-  <script src="/js/pages/setting_youtube_live.js?v=2607-09"></script>
+  <script src="/js/pages/setting_youtube_live.js?v=2607-10"></script>
   <script src="/js/pages/setting_device_config.js?v=2605-05"></script>
   <script src="/js/pages/setting_device_render.js?v=2605-04"></script>
   <script src="/js/pages/setting_device_network.js?v=2605-01"></script>
diff --git a/selfdrive/carrot/web/js/pages/setting_youtube_live.js b/selfdrive/carrot/web/js/pages/setting_youtube_live.js
index f8fe13cf9a9..0e3ccfcaf5e 100644
--- a/selfdrive/carrot/web/js/pages/setting_youtube_live.js
+++ b/selfdrive/carrot/web/js/pages/setting_youtube_live.js
@@ -6,10 +6,13 @@
   const KEY_SECTION_ID = "youtubeLiveKeySection";
   const CARD_ID = "youtubeLiveStatusCard";
   const LIVE_CONTROL_ROOM_URL = "https://www.youtube.com/livestreaming";
-  const POLL_MS = 2500;
+  const POLL_MS = 1000;
   const state = {
     timer: null,
     loading: false,
+    keyLoading: false,
+    keyLoaded: false,
+    streamKey: "",
     status: null,
     observer: null,
   };
@@ -45,7 +48,8 @@
 
   function configuredLabel(status) {
     if (status?.configured) {
-      return text("youtube_live_key_configured", "Key saved: {key}", { key: status.masked_key || "****" });
+      if (!state.keyLoaded) return text("loading", "Loading...");
+      return text("youtube_live_key_configured", "Key saved: {key}", { key: state.streamKey || "-" });
     }
     return text("youtube_live_key_missing", "Stream key is not saved");
   }
@@ -153,7 +157,6 @@
         <div class="youtube-live-help-note">${escapeHtmlLocal(text("youtube_live_help_note", "Validation checks local format, FFmpeg, and RTMPS reachability. YouTube confirms the key only after streaming starts."))}</div>
         <div class="ui-action-grid ui-action-grid--quick youtube-live-actions" data-role="action-menu"></div>
       `;
-      section.appendChild(helpCard);
 
       const menuActions = helpCard.querySelector('[data-role="action-menu"]');
       if (menuActions) {
@@ -204,6 +207,8 @@
       warnings.hidden = true;
       statusCard.appendChild(warnings);
 
+      section.appendChild(helpCard);
+
     }
 
     const keySection = document.getElementById(KEY_SECTION_ID);
@@ -289,6 +294,7 @@
 
   async function loadStatus() {
     if (state.loading || !isVisible()) return;
+    loadStreamKey();
     state.loading = true;
     try {
       const status = await getJson("/api/youtube_live/status");
@@ -301,37 +307,54 @@
     }
   }
 
+  async function loadStreamKey() {
+    if (state.keyLoading || state.keyLoaded || !isVisible()) return;
+    state.keyLoading = true;
+    try {
+      const result = await getJson("/api/youtube_live/stream_key");
+      state.streamKey = String(result?.stream_key || "");
+      state.keyLoaded = true;
+      if (state.status) renderStatus(state.status);
+    } catch (err) {
+      state.keyLoaded = false;
+    } finally {
+      state.keyLoading = false;
+    }
+  }
+
   function keyInputValue() {
     return String(document.querySelector(`#${KEY_SECTION_ID} [data-role="key-input"]`)?.value || "").trim();
   }
 
   async function saveKeyFromInput() {
     const value = keyInputValue();
-    if (!value) {
-      toast(text("youtube_live_key_empty", "Enter a stream key first."), { tone: "error" });
-      return;
-    }
+    let saveResult;
     try {
       const status = await postJson("/api/youtube_live/stream_key", { stream_key: value });
+      saveResult = { ok: true, status };
+      state.streamKey = value;
+      state.keyLoaded = true;
       state.status = status;
       renderStatus(status);
-      const input = document.querySelector(`#${KEY_SECTION_ID} [data-role="key-input"]`);
-      if (input) input.value = "";
-      const validation = await fetchStreamKeyValidation();
-      await appAlert(saveResultText(status, validation), {
-        title: text("youtube_live_save_result", "Stream key saved"),
-        copyText: JSON.stringify({
-          status,
-          validation,
-        }, null, 2),
-      });
     } catch (err) {
-      toast(err?.message || String(err), { tone: "error" });
+      saveResult = {
+        ok: false,
+        error: err?.message || String(err),
+        payload: err?.payload || null,
+      };
     }
+    const validation = await fetchStreamKeyValidation(value, true);
+    await appAlert(saveResultText(saveResult, validation, value), {
+      title: text("youtube_live_save_result", "Stream key save result"),
+      copyText: JSON.stringify({
+        save: saveResult.ok ? { ok: true, status: saveResult.status } : saveResult,
+        validation,
+      }, null, 2),
+    });
   }
 
-  async function fetchStreamKeyValidation(value) {
-    const payload = value ? { stream_key: value } : {};
+  async function fetchStreamKeyValidation(value, explicitValue) {
+    const payload = explicitValue || value ? { stream_key: value } : {};
     try {
       return await postJson("/api/youtube_live/stream_key/validate", payload);
     } catch (err) {
@@ -351,13 +374,13 @@
     const value = keyInputValue();
     try {
       const result = await fetchStreamKeyValidation(value);
-      await appAlert(validationText(result), {
+      await appAlert(validationText(result, value || state.streamKey), {
         title: text("youtube_live_validate_key", "Validate key"),
       });
     } catch (err) {
       const payload = err?.payload || null;
       if (payload) {
-        await appAlert(validationText(payload), {
+        await appAlert(validationText(payload, value || state.streamKey), {
           title: text("youtube_live_validate_key", "Validate key"),
         });
         return;
@@ -366,18 +389,21 @@
     }
   }
 
-  function saveResultText(status, validation) {
+  function saveResultText(saveResult, validation, streamKey) {
     const pass = text("youtube_live_validation_pass", "OK");
     const fail = text("youtube_live_validation_fail", "FAIL");
+    const saveDetail = saveResult?.ok
+      ? configuredLabel(saveResult.status)
+      : (saveResult?.error || "-");
     const lines = [
-      `${text("youtube_live_save_status", "Save")}: ${status?.configured ? pass : fail} - ${configuredLabel(status)}`,
+      `${text("youtube_live_save_status", "Save")}: ${saveResult?.ok ? pass : fail} - ${saveDetail}`,
       "",
-      validationText(validation),
+      validationText(validation, streamKey),
     ];
     return lines.join("\n");
   }
 
-  function validationText(result) {
+  function validationText(result, streamKey) {
     const pass = text("youtube_live_validation_pass", "OK");
     const fail = text("youtube_live_validation_fail", "FAIL");
     const lines = [
@@ -385,7 +411,8 @@
       `${text("youtube_live_validation_ffmpeg", "FFmpeg")}: ${result?.ffmpeg_available ? pass : fail}`,
       `${text("youtube_live_validation_rtmps", "YouTube RTMPS")}: ${result?.rtmps_reachable ? pass : fail} - ${localizedValidationMessage(result?.rtmps_message)}`,
     ];
-    if (result?.masked_key) lines.push(`${text("youtube_live_key", "Stream key")}: ${result.masked_key}`);
+    const visibleKey = String(streamKey || "");
+    if (visibleKey) lines.push(`${text("youtube_live_key", "Stream key")}: ${visibleKey}`);
     lines.push("");
     lines.push(result?.note || text("youtube_live_validation_note", "YouTube confirms the key only when streaming starts."));
     return lines.join("\n");
@@ -419,6 +446,8 @@
     if (!ok) return;
     try {
       const status = await requestJson("/api/youtube_live/stream_key", { method: "DELETE" });
+      state.streamKey = "";
+      state.keyLoaded = true;
       state.status = status;
       renderStatus(status);
       toast(text("youtube_live_key_cleared", "Stream key cleared"));
@@ -525,6 +554,7 @@
 
   function startPolling() {
     if (!state.timer) state.timer = window.setInterval(loadStatus, POLL_MS);
+    loadStreamKey();
     loadStatus();
   }
 
@@ -540,6 +570,8 @@
       return;
     }
     stopPolling();
+    state.keyLoaded = false;
+    state.streamKey = "";
     const card = document.getElementById(CARD_ID);
     if (card) card.remove();
     const keySection = document.getElementById(KEY_SECTION_ID);
diff --git a/selfdrive/carrot/web/js/translations/en.js b/selfdrive/carrot/web/js/translations/en.js
index 5b81125694c..209c08ac6f1 100644
--- a/selfdrive/carrot/web/js/translations/en.js
+++ b/selfdrive/carrot/web/js/translations/en.js
@@ -22,7 +22,6 @@ window.CarrotTranslations.register("en", {
     youtube_live_stream_inactive: "Stream stopped",
     youtube_live_quality_standard: "Standard",
     youtube_live_visibility_studio: "Visibility: set in YouTube Studio",
-    youtube_live_key_empty: "Enter a stream key first.",
     youtube_live_validate_key: "Validate key",
     youtube_live_validation_format: "Key format",
     youtube_live_validation_ffmpeg: "FFmpeg",
@@ -41,7 +40,7 @@ window.CarrotTranslations.register("en", {
     youtube_live_clear_key: "Clear key",
     youtube_live_clear_confirm: "Clear saved stream key?",
     youtube_live_key_cleared: "Stream key cleared",
-    youtube_live_save_result: "Stream key saved",
+    youtube_live_save_result: "Stream key save result",
     youtube_live_save_status: "Save",
     youtube_live_check: "Check",
     youtube_live_check_result: "Check result",
diff --git a/selfdrive/carrot/web/js/translations/ko.js b/selfdrive/carrot/web/js/translations/ko.js
index c6bdde385dc..a9721b7c034 100644
--- a/selfdrive/carrot/web/js/translations/ko.js
+++ b/selfdrive/carrot/web/js/translations/ko.js
@@ -22,7 +22,6 @@ window.CarrotTranslations.register("ko", {
     youtube_live_stream_inactive: "송출 중지",
     youtube_live_quality_standard: "표준",
     youtube_live_visibility_studio: "공개 범위: YouTube Studio 설정",
-    youtube_live_key_empty: "스트림 키를 먼저 입력하세요.",
     youtube_live_validate_key: "키 검증",
     youtube_live_validation_format: "키 형식",
     youtube_live_validation_ffmpeg: "FFmpeg",
@@ -41,7 +40,7 @@ window.CarrotTranslations.register("ko", {
     youtube_live_clear_key: "키 삭제",
     youtube_live_clear_confirm: "저장된 스트림 키를 삭제할까요?",
     youtube_live_key_cleared: "스트림 키 삭제됨",
-    youtube_live_save_result: "스트림 키 저장",
+    youtube_live_save_result: "스트림 키 저장 결과",
     youtube_live_save_status: "저장",
     youtube_live_check: "점검",
     youtube_live_check_result: "점검 결과",
diff --git a/selfdrive/carrot/web/js/translations/zh.js b/selfdrive/carrot/web/js/translations/zh.js
index 09eed1b20e3..9875dc2d7c2 100644
--- a/selfdrive/carrot/web/js/translations/zh.js
+++ b/selfdrive/carrot/web/js/translations/zh.js
@@ -22,7 +22,6 @@ window.CarrotTranslations.register("zh", {
     youtube_live_stream_inactive: "Stream stopped",
     youtube_live_quality_standard: "Standard",
     youtube_live_visibility_studio: "Visibility: set in YouTube Studio",
-    youtube_live_key_empty: "Enter a stream key first.",
     youtube_live_validate_key: "Validate key",
     youtube_live_validation_format: "Key format",
     youtube_live_validation_ffmpeg: "FFmpeg",
@@ -41,7 +40,7 @@ window.CarrotTranslations.register("zh", {
     youtube_live_clear_key: "Clear key",
     youtube_live_clear_confirm: "Clear saved stream key?",
     youtube_live_key_cleared: "Stream key cleared",
-    youtube_live_save_result: "Stream key saved",
+    youtube_live_save_result: "Stream key save result",
     youtube_live_save_status: "Save",
     youtube_live_check: "Check",
     youtube_live_check_result: "Check result",

From 0c8c0003e2bad21f103c055b377a2e9c99131770 Mon Sep 17 00:00:00 2001
From: jominki354 <jominki354@gmail.com>
Date: Wed, 1 Jul 2026 13:26:04 +0900
Subject: [PATCH 38/61] f

---
 selfdrive/carrot/web/index.html                       | 4 ++--
 selfdrive/carrot/web/js/pages/setting.js              | 3 +++
 selfdrive/carrot/web/js/pages/setting_youtube_live.js | 1 +
 3 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/selfdrive/carrot/web/index.html b/selfdrive/carrot/web/index.html
index 8093d79dd7c..8a3eb0a3d85 100644
--- a/selfdrive/carrot/web/index.html
+++ b/selfdrive/carrot/web/index.html
@@ -723,8 +723,8 @@ <h2 id="carrotTitle" class="page-title">Home</h2>
   <script src="/js/shared/ui/effects.js?v=2604-72"></script>
   <script src="/js/shared/ui/navigation.js?v=2606-19"></script>
   <script src="/js/pages/car.js?v=2604-75"></script>
-  <script src="/js/pages/setting.js?v=2607-09"></script>
-  <script src="/js/pages/setting_youtube_live.js?v=2607-10"></script>
+  <script src="/js/pages/setting.js?v=2607-11"></script>
+  <script src="/js/pages/setting_youtube_live.js?v=2607-11"></script>
   <script src="/js/pages/setting_device_config.js?v=2605-05"></script>
   <script src="/js/pages/setting_device_render.js?v=2605-04"></script>
   <script src="/js/pages/setting_device_network.js?v=2605-01"></script>
diff --git a/selfdrive/carrot/web/js/pages/setting.js b/selfdrive/carrot/web/js/pages/setting.js
index ec81157a5d2..acd5eb00e2b 100644
--- a/selfdrive/carrot/web/js/pages/setting.js
+++ b/selfdrive/carrot/web/js/pages/setting.js
@@ -3247,6 +3247,9 @@ async function renderItems(group, options = {}) {
   itemsBox.dataset.renderedGroup = group;
   if (detailMode) itemsBox.dataset.renderedDetail = detailName;
   scheduleSettingOverflowSync(itemsBox);
+  window.dispatchEvent(new CustomEvent("carrot:settingrendered", {
+    detail: { group, detailName: detailMode ? detailName : "" },
+  }));
 
   if (pendingSettingFocus?.group === group) {
     requestAnimationFrame(() => focusSettingItem(pendingSettingFocus.name));
diff --git a/selfdrive/carrot/web/js/pages/setting_youtube_live.js b/selfdrive/carrot/web/js/pages/setting_youtube_live.js
index 0e3ccfcaf5e..c436ebb8cfe 100644
--- a/selfdrive/carrot/web/js/pages/setting_youtube_live.js
+++ b/selfdrive/carrot/web/js/pages/setting_youtube_live.js
@@ -591,6 +591,7 @@
       const name = event?.detail?.name;
       if (name === "CarrotYouTubeLive" || name === "CarrotYouTubeQuality") loadStatus();
     });
+    window.addEventListener("carrot:settingrendered", sync);
     sync();
   }
 

From ab8ac4767ebed476ac6c9f908522de3cce302080 Mon Sep 17 00:00:00 2001
From: jominki354 <jominki354@gmail.com>
Date: Wed, 1 Jul 2026 13:28:51 +0900
Subject: [PATCH 39/61] f

---
 selfdrive/carrot/web/index.html                       | 2 +-
 selfdrive/carrot/web/js/pages/setting_youtube_live.js | 3 +--
 2 files changed, 2 insertions(+), 3 deletions(-)

diff --git a/selfdrive/carrot/web/index.html b/selfdrive/carrot/web/index.html
index 8a3eb0a3d85..cb683f5773b 100644
--- a/selfdrive/carrot/web/index.html
+++ b/selfdrive/carrot/web/index.html
@@ -724,7 +724,7 @@ <h2 id="carrotTitle" class="page-title">Home</h2>
   <script src="/js/shared/ui/navigation.js?v=2606-19"></script>
   <script src="/js/pages/car.js?v=2604-75"></script>
   <script src="/js/pages/setting.js?v=2607-11"></script>
-  <script src="/js/pages/setting_youtube_live.js?v=2607-11"></script>
+  <script src="/js/pages/setting_youtube_live.js?v=2607-12"></script>
   <script src="/js/pages/setting_device_config.js?v=2605-05"></script>
   <script src="/js/pages/setting_device_render.js?v=2605-04"></script>
   <script src="/js/pages/setting_device_network.js?v=2605-01"></script>
diff --git a/selfdrive/carrot/web/js/pages/setting_youtube_live.js b/selfdrive/carrot/web/js/pages/setting_youtube_live.js
index c436ebb8cfe..3329d570417 100644
--- a/selfdrive/carrot/web/js/pages/setting_youtube_live.js
+++ b/selfdrive/carrot/web/js/pages/setting_youtube_live.js
@@ -1,7 +1,6 @@
 "use strict";
 
 (function () {
-  const YOUTUBE_GROUP = "SYS_RECORD";
   const YOUTUBE_SECTION = "SYS_YOUTUBE";
   const KEY_SECTION_ID = "youtubeLiveKeySection";
   const CARD_ID = "youtubeLiveStatusCard";
@@ -38,7 +37,7 @@
 
   function isVisible() {
     const box = itemsBox();
-    return Boolean(box && box.dataset.renderedGroup === YOUTUBE_GROUP && !box.dataset.renderedDetail);
+    return Boolean(box?.querySelector(`[data-setting-section-id="${YOUTUBE_SECTION}"]`));
   }
 
   function stateLabel(status) {

From c5b5cf8ca87d23c4d47cda3f53997ad2c97e4e5f Mon Sep 17 00:00:00 2001
From: jominki354 <jominki354@gmail.com>
Date: Wed, 1 Jul 2026 13:32:31 +0900
Subject: [PATCH 40/61] f

---
 selfdrive/carrot/web/index.html                       |  4 ++--
 selfdrive/carrot/web/js/pages/setting.js              |  4 +---
 selfdrive/carrot/web/js/pages/setting_youtube_live.js | 11 ++++++-----
 3 files changed, 9 insertions(+), 10 deletions(-)

diff --git a/selfdrive/carrot/web/index.html b/selfdrive/carrot/web/index.html
index cb683f5773b..72a3f41b6de 100644
--- a/selfdrive/carrot/web/index.html
+++ b/selfdrive/carrot/web/index.html
@@ -723,8 +723,8 @@ <h2 id="carrotTitle" class="page-title">Home</h2>
   <script src="/js/shared/ui/effects.js?v=2604-72"></script>
   <script src="/js/shared/ui/navigation.js?v=2606-19"></script>
   <script src="/js/pages/car.js?v=2604-75"></script>
-  <script src="/js/pages/setting.js?v=2607-11"></script>
-  <script src="/js/pages/setting_youtube_live.js?v=2607-12"></script>
+  <script src="/js/pages/setting_youtube_live.js?v=2607-13"></script>
+  <script src="/js/pages/setting.js?v=2607-13"></script>
   <script src="/js/pages/setting_device_config.js?v=2605-05"></script>
   <script src="/js/pages/setting_device_render.js?v=2605-04"></script>
   <script src="/js/pages/setting_device_network.js?v=2605-01"></script>
diff --git a/selfdrive/carrot/web/js/pages/setting.js b/selfdrive/carrot/web/js/pages/setting.js
index acd5eb00e2b..e14c8219283 100644
--- a/selfdrive/carrot/web/js/pages/setting.js
+++ b/selfdrive/carrot/web/js/pages/setting.js
@@ -3247,9 +3247,7 @@ async function renderItems(group, options = {}) {
   itemsBox.dataset.renderedGroup = group;
   if (detailMode) itemsBox.dataset.renderedDetail = detailName;
   scheduleSettingOverflowSync(itemsBox);
-  window.dispatchEvent(new CustomEvent("carrot:settingrendered", {
-    detail: { group, detailName: detailMode ? detailName : "" },
-  }));
+  window.CarrotYouTubeLiveSettings?.sync?.();
 
   if (pendingSettingFocus?.group === group) {
     requestAnimationFrame(() => focusSettingItem(pendingSettingFocus.name));
diff --git a/selfdrive/carrot/web/js/pages/setting_youtube_live.js b/selfdrive/carrot/web/js/pages/setting_youtube_live.js
index 3329d570417..d8cac4ab05d 100644
--- a/selfdrive/carrot/web/js/pages/setting_youtube_live.js
+++ b/selfdrive/carrot/web/js/pages/setting_youtube_live.js
@@ -92,12 +92,12 @@
   function placeYoutubeSections(box, keySection, infoSection) {
     const target = box.querySelector(`[data-setting-section-id="${YOUTUBE_SECTION}"]`);
     if (!target) {
-      box.insertBefore(keySection, box.firstChild);
-      box.appendChild(infoSection);
+      if (box.firstChild !== keySection) box.insertBefore(keySection, box.firstChild);
+      if (box.lastChild !== infoSection) box.appendChild(infoSection);
       return;
     }
-    box.insertBefore(keySection, target);
-    box.insertBefore(infoSection, target.nextSibling);
+    if (keySection.nextSibling !== target) box.insertBefore(keySection, target);
+    if (target.nextSibling !== infoSection) box.insertBefore(infoSection, target.nextSibling);
   }
 
   function ensureCard() {
@@ -590,10 +590,11 @@
       const name = event?.detail?.name;
       if (name === "CarrotYouTubeLive" || name === "CarrotYouTubeQuality") loadStatus();
     });
-    window.addEventListener("carrot:settingrendered", sync);
     sync();
   }
 
+  window.CarrotYouTubeLiveSettings = Object.freeze({ sync });
+
   if (document.readyState === "loading") document.addEventListener("DOMContentLoaded", init, { once: true });
   else init();
 })();

From 075d4c0da1573a03844d8bbf35456cd5978e0501 Mon Sep 17 00:00:00 2001
From: jominki354 <jominki354@gmail.com>
Date: Wed, 1 Jul 2026 13:36:19 +0900
Subject: [PATCH 41/61] f

---
 selfdrive/carrot/web/index.html                       | 2 +-
 selfdrive/carrot/web/js/pages/setting_youtube_live.js | 8 ++++----
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/selfdrive/carrot/web/index.html b/selfdrive/carrot/web/index.html
index 72a3f41b6de..7759d0bd497 100644
--- a/selfdrive/carrot/web/index.html
+++ b/selfdrive/carrot/web/index.html
@@ -723,7 +723,7 @@ <h2 id="carrotTitle" class="page-title">Home</h2>
   <script src="/js/shared/ui/effects.js?v=2604-72"></script>
   <script src="/js/shared/ui/navigation.js?v=2606-19"></script>
   <script src="/js/pages/car.js?v=2604-75"></script>
-  <script src="/js/pages/setting_youtube_live.js?v=2607-13"></script>
+  <script src="/js/pages/setting_youtube_live.js?v=2607-14"></script>
   <script src="/js/pages/setting.js?v=2607-13"></script>
   <script src="/js/pages/setting_device_config.js?v=2605-05"></script>
   <script src="/js/pages/setting_device_render.js?v=2605-04"></script>
diff --git a/selfdrive/carrot/web/js/pages/setting_youtube_live.js b/selfdrive/carrot/web/js/pages/setting_youtube_live.js
index d8cac4ab05d..0aa46033e07 100644
--- a/selfdrive/carrot/web/js/pages/setting_youtube_live.js
+++ b/selfdrive/carrot/web/js/pages/setting_youtube_live.js
@@ -110,8 +110,9 @@
       return existing;
     }
 
-    if (!existingKey) {
-      const keySection = document.createElement("section");
+    let keySection = existingKey;
+    if (!keySection) {
+      keySection = document.createElement("section");
       keySection.id = KEY_SECTION_ID;
       keySection.className = "setting-section-block youtube-live-section youtube-live-section--key";
     const keyCard = document.createElement("div");
@@ -210,8 +211,7 @@
 
     }
 
-    const keySection = document.getElementById(KEY_SECTION_ID);
-    if (keySection) placeYoutubeSections(box, keySection, section);
+    placeYoutubeSections(box, keySection, section);
     return section;
   }
 

From a7a3c154e262a2e8ab907844dff8537ddc280a7d Mon Sep 17 00:00:00 2001
From: jominki354 <jominki354@gmail.com>
Date: Wed, 1 Jul 2026 13:38:54 +0900
Subject: [PATCH 42/61] f

---
 .../web/css/pages/settings/youtube_live.css   |  2 +-
 selfdrive/carrot/web/index.html               |  4 ++--
 .../web/js/pages/setting_youtube_live.js      | 19 +++++++++++--------
 3 files changed, 14 insertions(+), 11 deletions(-)

diff --git a/selfdrive/carrot/web/css/pages/settings/youtube_live.css b/selfdrive/carrot/web/css/pages/settings/youtube_live.css
index a6305c6132d..643c33189e5 100644
--- a/selfdrive/carrot/web/css/pages/settings/youtube_live.css
+++ b/selfdrive/carrot/web/css/pages/settings/youtube_live.css
@@ -1,7 +1,7 @@
 .youtube-live-section {
   display: grid;
   gap: var(--sp-md);
-  margin-top: var(--sp-lg);
+  margin: 0;
 }
 
 .youtube-live-key-card,
diff --git a/selfdrive/carrot/web/index.html b/selfdrive/carrot/web/index.html
index 7759d0bd497..2e3542aaa0b 100644
--- a/selfdrive/carrot/web/index.html
+++ b/selfdrive/carrot/web/index.html
@@ -100,7 +100,7 @@
   <link rel="stylesheet" href="/css/pages/settings/base.css?v=2606-21" />
   <link rel="stylesheet" href="/css/pages/settings/panels.css?v=2606-12" />
   <link rel="stylesheet" href="/css/pages/settings/device.css?v=2606-42" />
-  <link rel="stylesheet" href="/css/pages/settings/youtube_live.css?v=2607-10" />
+  <link rel="stylesheet" href="/css/pages/settings/youtube_live.css?v=2607-15" />
   <link rel="stylesheet" href="/css/pages/tools/base.css?v=2605-43" />
   <link rel="stylesheet" href="/css/pages/tools/qr.css?v=2605-40" />
   <link rel="stylesheet" href="/css/pages/tools/main.css?v=2605-53" />
@@ -723,7 +723,7 @@ <h2 id="carrotTitle" class="page-title">Home</h2>
   <script src="/js/shared/ui/effects.js?v=2604-72"></script>
   <script src="/js/shared/ui/navigation.js?v=2606-19"></script>
   <script src="/js/pages/car.js?v=2604-75"></script>
-  <script src="/js/pages/setting_youtube_live.js?v=2607-14"></script>
+  <script src="/js/pages/setting_youtube_live.js?v=2607-15"></script>
   <script src="/js/pages/setting.js?v=2607-13"></script>
   <script src="/js/pages/setting_device_config.js?v=2605-05"></script>
   <script src="/js/pages/setting_device_render.js?v=2605-04"></script>
diff --git a/selfdrive/carrot/web/js/pages/setting_youtube_live.js b/selfdrive/carrot/web/js/pages/setting_youtube_live.js
index 0aa46033e07..d154a008a31 100644
--- a/selfdrive/carrot/web/js/pages/setting_youtube_live.js
+++ b/selfdrive/carrot/web/js/pages/setting_youtube_live.js
@@ -91,18 +91,21 @@
 
   function placeYoutubeSections(box, keySection, infoSection) {
     const target = box.querySelector(`[data-setting-section-id="${YOUTUBE_SECTION}"]`);
-    if (!target) {
-      if (box.firstChild !== keySection) box.insertBefore(keySection, box.firstChild);
-      if (box.lastChild !== infoSection) box.appendChild(infoSection);
-      return;
+    if (!target) return false;
+    const settingsCard = Array.from(target.children).find((child) => child.classList.contains("setting-group-card"));
+    if (keySection.parentElement !== target || keySection.nextSibling !== settingsCard) {
+      target.insertBefore(keySection, settingsCard || null);
+    }
+    if (infoSection.parentElement !== target || target.lastElementChild !== infoSection) {
+      target.appendChild(infoSection);
     }
-    if (keySection.nextSibling !== target) box.insertBefore(keySection, target);
-    if (target.nextSibling !== infoSection) box.insertBefore(infoSection, target.nextSibling);
+    return true;
   }
 
   function ensureCard() {
     const box = itemsBox();
     if (!box) return null;
+    if (!box.querySelector(`[data-setting-section-id="${YOUTUBE_SECTION}"]`)) return null;
     const existing = document.getElementById(CARD_ID);
     const existingKey = document.getElementById(KEY_SECTION_ID);
     if (existing && existingKey) {
@@ -114,7 +117,7 @@
     if (!keySection) {
       keySection = document.createElement("section");
       keySection.id = KEY_SECTION_ID;
-      keySection.className = "setting-section-block youtube-live-section youtube-live-section--key";
+      keySection.className = "youtube-live-section youtube-live-section--key";
     const keyCard = document.createElement("div");
     keyCard.className = "setting-group-card youtube-live-key-card";
     keyCard.innerHTML = `
@@ -142,7 +145,7 @@
     const section = existing || document.createElement("section");
     if (!existing) {
       section.id = CARD_ID;
-      section.className = "setting-section-block youtube-live-section youtube-live-section--info";
+      section.className = "youtube-live-section youtube-live-section--info";
 
       const helpCard = document.createElement("div");
       helpCard.className = "setting-group-card youtube-live-help-card";

From 7c28bce9053004ba6ebfd3b09f70fcebd9c02828 Mon Sep 17 00:00:00 2001
From: jominki354 <jominki354@gmail.com>
Date: Wed, 1 Jul 2026 13:43:34 +0900
Subject: [PATCH 43/61] f

---
 .../carrot/server/services/youtube_live.py    | 24 ++++-
 selfdrive/carrot/web/index.html               |  8 +-
 .../web/js/pages/setting_youtube_live.js      | 87 ++++++++++++-------
 selfdrive/carrot/web/js/translations/en.js    | 16 ++++
 selfdrive/carrot/web/js/translations/ko.js    | 18 +++-
 selfdrive/carrot/web/js/translations/zh.js    | 16 ++++
 6 files changed, 129 insertions(+), 40 deletions(-)

diff --git a/selfdrive/carrot/server/services/youtube_live.py b/selfdrive/carrot/server/services/youtube_live.py
index b46f294c7db..84e525f29ef 100644
--- a/selfdrive/carrot/server/services/youtube_live.py
+++ b/selfdrive/carrot/server/services/youtube_live.py
@@ -27,6 +27,7 @@
 STATUS_WRITE_MIN_INTERVAL = 1.0
 BACKOFF_BASE_SECONDS = 3.0
 BACKOFF_MAX_SECONDS = 60.0
+PROCESS_STABLE_SECONDS = 10.0
 
 _PROCESS_MATCHES = {
   "carrot_cluster": "selfdrive.carrot.cluster_autorun",
@@ -306,6 +307,10 @@ async def _tick(self) -> None:
     if not self._param_enabled():
       if self._process is not None:
         await self._stop_process()
+      self._last_error = ""
+      self._stderr_tail.clear()
+      self._consecutive_failures = 0
+      self._next_retry_at = 0.0
       self._set_state("disabled")
       return
 
@@ -331,6 +336,15 @@ async def _tick(self) -> None:
       self._set_state("backoff")
       return
 
+    if self._process is not None and self._process.returncode is not None:
+      exit_code = self._process.returncode
+      if not self._last_error:
+        self._last_error = f"ffmpeg exited code={exit_code}"
+      await self._stop_process()
+      self._schedule_backoff("ffmpeg exited")
+      self._set_state("backoff")
+      return
+
     payload, frame_id = self._recv_payload()
     if not payload:
       if self._process is not None and self._last_frame_at and _now() - self._last_frame_at > NO_FRAME_STOP_SECONDS:
@@ -480,7 +494,7 @@ async def _start_process(self, stream_key: str) -> None:
       "nobuffer",
       "-f",
       "h264",
-      "-framerate",
+      "-r",
       "20",
       "-i",
       "pipe:0",
@@ -488,12 +502,17 @@ async def _start_process(self, stream_key: str) -> None:
       "lavfi",
       "-i",
       "anullsrc=r=44100:cl=stereo",
+      "-map",
+      "0:v:0",
+      "-map",
+      "1:a:0",
       "-c:v",
       "copy",
       "-c:a",
       "aac",
       "-b:a",
       "128k",
+      "-shortest",
       "-f",
       "flv",
       rtmp_url,
@@ -521,7 +540,8 @@ async def _write_frame(self, payload: bytes) -> None:
       proc.stdin.write(payload)
       await proc.stdin.drain()
       self._bytes_sent += len(payload)
-      self._consecutive_failures = 0
+      if self._started_at and _now() - self._started_at >= PROCESS_STABLE_SECONDS:
+        self._consecutive_failures = 0
     except (BrokenPipeError, ConnectionResetError) as exc:
       self._last_error = f"ffmpeg pipe closed: {exc}"
       self._schedule_backoff("ffmpeg pipe closed")
diff --git a/selfdrive/carrot/web/index.html b/selfdrive/carrot/web/index.html
index 2e3542aaa0b..3744215e6a0 100644
--- a/selfdrive/carrot/web/index.html
+++ b/selfdrive/carrot/web/index.html
@@ -706,9 +706,9 @@ <h2 id="carrotTitle" class="page-title">Home</h2>
   <script src="/js/vendor/qrcode-generator.js?v=1.4.4"></script>
   <script src="/js/vendor/jsQR.js?v=1.4.0"></script>
   <script src="/js/translations/registry.js?v=2605-09"></script>
-  <script src="/js/translations/ko.js?v=2607-10"></script>
-  <script src="/js/translations/en.js?v=2607-10"></script>
-  <script src="/js/translations/zh.js?v=2607-10"></script>
+  <script src="/js/translations/ko.js?v=2607-16"></script>
+  <script src="/js/translations/en.js?v=2607-16"></script>
+  <script src="/js/translations/zh.js?v=2607-16"></script>
   <script src="/js/realtime/hud_card.js?v=2604-05"></script>
   <script src="/js/shared/constants.js?v=2604-72"></script>
   <script src="/js/shared/dom.js?v=2604-72"></script>
@@ -723,7 +723,7 @@ <h2 id="carrotTitle" class="page-title">Home</h2>
   <script src="/js/shared/ui/effects.js?v=2604-72"></script>
   <script src="/js/shared/ui/navigation.js?v=2606-19"></script>
   <script src="/js/pages/car.js?v=2604-75"></script>
-  <script src="/js/pages/setting_youtube_live.js?v=2607-15"></script>
+  <script src="/js/pages/setting_youtube_live.js?v=2607-16"></script>
   <script src="/js/pages/setting.js?v=2607-13"></script>
   <script src="/js/pages/setting_device_config.js?v=2605-05"></script>
   <script src="/js/pages/setting_device_render.js?v=2605-04"></script>
diff --git a/selfdrive/carrot/web/js/pages/setting_youtube_live.js b/selfdrive/carrot/web/js/pages/setting_youtube_live.js
index d154a008a31..45560869be5 100644
--- a/selfdrive/carrot/web/js/pages/setting_youtube_live.js
+++ b/selfdrive/carrot/web/js/pages/setting_youtube_live.js
@@ -255,7 +255,7 @@
     const error = String(status?.last_error || "").trim();
     if (errorEl) {
       errorEl.hidden = !error;
-      errorEl.textContent = error;
+      errorEl.textContent = localizedRuntimeMessage(error);
     }
     renderWarnings(warningsEl, status);
   }
@@ -289,7 +289,7 @@
     warnings.slice(0, 3).forEach((warning) => {
       const item = document.createElement("div");
       item.className = "youtube-live-warning";
-      item.textContent = warning;
+      item.textContent = localizedRuntimeMessage(warning);
       container.appendChild(item);
     });
   }
@@ -437,6 +437,30 @@
     return map[raw] || raw;
   }
 
+  function localizedRuntimeMessage(message) {
+    const raw = String(message || "").trim();
+    if (!raw) return "-";
+    const exact = {
+      "Cluster HUD is enabled; monitor encoder load and thermal headroom while streaming.": text("youtube_live_warning_cluster", "Cluster HUD is enabled. Monitor encoder load and temperature while streaming."),
+      "Carrot Vision is enabled; YouTube Live shares camera/encoder/network resources.": text("youtube_live_warning_vision", "Carrot Vision is enabled. Camera, encoder, and network resources are shared."),
+      "High quality mode is planned for Phase 3; Phase 2 keeps qRoadEncodeData only.": text("youtube_live_warning_quality", "High quality mode is not available yet."),
+      "Error opening input files: Invalid argument": text("youtube_live_error_input_invalid", "Could not open the video input because an FFmpeg argument was invalid."),
+      "ffmpeg not found": text("youtube_live_error_ffmpeg_missing", "FFmpeg is not installed."),
+      "no qRoadEncodeData frames": text("youtube_live_error_no_frames", "No qRoadEncodeData frames were received."),
+    };
+    if (exact[raw]) return exact[raw];
+    const exitMatch = raw.match(/^ffmpeg exited code=(-?\d+)$/i);
+    if (exitMatch) return text("youtube_live_error_ffmpeg_exit", "FFmpeg exited (code {code}).", { code: exitMatch[1] });
+    if (/^ffmpeg pipe closed:/i.test(raw)) {
+      return text("youtube_live_error_ffmpeg_pipe", "The FFmpeg input pipe was closed.");
+    }
+    return raw;
+  }
+
+  function uniqueLocalizedMessages(values) {
+    return [...new Set((values || []).filter(Boolean).map(localizedRuntimeMessage))];
+  }
+
   function openLiveControlRoom() {
     window.open(LIVE_CONTROL_ROOM_URL, "_blank", "noopener");
   }
@@ -485,52 +509,49 @@
     const pass = text("youtube_live_validation_pass", "OK");
     const fail = text("youtube_live_validation_fail", "FAIL");
     const test = testResult?.payload || {};
-    const lines = [
-      `${text("youtube_live_test", "Test")}: ${testResult?.ok ? pass : fail} - ${localizedValidationMessage(test.message || testResult?.error)}`,
-      `${text("youtube_live_key", "Stream key")}: ${test.configured ? pass : fail}`,
-      `${text("youtube_live_validation_ffmpeg", "FFmpeg")}: ${test.ffmpeg_available ? pass : fail}`,
-      `${text("youtube_live_metric_source", "Source")}: ${test.source || "-"}`,
-    ];
-    if (Array.isArray(test.warnings) && test.warnings.length) {
-      lines.push("");
-      lines.push(text("youtube_live_warnings", "Warnings"));
-      test.warnings.forEach((warning) => lines.push(`- ${warning}`));
-    }
-    lines.push("");
-    if (diagnosticsResult?.ok) {
-      lines.push(diagnosticText(diagnosticsResult.payload));
-    } else {
-      lines.push(`${text("youtube_live_diagnostics", "Diagnostics")}: ${fail} - ${diagnosticsResult?.error || "-"}`);
-    }
-    return lines.join("\n");
-  }
-
-  function diagnosticText(payload) {
-    const diag = payload?.diagnostics || payload || {};
+    const diag = diagnosticsResult?.payload?.diagnostics || diagnosticsResult?.payload || {};
     const status = diag.status || {};
-    const resources = status.resource_status || {};
+    const resources = status.resource_status || test.resource_status || {};
     const cluster = resources.cluster || {};
     const vision = resources.carrot_vision || {};
+    const enabled = text("youtube_live_resource_enabled", "Enabled");
+    const disabled = text("youtube_live_resource_disabled", "Disabled");
     const lines = [
+      `[${text("youtube_live_check_ready_section", "Readiness")}]`,
+      `${text("youtube_live_key", "Stream key")}: ${test.configured ? pass : fail}`,
+      `${text("youtube_live_validation_ffmpeg", "FFmpeg")}: ${test.ffmpeg_available ? pass : fail}`,
+      `${text("youtube_live_metric_source", "Source")}: ${test.source || "-"}`,
+      "",
+      `[${text("youtube_live_check_stream_section", "Stream status")}]`,
       `${text("youtube_live_state_label", "State")}: ${stateLabel(status)}`,
-      `${text("youtube_live_metric_source", "Source")}: ${status.source || "-"}`,
       `${text("youtube_live_metric_bitrate", "Bitrate")}: ${status.estimated_kbps || 0} kbps`,
       `${text("youtube_live_metric_session", "Session")}: ${status.session_mb || 0} MB`,
       `${text("youtube_live_metric_total", "Total")}: ${status.total_mb || 0} MB`,
-      `ClusterHud: ${cluster.enabled ? "on" : "off"} (${cluster.param ?? "-"})`,
-      `CarrotVision: ${vision.enabled ? "on" : "off"} (DisableDM=${vision.disable_dm ?? "-"})`,
+      "",
+      `[${text("youtube_live_check_resource_section", "Resources")}]`,
+      `${text("youtube_live_resource_cluster", "Cluster HUD")}: ${cluster.enabled ? enabled : disabled}`,
+      `${text("youtube_live_resource_vision", "Carrot Vision")}: ${vision.enabled ? enabled : disabled}`,
     ];
-    const warnings = Array.isArray(status.warnings) ? status.warnings : [];
+    const warnings = uniqueLocalizedMessages([
+      ...(Array.isArray(test.warnings) ? test.warnings : []),
+      ...(Array.isArray(status.warnings) ? status.warnings : []),
+    ]);
     if (warnings.length) {
       lines.push("");
-      lines.push(text("youtube_live_warnings", "Warnings"));
+      lines.push(`[${text("youtube_live_warnings", "Warnings")}]`);
       warnings.forEach((warning) => lines.push(`- ${warning}`));
     }
     const stderr = diag.ffmpeg?.stderr_tail || status.stderr_tail || [];
-    if (stderr.length) {
+    const errors = uniqueLocalizedMessages([
+      status.last_error,
+      ...(Array.isArray(stderr) ? stderr.slice(-8) : []),
+      diagnosticsResult?.ok ? "" : diagnosticsResult?.error,
+      testResult?.ok || test.message === "ready" ? "" : (testResult?.error || test.message),
+    ]);
+    if (errors.length) {
       lines.push("");
-      lines.push("ffmpeg stderr");
-      stderr.slice(-8).forEach((line) => lines.push(`- ${line}`));
+      lines.push(`[${text("youtube_live_check_error_section", "Errors and FFmpeg logs")}]`);
+      errors.forEach((error) => lines.push(`- ${localizedValidationMessage(error)}`));
     }
     return lines.join("\n");
   }
diff --git a/selfdrive/carrot/web/js/translations/en.js b/selfdrive/carrot/web/js/translations/en.js
index 209c08ac6f1..d97af7890d4 100644
--- a/selfdrive/carrot/web/js/translations/en.js
+++ b/selfdrive/carrot/web/js/translations/en.js
@@ -45,6 +45,22 @@ window.CarrotTranslations.register("en", {
     youtube_live_check: "Check",
     youtube_live_check_result: "Check result",
     youtube_live_check_ready: "Ready",
+    youtube_live_check_ready_section: "Readiness",
+    youtube_live_check_stream_section: "Stream status",
+    youtube_live_check_resource_section: "Resources",
+    youtube_live_check_error_section: "Errors and FFmpeg logs",
+    youtube_live_resource_cluster: "Cluster HUD",
+    youtube_live_resource_vision: "Carrot Vision",
+    youtube_live_resource_enabled: "Enabled",
+    youtube_live_resource_disabled: "Disabled",
+    youtube_live_warning_cluster: "Cluster HUD is enabled. Monitor encoder load and device temperature while streaming.",
+    youtube_live_warning_vision: "Carrot Vision is enabled. Camera, encoder, and network resources are shared.",
+    youtube_live_warning_quality: "High quality mode is not available yet.",
+    youtube_live_error_input_invalid: "Could not open the video input because an FFmpeg argument was invalid.",
+    youtube_live_error_ffmpeg_missing: "FFmpeg is not installed.",
+    youtube_live_error_no_frames: "No qRoadEncodeData frames were received.",
+    youtube_live_error_ffmpeg_exit: "FFmpeg exited (code {code}).",
+    youtube_live_error_ffmpeg_pipe: "The FFmpeg input pipe was closed.",
     youtube_live_test: "Test",
     youtube_live_test_missing: "Missing stream key or FFmpeg.",
     youtube_live_test_failed: "Test failed",
diff --git a/selfdrive/carrot/web/js/translations/ko.js b/selfdrive/carrot/web/js/translations/ko.js
index a9721b7c034..21c987b4b4e 100644
--- a/selfdrive/carrot/web/js/translations/ko.js
+++ b/selfdrive/carrot/web/js/translations/ko.js
@@ -45,6 +45,22 @@ window.CarrotTranslations.register("ko", {
     youtube_live_check: "점검",
     youtube_live_check_result: "점검 결과",
     youtube_live_check_ready: "준비됨",
+    youtube_live_check_ready_section: "준비 상태",
+    youtube_live_check_stream_section: "송출 상태",
+    youtube_live_check_resource_section: "리소스",
+    youtube_live_check_error_section: "오류 및 FFmpeg 로그",
+    youtube_live_resource_cluster: "Cluster HUD",
+    youtube_live_resource_vision: "Carrot Vision",
+    youtube_live_resource_enabled: "사용 중",
+    youtube_live_resource_disabled: "꺼짐",
+    youtube_live_warning_cluster: "Cluster HUD가 켜져 있습니다. 송출 중 인코더 부하와 기기 온도를 확인하세요.",
+    youtube_live_warning_vision: "Carrot Vision이 켜져 있습니다. 카메라, 인코더, 네트워크 자원을 함께 사용합니다.",
+    youtube_live_warning_quality: "고화질 모드는 아직 사용할 수 없습니다.",
+    youtube_live_error_input_invalid: "FFmpeg 인자가 잘못되어 영상 입력을 열지 못했습니다.",
+    youtube_live_error_ffmpeg_missing: "FFmpeg가 설치되어 있지 않습니다.",
+    youtube_live_error_no_frames: "qRoadEncodeData 프레임이 수신되지 않습니다.",
+    youtube_live_error_ffmpeg_exit: "FFmpeg가 종료되었습니다(코드 {code}).",
+    youtube_live_error_ffmpeg_pipe: "FFmpeg 입력 파이프가 닫혔습니다.",
     youtube_live_test: "테스트",
     youtube_live_test_missing: "스트림 키 또는 FFmpeg가 없습니다.",
     youtube_live_test_failed: "테스트 실패",
@@ -94,7 +110,7 @@ window.CarrotTranslations.register("ko", {
     reboot: "재부팅",
     backup: "Backup",
     restore: "Restore",
-    copy: "Copy",
+    copy: "복사",
     view: "View",
     device_info: "기기 정보",
     device_tab_error: "기기 정보를 불러오지 못했습니다.",
diff --git a/selfdrive/carrot/web/js/translations/zh.js b/selfdrive/carrot/web/js/translations/zh.js
index 9875dc2d7c2..382858ac8ed 100644
--- a/selfdrive/carrot/web/js/translations/zh.js
+++ b/selfdrive/carrot/web/js/translations/zh.js
@@ -45,6 +45,22 @@ window.CarrotTranslations.register("zh", {
     youtube_live_check: "Check",
     youtube_live_check_result: "Check result",
     youtube_live_check_ready: "Ready",
+    youtube_live_check_ready_section: "准备状态",
+    youtube_live_check_stream_section: "推流状态",
+    youtube_live_check_resource_section: "资源",
+    youtube_live_check_error_section: "错误和 FFmpeg 日志",
+    youtube_live_resource_cluster: "Cluster HUD",
+    youtube_live_resource_vision: "Carrot Vision",
+    youtube_live_resource_enabled: "已启用",
+    youtube_live_resource_disabled: "已关闭",
+    youtube_live_warning_cluster: "Cluster HUD 已启用。推流时请注意编码负载和设备温度。",
+    youtube_live_warning_vision: "Carrot Vision 已启用。摄像头、编码器和网络资源将被共享。",
+    youtube_live_warning_quality: "高画质模式暂不可用。",
+    youtube_live_error_input_invalid: "FFmpeg 参数无效，无法打开视频输入。",
+    youtube_live_error_ffmpeg_missing: "未安装 FFmpeg。",
+    youtube_live_error_no_frames: "未收到 qRoadEncodeData 帧。",
+    youtube_live_error_ffmpeg_exit: "FFmpeg 已退出（代码 {code}）。",
+    youtube_live_error_ffmpeg_pipe: "FFmpeg 输入管道已关闭。",
     youtube_live_test: "Test",
     youtube_live_test_missing: "Missing stream key or FFmpeg.",
     youtube_live_test_failed: "Test failed",

From d992678d2cdf1bf661919914c2bdb745187cfa16 Mon Sep 17 00:00:00 2001
From: jominki354 <jominki354@gmail.com>
Date: Wed, 1 Jul 2026 14:08:08 +0900
Subject: [PATCH 44/61] f

---
 .../carrot/server/services/youtube_live.py    | 133 +++++++++++++-----
 .../server/services/youtube_live_muxer.py     | 112 +++++++++++++++
 .../web/css/pages/settings/youtube_live.css   |  67 ---------
 selfdrive/carrot/web/index.html               |  10 +-
 .../web/js/pages/setting_youtube_live.js      |  76 ++++------
 selfdrive/carrot/web/js/translations/en.js    |  29 ++--
 selfdrive/carrot/web/js/translations/ko.js    |  29 ++--
 selfdrive/carrot/web/js/translations/zh.js    |  29 ++--
 8 files changed, 294 insertions(+), 191 deletions(-)
 create mode 100644 selfdrive/carrot/server/services/youtube_live_muxer.py

diff --git a/selfdrive/carrot/server/services/youtube_live.py b/selfdrive/carrot/server/services/youtube_live.py
index 84e525f29ef..f5efc8969a3 100644
--- a/selfdrive/carrot/server/services/youtube_live.py
+++ b/selfdrive/carrot/server/services/youtube_live.py
@@ -13,6 +13,7 @@
 from typing import Any
 
 from ..config import CARROT_YOUTUBE_LIVE_SECRET_PATH, CARROT_YOUTUBE_LIVE_STATE_PATH
+from .youtube_live_muxer import H264MpegTsMuxer, pyav_capabilities
 
 
 YOUTUBE_LIVE_PARAM = "CarrotYouTubeLive"
@@ -120,6 +121,7 @@ def __init__(
     self._task: asyncio.Task | None = None
     self._stop_event = asyncio.Event()
     self._process: asyncio.subprocess.Process | None = None
+    self._muxer: H264MpegTsMuxer | None = None
     self._stderr_task: asyncio.Task | None = None
     self._stderr_tail: deque[str] = deque(maxlen=20)
     self._messaging: Any | None = None
@@ -136,6 +138,7 @@ def __init__(
     self._next_retry_at = 0.0
     self._last_error = ""
     self._state = "disabled"
+    self._muxer_capabilities = pyav_capabilities()
     persisted = _read_json(self.state_path)
     try:
       self._bytes_sent = int(persisted.get("bytes_sent") or 0)
@@ -177,6 +180,12 @@ def status(self) -> dict[str, Any]:
       "configured": bool(stream_key),
       "masked_key": _mask_stream_key(stream_key),
       "source": PHASE1_SOURCE_SERVICE,
+      "muxer": "pyav-mpegts",
+      "muxer_available": bool(
+        self._muxer_capabilities.get("available")
+        and self._muxer_capabilities.get("mpegts")
+        and self._muxer_capabilities.get("h264")
+      ),
       "quality": PHASE1_QUALITY,
       "requested_quality": self._param_int(YOUTUBE_QUALITY_PARAM, 0),
       "phase": 1,
@@ -206,19 +215,26 @@ def status(self) -> dict[str, Any]:
   def test_config(self) -> dict[str, Any]:
     stream_key = self.get_stream_key()
     ffmpeg_path = shutil.which("ffmpeg")
-    ok = bool(stream_key and ffmpeg_path)
+    muxer_ok = bool(
+      self._muxer_capabilities.get("available")
+      and self._muxer_capabilities.get("mpegts")
+      and self._muxer_capabilities.get("h264")
+    )
+    ok = bool(stream_key and ffmpeg_path and muxer_ok)
     status = self.status()
     return {
       "ok": ok,
       "configured": bool(stream_key),
       "ffmpeg_available": bool(ffmpeg_path),
       "ffmpeg_path": ffmpeg_path or "",
+      "muxer_available": muxer_ok,
+      "muxer": dict(self._muxer_capabilities),
       "source": PHASE1_SOURCE_SERVICE,
       "quality": PHASE1_QUALITY,
       "resource_status": status["resource_status"],
       "warnings": status["warnings"],
       "stderr_tail": list(self._stderr_tail),
-      "message": "ready" if ok else "missing stream key or ffmpeg",
+      "message": "ready" if ok else "missing stream key, FFmpeg, or PyAV MPEG-TS support",
     }
 
   def validate_stream_key(self, value: str | None = None) -> dict[str, Any]:
@@ -265,6 +281,10 @@ def diagnostics(self) -> dict[str, Any]:
         "path": shutil.which("ffmpeg") or "",
         "stderr_tail": list(self._stderr_tail),
       },
+      "muxer": {
+        "name": "pyav-mpegts",
+        **self._muxer_capabilities,
+      },
       "processes": self._process_status(),
       "state_path": str(self.state_path),
     }
@@ -326,6 +346,16 @@ async def _tick(self) -> None:
       self._set_state("error")
       return
 
+    if not (
+      self._muxer_capabilities.get("available")
+      and self._muxer_capabilities.get("mpegts")
+      and self._muxer_capabilities.get("h264")
+    ):
+      await self._stop_process()
+      self._last_error = "PyAV MPEG-TS muxer is unavailable"
+      self._set_state("error")
+      return
+
     if self._param_int(YOUTUBE_QUALITY_PARAM, 0) > 0:
       await self._stop_process()
       self._last_error = "high quality YouTube Live is planned for Phase 3"
@@ -345,7 +375,7 @@ async def _tick(self) -> None:
       self._set_state("backoff")
       return
 
-    payload, frame_id = self._recv_payload()
+    payload, frame_id, keyframe, width, height = self._recv_payload()
     if not payload:
       if self._process is not None and self._last_frame_at and _now() - self._last_frame_at > NO_FRAME_STOP_SECONDS:
         self._last_error = "no qRoadEncodeData frames"
@@ -357,11 +387,14 @@ async def _tick(self) -> None:
     self._last_frame_at = _now()
     self._last_frame_id = frame_id
 
-    if self._process is None or self._process.returncode is not None:
-      await self._start_process(stream_key)
+    if self._process is None:
+      if not keyframe:
+        self._set_state("waiting_keyframe")
+        return
+      await self._start_process(stream_key, width=width, height=height)
 
-    await self._write_frame(payload)
-    self._set_state("live")
+    if await self._write_frame(payload, keyframe=keyframe):
+      self._set_state("live")
 
   def _set_state(self, state: str) -> None:
     self._state = state
@@ -446,45 +479,55 @@ def _get_socket(self) -> Any | None:
       self._socket = None
     return self._socket
 
-  def _recv_payload(self) -> tuple[bytes, int | None]:
+  def _recv_payload(self) -> tuple[bytes, int | None, bool, int, int]:
     messaging = self._get_messaging()
     sock = self._get_socket()
     if messaging is None or sock is None:
-      return b"", None
+      return b"", None, False, 526, 330
     try:
       msg = messaging.recv_one_or_none(sock)
       if msg is None:
-        return b"", None
+        return b"", None, False, 526, 330
       which = msg.which()
       frame = getattr(msg, which, None)
       if frame is None:
-        return b"", None
+        return b"", None, False, 526, 330
       header = bytes(getattr(frame, "header", b"") or b"")
       data = bytes(getattr(frame, "data", b"") or b"")
       frame_id = None
+      flags = 0
       idx = getattr(frame, "idx", None)
       if idx is not None:
         try:
           frame_id = int(getattr(idx, "frameId", 0) or 0) or None
         except Exception:
           frame_id = None
+        try:
+          flags = int(getattr(idx, "flags", 0) or 0)
+        except Exception:
+          flags = 0
       if frame_id is None:
         try:
           frame_id = int(getattr(frame, "frameId", 0) or 0) or None
         except Exception:
           frame_id = None
-      return header + data, frame_id
+      width = int(getattr(frame, "width", 0) or 526)
+      height = int(getattr(frame, "height", 0) or 330)
+      keyframe = bool(header) or bool(flags & 0x8)
+      return header + data, frame_id, keyframe, width, height
     except Exception as exc:
       self._last_error = f"{PHASE1_SOURCE_SERVICE} recv failed: {exc}"
-      return b"", None
+      return b"", None, False, 526, 330
 
-  async def _start_process(self, stream_key: str) -> None:
+  async def _start_process(self, stream_key: str, *, width: int, height: int) -> None:
     await self._stop_process()
-    self._set_state("starting")
     self._stderr_tail.clear()
+    self._last_error = ""
+    self._set_state("starting")
     self._started_at = _now()
     self._session_started_bytes = self._bytes_sent
     rtmp_url = f"{YOUTUBE_RTMPS_BASE}/{stream_key}"
+    muxer = H264MpegTsMuxer(fps=20, width=width, height=height)
     cmd = [
       "ffmpeg",
       "-hide_banner",
@@ -493,9 +536,7 @@ async def _start_process(self, stream_key: str) -> None:
       "-fflags",
       "nobuffer",
       "-f",
-      "h264",
-      "-r",
-      "20",
+      "mpegts",
       "-i",
       "pipe:0",
       "-f",
@@ -517,35 +558,50 @@ async def _start_process(self, stream_key: str) -> None:
       "flv",
       rtmp_url,
     ]
-    self._process = await asyncio.create_subprocess_exec(
-      *cmd,
-      stdin=asyncio.subprocess.PIPE,
-      stdout=asyncio.subprocess.DEVNULL,
-      stderr=asyncio.subprocess.PIPE,
-    )
+    try:
+      self._process = await asyncio.create_subprocess_exec(
+        *cmd,
+        stdin=asyncio.subprocess.PIPE,
+        stdout=asyncio.subprocess.DEVNULL,
+        stderr=asyncio.subprocess.PIPE,
+      )
+    except Exception:
+      muxer.close()
+      raise
+    self._muxer = muxer
     self._restart_count += 1
     self._next_retry_at = 0.0
     self._stderr_task = asyncio.create_task(self._read_stderr(self._process), name="carrot-youtube-live-stderr")
 
-  async def _write_frame(self, payload: bytes) -> None:
+  async def _write_frame(self, payload: bytes, *, keyframe: bool) -> bool:
     proc = self._process
-    if proc is None or proc.stdin is None:
-      return
+    muxer = self._muxer
+    if proc is None or proc.stdin is None or muxer is None:
+      return False
     if proc.returncode is not None:
       self._last_error = f"ffmpeg exited code={proc.returncode}"
       self._schedule_backoff("ffmpeg exited")
       await self._stop_process()
-      return
+      return False
     try:
-      proc.stdin.write(payload)
-      await proc.stdin.drain()
-      self._bytes_sent += len(payload)
+      chunk = muxer.mux(payload, keyframe=keyframe)
+      if chunk:
+        proc.stdin.write(chunk)
+        await proc.stdin.drain()
+        self._bytes_sent += len(chunk)
       if self._started_at and _now() - self._started_at >= PROCESS_STABLE_SECONDS:
         self._consecutive_failures = 0
+      return True
     except (BrokenPipeError, ConnectionResetError) as exc:
       self._last_error = f"ffmpeg pipe closed: {exc}"
       self._schedule_backoff("ffmpeg pipe closed")
       await self._stop_process()
+      return False
+    except Exception as exc:
+      self._last_error = f"MPEG-TS mux failed: {exc}"
+      self._schedule_backoff("MPEG-TS mux failed")
+      await self._stop_process()
+      return False
 
   async def _read_stderr(self, proc: asyncio.subprocess.Process) -> None:
     if proc.stderr is None:
@@ -562,8 +618,16 @@ async def _read_stderr(self, proc: asyncio.subprocess.Process) -> None:
   async def _stop_process(self) -> None:
     proc = self._process
     self._process = None
+    muxer = self._muxer
+    self._muxer = None
     stderr_task = self._stderr_task
     self._stderr_task = None
+    trailer = b""
+    if muxer is not None:
+      try:
+        trailer = muxer.close()
+      except Exception:
+        trailer = b""
     if proc is None:
       if stderr_task is not None and not stderr_task.done():
         stderr_task.cancel()
@@ -571,6 +635,9 @@ async def _stop_process(self) -> None:
     self._set_state("stopping")
     if proc.stdin is not None:
       try:
+        if trailer and proc.returncode is None:
+          proc.stdin.write(trailer)
+          await proc.stdin.drain()
         proc.stdin.close()
         await proc.stdin.wait_closed()
       except Exception:
@@ -642,9 +709,9 @@ def _warnings(self, resource_status: dict[str, Any]) -> list[str]:
     cluster = resource_status.get("cluster") if isinstance(resource_status, dict) else {}
     vision = resource_status.get("carrot_vision") if isinstance(resource_status, dict) else {}
     if cluster and cluster.get("enabled"):
-      warnings.append("Cluster HUD is enabled; monitor encoder load and thermal headroom while streaming.")
+      warnings.append("Cluster HUD is enabled; monitor overall load and temperature during simultaneous use.")
     if vision and vision.get("enabled"):
-      warnings.append("Carrot Vision is enabled; YouTube Live shares camera/encoder/network resources.")
+      warnings.append("Carrot Vision is enabled; simultaneous streaming increases network and memory bandwidth use.")
     if self._param_int(YOUTUBE_QUALITY_PARAM, 0) > 0:
       warnings.append("High quality mode is planned for Phase 3; Phase 2 keeps qRoadEncodeData only.")
     return warnings
diff --git a/selfdrive/carrot/server/services/youtube_live_muxer.py b/selfdrive/carrot/server/services/youtube_live_muxer.py
new file mode 100644
index 00000000000..41e9150f57f
--- /dev/null
+++ b/selfdrive/carrot/server/services/youtube_live_muxer.py
@@ -0,0 +1,112 @@
+from __future__ import annotations
+
+import io
+from fractions import Fraction
+from typing import Any
+
+
+MPEGTS_FORMAT = "mpegts"
+H264_CODEC = "h264"
+
+
+class _StreamingBuffer(io.RawIOBase):
+  def __init__(self) -> None:
+    super().__init__()
+    self._chunks = bytearray()
+    self._position = 0
+
+  def writable(self) -> bool:
+    return True
+
+  def seekable(self) -> bool:
+    return False
+
+  def write(self, data: bytes | bytearray | memoryview) -> int:
+    chunk = bytes(data)
+    self._chunks.extend(chunk)
+    self._position += len(chunk)
+    return len(chunk)
+
+  def tell(self) -> int:
+    return self._position
+
+  def drain(self) -> bytes:
+    if not self._chunks:
+      return b""
+    chunk = bytes(self._chunks)
+    self._chunks.clear()
+    return chunk
+
+
+def pyav_capabilities() -> dict[str, Any]:
+  try:
+    import av
+  except Exception as exc:
+    return {
+      "available": False,
+      "version": "",
+      "mpegts": False,
+      "h264": False,
+      "error": str(exc),
+    }
+  formats = getattr(av, "formats_available", set())
+  codecs = getattr(av, "codecs_available", set())
+  return {
+    "available": True,
+    "version": str(getattr(av, "__version__", "")),
+    "mpegts": MPEGTS_FORMAT in formats,
+    "h264": H264_CODEC in codecs,
+    "error": "",
+  }
+
+
+class H264MpegTsMuxer:
+  def __init__(self, *, fps: int = 20, width: int = 526, height: int = 330) -> None:
+    import av
+
+    self._av = av
+    self._fps = max(1, int(fps))
+    self._time_base = Fraction(1, self._fps)
+    self._buffer = _StreamingBuffer()
+    self._container = av.open(
+      self._buffer,
+      mode="w",
+      format=MPEGTS_FORMAT,
+      options={"flush_packets": "1", "mpegts_flags": "+resend_headers"},
+    )
+    self._stream = self._container.add_stream(H264_CODEC, rate=self._fps)
+    self._stream.width = max(1, int(width))
+    self._stream.height = max(1, int(height))
+    self._stream.time_base = self._time_base
+    self._packet_index = 0
+    self._closed = False
+
+  def mux(self, payload: bytes, *, keyframe: bool = False) -> bytes:
+    if self._closed:
+      raise RuntimeError("MPEG-TS muxer is closed")
+    if not payload:
+      return b""
+    packet = self._av.Packet(payload)
+    packet.stream = self._stream
+    packet.pts = self._packet_index
+    packet.dts = self._packet_index
+    packet.duration = 1
+    packet.time_base = self._time_base
+    if keyframe:
+      try:
+        packet.is_keyframe = True
+      except Exception:
+        pass
+    self._container.mux(packet)
+    self._packet_index += 1
+    return self._buffer.drain()
+
+  def close(self) -> bytes:
+    if self._closed:
+      return self._buffer.drain()
+    self._closed = True
+    try:
+      self._container.close()
+    except Exception:
+      pass
+    return self._buffer.drain()
diff --git a/selfdrive/carrot/web/css/pages/settings/youtube_live.css b/selfdrive/carrot/web/css/pages/settings/youtube_live.css
index 643c33189e5..fd51b15c317 100644
--- a/selfdrive/carrot/web/css/pages/settings/youtube_live.css
+++ b/selfdrive/carrot/web/css/pages/settings/youtube_live.css
@@ -13,13 +13,6 @@
   padding-bottom: var(--sp-lg);
 }
 
-.youtube-live-card__head {
-  display: flex;
-  align-items: flex-start;
-  justify-content: space-between;
-  gap: var(--sp-md);
-}
-
 .youtube-live-card__summary {
   min-width: 0;
 }
@@ -87,33 +80,6 @@
   box-shadow: 0 0 0 2px color-mix(in srgb, var(--md-primary) 16%, transparent);
 }
 
-.youtube-live-pill {
-  flex: 0 0 auto;
-  max-width: 44%;
-  border: 1px solid color-mix(in srgb, var(--md-outline-var) 38%, transparent);
-  border-radius: 999px;
-  padding: 5px 10px;
-  color: var(--md-on-surface);
-  background: color-mix(in srgb, var(--md-surface) 72%, transparent);
-  font-size: var(--fs-label);
-  font-weight: 800;
-  line-height: 1.2;
-  text-align: center;
-  overflow-wrap: anywhere;
-}
-
-.youtube-live-section[data-live-state="live"] .youtube-live-pill {
-  color: var(--md-primary);
-  border-color: color-mix(in srgb, var(--md-primary) 42%, transparent);
-  background: color-mix(in srgb, var(--md-primary) 14%, transparent);
-}
-
-.youtube-live-section[data-live-state="error"] .youtube-live-pill {
-  color: var(--md-error);
-  border-color: color-mix(in srgb, var(--md-error) 45%, transparent);
-  background: color-mix(in srgb, var(--md-error) 10%, transparent);
-}
-
 .youtube-live-metrics {
   display: grid;
   grid-template-columns: repeat(3, minmax(0, 1fr));
@@ -137,29 +103,6 @@
   overflow-wrap: anywhere;
 }
 
-.youtube-live-error {
-  border-left: 3px solid var(--md-error);
-  padding: 8px 10px;
-  color: var(--md-error);
-  background: color-mix(in srgb, var(--md-error) 8%, transparent);
-  font-size: var(--fs-body-sm);
-  overflow-wrap: anywhere;
-}
-
-.youtube-live-warnings {
-  display: grid;
-  gap: 6px;
-}
-
-.youtube-live-warning {
-  border-left: 3px solid var(--md-tertiary, var(--md-primary));
-  padding: 8px 10px;
-  color: var(--md-on-surface);
-  background: color-mix(in srgb, var(--md-tertiary, var(--md-primary)) 9%, transparent);
-  font-size: var(--fs-body-sm);
-  overflow-wrap: anywhere;
-}
-
 .youtube-live-actions {
   --ui-action-min: 136px;
 }
@@ -177,11 +120,6 @@
 }
 
 @media (max-width: 430px) {
-  .youtube-live-card__head {
-    align-items: stretch;
-    flex-direction: column;
-  }
-
   .youtube-live-key-row {
     display: grid;
     grid-template-columns: 1fr;
@@ -191,11 +129,6 @@
     width: 100%;
   }
 
-  .youtube-live-pill {
-    max-width: none;
-    align-self: flex-start;
-  }
-
   .youtube-live-metrics {
     grid-template-columns: 1fr;
   }
diff --git a/selfdrive/carrot/web/index.html b/selfdrive/carrot/web/index.html
index 3744215e6a0..7eb66865f82 100644
--- a/selfdrive/carrot/web/index.html
+++ b/selfdrive/carrot/web/index.html
@@ -100,7 +100,7 @@
   <link rel="stylesheet" href="/css/pages/settings/base.css?v=2606-21" />
   <link rel="stylesheet" href="/css/pages/settings/panels.css?v=2606-12" />
   <link rel="stylesheet" href="/css/pages/settings/device.css?v=2606-42" />
-  <link rel="stylesheet" href="/css/pages/settings/youtube_live.css?v=2607-15" />
+  <link rel="stylesheet" href="/css/pages/settings/youtube_live.css?v=2607-17" />
   <link rel="stylesheet" href="/css/pages/tools/base.css?v=2605-43" />
   <link rel="stylesheet" href="/css/pages/tools/qr.css?v=2605-40" />
   <link rel="stylesheet" href="/css/pages/tools/main.css?v=2605-53" />
@@ -706,9 +706,9 @@ <h2 id="carrotTitle" class="page-title">Home</h2>
   <script src="/js/vendor/qrcode-generator.js?v=1.4.4"></script>
   <script src="/js/vendor/jsQR.js?v=1.4.0"></script>
   <script src="/js/translations/registry.js?v=2605-09"></script>
-  <script src="/js/translations/ko.js?v=2607-16"></script>
-  <script src="/js/translations/en.js?v=2607-16"></script>
-  <script src="/js/translations/zh.js?v=2607-16"></script>
+  <script src="/js/translations/ko.js?v=2607-19"></script>
+  <script src="/js/translations/en.js?v=2607-19"></script>
+  <script src="/js/translations/zh.js?v=2607-19"></script>
   <script src="/js/realtime/hud_card.js?v=2604-05"></script>
   <script src="/js/shared/constants.js?v=2604-72"></script>
   <script src="/js/shared/dom.js?v=2604-72"></script>
@@ -723,7 +723,7 @@ <h2 id="carrotTitle" class="page-title">Home</h2>
   <script src="/js/shared/ui/effects.js?v=2604-72"></script>
   <script src="/js/shared/ui/navigation.js?v=2606-19"></script>
   <script src="/js/pages/car.js?v=2604-75"></script>
-  <script src="/js/pages/setting_youtube_live.js?v=2607-16"></script>
+  <script src="/js/pages/setting_youtube_live.js?v=2607-19"></script>
   <script src="/js/pages/setting.js?v=2607-13"></script>
   <script src="/js/pages/setting_device_config.js?v=2605-05"></script>
   <script src="/js/pages/setting_device_render.js?v=2605-04"></script>
diff --git a/selfdrive/carrot/web/js/pages/setting_youtube_live.js b/selfdrive/carrot/web/js/pages/setting_youtube_live.js
index 45560869be5..f0f69bfd261 100644
--- a/selfdrive/carrot/web/js/pages/setting_youtube_live.js
+++ b/selfdrive/carrot/web/js/pages/setting_youtube_live.js
@@ -54,9 +54,7 @@
   }
 
   function streamTitle(status) {
-    return status?.enabled
-      ? text("youtube_live_stream_active", "Streaming")
-      : text("youtube_live_stream_inactive", "Stream stopped");
+    return stateLabel(status);
   }
 
   function streamSummary(status) {
@@ -171,44 +169,30 @@
       statusCard.className = "setting-group-card youtube-live-card youtube-live-status-card";
       section.appendChild(statusCard);
 
-      const head = document.createElement("div");
-      head.className = "youtube-live-card__head";
       const summary = document.createElement("div");
       summary.className = "youtube-live-card__summary";
       const summaryTitle = document.createElement("div");
       summaryTitle.className = "youtube-live-card__title";
       summaryTitle.dataset.role = "title";
-      summaryTitle.textContent = text("youtube_live_stream_inactive", "Stream stopped");
+      summaryTitle.textContent = stateLabel({ state: "disabled" });
       const summaryDesc = document.createElement("div");
       summaryDesc.className = "youtube-live-card__desc";
       summaryDesc.dataset.role = "summary";
       summaryDesc.textContent = text("loading", "Loading...");
       summary.appendChild(summaryTitle);
       summary.appendChild(summaryDesc);
-      const pill = document.createElement("span");
-      pill.className = "youtube-live-pill";
-      pill.dataset.role = "state";
-      pill.textContent = "-";
-      head.appendChild(summary);
-      head.appendChild(pill);
-      statusCard.appendChild(head);
+      statusCard.appendChild(summary);
 
       const metrics = document.createElement("div");
       metrics.className = "youtube-live-metrics";
       metrics.dataset.role = "metrics";
       statusCard.appendChild(metrics);
 
-      const error = document.createElement("div");
-      error.className = "youtube-live-error";
-      error.dataset.role = "error";
-      error.hidden = true;
-      statusCard.appendChild(error);
-
-      const warnings = document.createElement("div");
-      warnings.className = "youtube-live-warnings";
-      warnings.dataset.role = "warnings";
-      warnings.hidden = true;
-      statusCard.appendChild(warnings);
+      const log = document.createElement("pre");
+      log.className = "muted text-mono";
+      log.dataset.role = "runtime-log";
+      log.hidden = true;
+      statusCard.appendChild(log);
 
       section.appendChild(helpCard);
 
@@ -232,15 +216,11 @@
     const card = ensureCard();
     if (!card) return;
     const titleEl = card.querySelector('[data-role="title"]');
-    const stateEl = card.querySelector('[data-role="state"]');
     const keyStatusEl = document.querySelector(`#${KEY_SECTION_ID} [data-role="key-status"]`);
     const summaryEl = card.querySelector('[data-role="summary"]');
     const metricsEl = card.querySelector('[data-role="metrics"]');
-    const errorEl = card.querySelector('[data-role="error"]');
-    const warningsEl = card.querySelector('[data-role="warnings"]');
-    card.dataset.liveState = String(status?.state || "disabled");
+    const logEl = card.querySelector('[data-role="runtime-log"]');
     if (titleEl) titleEl.textContent = streamTitle(status);
-    if (stateEl) stateEl.textContent = stateLabel(status);
     if (keyStatusEl) keyStatusEl.textContent = configuredLabel(status);
     if (summaryEl) summaryEl.textContent = streamSummary(status);
     if (metricsEl) {
@@ -252,12 +232,7 @@
       metricsEl.appendChild(metric(text("youtube_live_metric_total", "Total"), `${status?.total_mb || 0} MB`));
       metricsEl.appendChild(metric(text("youtube_live_metric_retry", "Retry"), retryLabel(status)));
     }
-    const error = String(status?.last_error || "").trim();
-    if (errorEl) {
-      errorEl.hidden = !error;
-      errorEl.textContent = localizedRuntimeMessage(error);
-    }
-    renderWarnings(warningsEl, status);
+    renderRuntimeLog(logEl, status);
   }
 
   function formatSeconds(seconds) {
@@ -276,22 +251,15 @@
     return "-";
   }
 
-  function renderWarnings(container, status) {
+  function renderRuntimeLog(container, status) {
     if (!container) return;
-    const warnings = Array.isArray(status?.warnings) ? status.warnings.filter(Boolean) : [];
-    if (!warnings.length) {
-      container.hidden = true;
-      container.innerHTML = "";
-      return;
-    }
-    container.hidden = false;
-    container.innerHTML = "";
-    warnings.slice(0, 3).forEach((warning) => {
-      const item = document.createElement("div");
-      item.className = "youtube-live-warning";
-      item.textContent = localizedRuntimeMessage(warning);
-      container.appendChild(item);
-    });
+    const error = String(status?.last_error || "").trim();
+    const warnings = uniqueLocalizedMessages(Array.isArray(status?.warnings) ? status.warnings : []);
+    const lines = [];
+    if (error) lines.push(`${text("youtube_live_error_label", "Error")}: ${localizedRuntimeMessage(error)}`);
+    warnings.forEach((warning) => lines.push(`${text("youtube_live_warning_label", "Notice")}: ${warning}`));
+    container.hidden = lines.length === 0;
+    container.textContent = lines.join("\n");
   }
 
   async function loadStatus() {
@@ -432,6 +400,7 @@
       "format looks valid": text("youtube_live_validation_format_ok", "Format looks valid."),
       "YouTube RTMPS ingest is reachable": text("youtube_live_validation_rtmps_ok", "YouTube RTMPS ingest is reachable."),
       "missing stream key or ffmpeg": text("youtube_live_test_missing", "Missing stream key or FFmpeg."),
+      "missing stream key, FFmpeg, or PyAV MPEG-TS support": text("youtube_live_test_muxer_missing", "Stream key, FFmpeg, or PyAV MPEG-TS support is missing."),
       "ready": text("youtube_live_check_ready", "Ready"),
     };
     return map[raw] || raw;
@@ -442,10 +411,13 @@
     if (!raw) return "-";
     const exact = {
       "Cluster HUD is enabled; monitor encoder load and thermal headroom while streaming.": text("youtube_live_warning_cluster", "Cluster HUD is enabled. Monitor encoder load and temperature while streaming."),
+      "Cluster HUD is enabled; monitor overall load and temperature during simultaneous use.": text("youtube_live_warning_cluster", "Cluster HUD is enabled. Monitor overall load and temperature during simultaneous use."),
       "Carrot Vision is enabled; YouTube Live shares camera/encoder/network resources.": text("youtube_live_warning_vision", "Carrot Vision is enabled. Camera, encoder, and network resources are shared."),
+      "Carrot Vision is enabled; simultaneous streaming increases network and memory bandwidth use.": text("youtube_live_warning_vision", "Carrot Vision is enabled. Simultaneous streaming increases network and memory bandwidth use."),
       "High quality mode is planned for Phase 3; Phase 2 keeps qRoadEncodeData only.": text("youtube_live_warning_quality", "High quality mode is not available yet."),
       "Error opening input files: Invalid argument": text("youtube_live_error_input_invalid", "Could not open the video input because an FFmpeg argument was invalid."),
       "ffmpeg not found": text("youtube_live_error_ffmpeg_missing", "FFmpeg is not installed."),
+      "PyAV MPEG-TS muxer is unavailable": text("youtube_live_error_muxer_missing", "PyAV MPEG-TS muxing is unavailable."),
       "no qRoadEncodeData frames": text("youtube_live_error_no_frames", "No qRoadEncodeData frames were received."),
     };
     if (exact[raw]) return exact[raw];
@@ -454,6 +426,9 @@
     if (/^ffmpeg pipe closed:/i.test(raw)) {
       return text("youtube_live_error_ffmpeg_pipe", "The FFmpeg input pipe was closed.");
     }
+    if (/^MPEG-TS mux failed:/i.test(raw)) {
+      return text("youtube_live_error_muxer_failed", "MPEG-TS muxing failed: {error}", { error: raw.split(":", 2)[1]?.trim() || "-" });
+    }
     return raw;
   }
 
@@ -520,6 +495,7 @@
       `[${text("youtube_live_check_ready_section", "Readiness")}]`,
       `${text("youtube_live_key", "Stream key")}: ${test.configured ? pass : fail}`,
       `${text("youtube_live_validation_ffmpeg", "FFmpeg")}: ${test.ffmpeg_available ? pass : fail}`,
+      `${text("youtube_live_muxer", "PyAV MPEG-TS")}: ${test.muxer_available ? pass : fail}`,
       `${text("youtube_live_metric_source", "Source")}: ${test.source || "-"}`,
       "",
       `[${text("youtube_live_check_stream_section", "Stream status")}]`,
diff --git a/selfdrive/carrot/web/js/translations/en.js b/selfdrive/carrot/web/js/translations/en.js
index d97af7890d4..dca484632cf 100644
--- a/selfdrive/carrot/web/js/translations/en.js
+++ b/selfdrive/carrot/web/js/translations/en.js
@@ -18,8 +18,6 @@ window.CarrotTranslations.register("en", {
     youtube_live_help_step_3: "Paste the key here, save it, then run Validate key.",
     youtube_live_help_step_4: "Standard mode uses qRoadEncodeData, about 526x330 at 20fps. This fits YouTube's 240p-720p encoder range; stereo audio uses AAC 128Kbps.",
     youtube_live_help_note: "Validation checks local format, FFmpeg, and RTMPS reachability. YouTube confirms the key only after streaming starts.",
-    youtube_live_stream_active: "Streaming",
-    youtube_live_stream_inactive: "Stream stopped",
     youtube_live_quality_standard: "Standard",
     youtube_live_visibility_studio: "Visibility: set in YouTube Studio",
     youtube_live_validate_key: "Validate key",
@@ -53,17 +51,21 @@ window.CarrotTranslations.register("en", {
     youtube_live_resource_vision: "Carrot Vision",
     youtube_live_resource_enabled: "Enabled",
     youtube_live_resource_disabled: "Disabled",
-    youtube_live_warning_cluster: "Cluster HUD is enabled. Monitor encoder load and device temperature while streaming.",
-    youtube_live_warning_vision: "Carrot Vision is enabled. Camera, encoder, and network resources are shared.",
+    youtube_live_warning_cluster: "Cluster HUD is enabled. Monitor overall load and device temperature during simultaneous use.",
+    youtube_live_warning_vision: "Carrot Vision is enabled. Simultaneous streaming increases network and memory bandwidth use.",
     youtube_live_warning_quality: "High quality mode is not available yet.",
     youtube_live_error_input_invalid: "Could not open the video input because an FFmpeg argument was invalid.",
     youtube_live_error_ffmpeg_missing: "FFmpeg is not installed.",
     youtube_live_error_no_frames: "No qRoadEncodeData frames were received.",
     youtube_live_error_ffmpeg_exit: "FFmpeg exited (code {code}).",
     youtube_live_error_ffmpeg_pipe: "The FFmpeg input pipe was closed.",
+    youtube_live_error_muxer_missing: "PyAV MPEG-TS muxing is unavailable.",
+    youtube_live_error_muxer_failed: "MPEG-TS muxing failed: {error}",
     youtube_live_test: "Test",
     youtube_live_test_missing: "Missing stream key or FFmpeg.",
+    youtube_live_test_muxer_missing: "Stream key, FFmpeg, or PyAV MPEG-TS support is missing.",
     youtube_live_test_failed: "Test failed",
+    youtube_live_muxer: "PyAV MPEG-TS",
     youtube_live_metric_source: "Source",
     youtube_live_metric_runtime: "Runtime",
     youtube_live_metric_bitrate: "Bitrate",
@@ -74,14 +76,17 @@ window.CarrotTranslations.register("en", {
     youtube_live_diagnostics: "Diagnostics",
     youtube_live_state_label: "State",
     youtube_live_warnings: "Warnings",
-    youtube_live_state_backoff: "Backoff",
-    youtube_live_state_disabled: "Disabled",
-    youtube_live_state_needs_setup: "Needs setup",
-    youtube_live_state_waiting_frame: "Waiting frame",
-    youtube_live_state_starting: "Starting",
-    youtube_live_state_live: "Live",
-    youtube_live_state_stopping: "Stopping",
-    youtube_live_state_error: "Error",
+    youtube_live_error_label: "Error",
+    youtube_live_warning_label: "Notice",
+    youtube_live_state_backoff: "Waiting to reconnect RTMPS",
+    youtube_live_state_disabled: "YouTube stream disabled",
+    youtube_live_state_needs_setup: "Stream key required",
+    youtube_live_state_waiting_frame: "Waiting for video frames",
+    youtube_live_state_waiting_keyframe: "Waiting for an H.264 keyframe",
+    youtube_live_state_starting: "Starting FFmpeg",
+    youtube_live_state_live: "Streaming to YouTube RTMPS",
+    youtube_live_state_stopping: "Stopping FFmpeg",
+    youtube_live_state_error: "YouTube stream error",
     home: "Drive",
     setting: "Setting",
     setting_tab_device: "Device",
diff --git a/selfdrive/carrot/web/js/translations/ko.js b/selfdrive/carrot/web/js/translations/ko.js
index 21c987b4b4e..e24ebc03c3c 100644
--- a/selfdrive/carrot/web/js/translations/ko.js
+++ b/selfdrive/carrot/web/js/translations/ko.js
@@ -18,8 +18,6 @@ window.CarrotTranslations.register("ko", {
     youtube_live_help_step_3: "위 스트림 키 칸에 붙여넣고 저장 후 키 검증을 실행합니다.",
     youtube_live_help_step_4: "표준 모드는 qRoadEncodeData를 사용합니다. 영상은 약 526x330/20fps이며 YouTube의 240p-720p 인코더 범위에 맞고, 오디오는 AAC 128Kbps입니다.",
     youtube_live_help_note: "키 검증은 로컬 형식, FFmpeg, RTMPS 접속만 확인합니다. YouTube의 키 수락 여부는 실제 송출 시작 후 확정됩니다.",
-    youtube_live_stream_active: "송출 중",
-    youtube_live_stream_inactive: "송출 중지",
     youtube_live_quality_standard: "표준",
     youtube_live_visibility_studio: "공개 범위: YouTube Studio 설정",
     youtube_live_validate_key: "키 검증",
@@ -53,17 +51,21 @@ window.CarrotTranslations.register("ko", {
     youtube_live_resource_vision: "Carrot Vision",
     youtube_live_resource_enabled: "사용 중",
     youtube_live_resource_disabled: "꺼짐",
-    youtube_live_warning_cluster: "Cluster HUD가 켜져 있습니다. 송출 중 인코더 부하와 기기 온도를 확인하세요.",
-    youtube_live_warning_vision: "Carrot Vision이 켜져 있습니다. 카메라, 인코더, 네트워크 자원을 함께 사용합니다.",
+    youtube_live_warning_cluster: "Cluster HUD가 켜져 있습니다. 동시 사용 중 전체 부하와 기기 온도를 확인하세요.",
+    youtube_live_warning_vision: "Carrot Vision이 켜져 있습니다. 동시 송출 시 네트워크와 메모리 대역폭 사용량이 증가합니다.",
     youtube_live_warning_quality: "고화질 모드는 아직 사용할 수 없습니다.",
     youtube_live_error_input_invalid: "FFmpeg 인자가 잘못되어 영상 입력을 열지 못했습니다.",
     youtube_live_error_ffmpeg_missing: "FFmpeg가 설치되어 있지 않습니다.",
     youtube_live_error_no_frames: "qRoadEncodeData 프레임이 수신되지 않습니다.",
     youtube_live_error_ffmpeg_exit: "FFmpeg가 종료되었습니다(코드 {code}).",
     youtube_live_error_ffmpeg_pipe: "FFmpeg 입력 파이프가 닫혔습니다.",
+    youtube_live_error_muxer_missing: "PyAV MPEG-TS mux를 사용할 수 없습니다.",
+    youtube_live_error_muxer_failed: "MPEG-TS mux 실패: {error}",
     youtube_live_test: "테스트",
     youtube_live_test_missing: "스트림 키 또는 FFmpeg가 없습니다.",
+    youtube_live_test_muxer_missing: "스트림 키, FFmpeg 또는 PyAV MPEG-TS 지원이 없습니다.",
     youtube_live_test_failed: "테스트 실패",
+    youtube_live_muxer: "PyAV MPEG-TS",
     youtube_live_metric_source: "소스",
     youtube_live_metric_runtime: "시간",
     youtube_live_metric_bitrate: "비트레이트",
@@ -74,14 +76,17 @@ window.CarrotTranslations.register("ko", {
     youtube_live_diagnostics: "진단",
     youtube_live_state_label: "상태",
     youtube_live_warnings: "경고",
-    youtube_live_state_backoff: "재시도 대기",
-    youtube_live_state_disabled: "꺼짐",
-    youtube_live_state_needs_setup: "설정 필요",
-    youtube_live_state_waiting_frame: "프레임 대기",
-    youtube_live_state_starting: "시작 중",
-    youtube_live_state_live: "송출 중",
-    youtube_live_state_stopping: "중지 중",
-    youtube_live_state_error: "오류",
+    youtube_live_error_label: "오류",
+    youtube_live_warning_label: "주의",
+    youtube_live_state_backoff: "RTMPS 재연결 대기",
+    youtube_live_state_disabled: "YouTube 송출 꺼짐",
+    youtube_live_state_needs_setup: "스트림 키 필요",
+    youtube_live_state_waiting_frame: "영상 프레임 대기",
+    youtube_live_state_waiting_keyframe: "H.264 키프레임 대기",
+    youtube_live_state_starting: "FFmpeg 시작 중",
+    youtube_live_state_live: "YouTube RTMPS 송출 중",
+    youtube_live_state_stopping: "FFmpeg 종료 중",
+    youtube_live_state_error: "YouTube 송출 오류",
     home: "주행",
     setting: "설정",
     setting_tab_device: "디바이스",
diff --git a/selfdrive/carrot/web/js/translations/zh.js b/selfdrive/carrot/web/js/translations/zh.js
index 382858ac8ed..6ad2a04068a 100644
--- a/selfdrive/carrot/web/js/translations/zh.js
+++ b/selfdrive/carrot/web/js/translations/zh.js
@@ -18,8 +18,6 @@ window.CarrotTranslations.register("zh", {
     youtube_live_help_step_3: "Paste the key here, save it, then run Validate key.",
     youtube_live_help_step_4: "Standard mode uses qRoadEncodeData, about 526x330 at 20fps. This fits YouTube's 240p-720p encoder range; stereo audio uses AAC 128Kbps.",
     youtube_live_help_note: "Validation checks local format, FFmpeg, and RTMPS reachability. YouTube confirms the key only after streaming starts.",
-    youtube_live_stream_active: "Streaming",
-    youtube_live_stream_inactive: "Stream stopped",
     youtube_live_quality_standard: "Standard",
     youtube_live_visibility_studio: "Visibility: set in YouTube Studio",
     youtube_live_validate_key: "Validate key",
@@ -53,17 +51,21 @@ window.CarrotTranslations.register("zh", {
     youtube_live_resource_vision: "Carrot Vision",
     youtube_live_resource_enabled: "已启用",
     youtube_live_resource_disabled: "已关闭",
-    youtube_live_warning_cluster: "Cluster HUD 已启用。推流时请注意编码负载和设备温度。",
-    youtube_live_warning_vision: "Carrot Vision 已启用。摄像头、编码器和网络资源将被共享。",
+    youtube_live_warning_cluster: "Cluster HUD 已启用。同时使用时请注意整体负载和设备温度。",
+    youtube_live_warning_vision: "Carrot Vision 已启用。同时推流会增加网络和内存带宽使用。",
     youtube_live_warning_quality: "高画质模式暂不可用。",
     youtube_live_error_input_invalid: "FFmpeg 参数无效，无法打开视频输入。",
     youtube_live_error_ffmpeg_missing: "未安装 FFmpeg。",
     youtube_live_error_no_frames: "未收到 qRoadEncodeData 帧。",
     youtube_live_error_ffmpeg_exit: "FFmpeg 已退出（代码 {code}）。",
     youtube_live_error_ffmpeg_pipe: "FFmpeg 输入管道已关闭。",
+    youtube_live_error_muxer_missing: "无法使用 PyAV MPEG-TS 封装。",
+    youtube_live_error_muxer_failed: "MPEG-TS 封装失败：{error}",
     youtube_live_test: "Test",
     youtube_live_test_missing: "Missing stream key or FFmpeg.",
+    youtube_live_test_muxer_missing: "缺少串流密钥、FFmpeg 或 PyAV MPEG-TS 支持。",
     youtube_live_test_failed: "Test failed",
+    youtube_live_muxer: "PyAV MPEG-TS",
     youtube_live_metric_source: "Source",
     youtube_live_metric_runtime: "Runtime",
     youtube_live_metric_bitrate: "Bitrate",
@@ -74,14 +76,17 @@ window.CarrotTranslations.register("zh", {
     youtube_live_diagnostics: "Diagnostics",
     youtube_live_state_label: "State",
     youtube_live_warnings: "Warnings",
-    youtube_live_state_backoff: "Backoff",
-    youtube_live_state_disabled: "Disabled",
-    youtube_live_state_needs_setup: "Needs setup",
-    youtube_live_state_waiting_frame: "Waiting frame",
-    youtube_live_state_starting: "Starting",
-    youtube_live_state_live: "Live",
-    youtube_live_state_stopping: "Stopping",
-    youtube_live_state_error: "Error",
+    youtube_live_error_label: "错误",
+    youtube_live_warning_label: "注意",
+    youtube_live_state_backoff: "等待重新连接 RTMPS",
+    youtube_live_state_disabled: "YouTube 推流已关闭",
+    youtube_live_state_needs_setup: "需要串流密钥",
+    youtube_live_state_waiting_frame: "等待视频帧",
+    youtube_live_state_waiting_keyframe: "等待 H.264 关键帧",
+    youtube_live_state_starting: "正在启动 FFmpeg",
+    youtube_live_state_live: "正在推流到 YouTube RTMPS",
+    youtube_live_state_stopping: "正在停止 FFmpeg",
+    youtube_live_state_error: "YouTube 推流错误",
     home: "驾驶",
     setting: "设置",
     setting_tab_device: "设备",

From 4b24f5d5e1bd80c1d5065549399289d8882cb071 Mon Sep 17 00:00:00 2001
From: jominki354 <jominki354@gmail.com>
Date: Wed, 1 Jul 2026 14:11:21 +0900
Subject: [PATCH 45/61] f

---
 selfdrive/carrot/server/services/youtube_live.py   |  8 ++++++++
 .../carrot/web/css/pages/settings/youtube_live.css |  9 +--------
 selfdrive/carrot/web/index.html                    |  8 ++++----
 .../carrot/web/js/pages/setting_youtube_live.js    | 14 ++++++++------
 selfdrive/carrot/web/js/translations/en.js         |  2 --
 selfdrive/carrot/web/js/translations/ko.js         |  2 --
 selfdrive/carrot/web/js/translations/zh.js         |  2 --
 7 files changed, 21 insertions(+), 24 deletions(-)

diff --git a/selfdrive/carrot/server/services/youtube_live.py b/selfdrive/carrot/server/services/youtube_live.py
index f5efc8969a3..21b93127f8c 100644
--- a/selfdrive/carrot/server/services/youtube_live.py
+++ b/selfdrive/carrot/server/services/youtube_live.py
@@ -131,6 +131,9 @@ def __init__(
     self._started_at = 0.0
     self._last_frame_at = 0.0
     self._last_frame_id: int | None = None
+    self._frame_width = 526
+    self._frame_height = 330
+    self._frame_fps = 20
     self._bytes_sent = 0
     self._session_started_bytes = 0
     self._restart_count = 0
@@ -207,6 +210,9 @@ def status(self) -> dict[str, Any]:
       "last_frame_at": self._last_frame_at,
       "last_frame_age_ms": last_frame_age_ms,
       "last_frame_id": self._last_frame_id,
+      "frame_width": self._frame_width,
+      "frame_height": self._frame_height,
+      "frame_fps": self._frame_fps,
       "stderr_tail": list(self._stderr_tail)[-5:],
       "resource_status": resource_status,
       "warnings": warnings,
@@ -386,6 +392,8 @@ async def _tick(self) -> None:
 
     self._last_frame_at = _now()
     self._last_frame_id = frame_id
+    self._frame_width = width
+    self._frame_height = height
 
     if self._process is None:
       if not keyframe:
diff --git a/selfdrive/carrot/web/css/pages/settings/youtube_live.css b/selfdrive/carrot/web/css/pages/settings/youtube_live.css
index fd51b15c317..103c2d50ce2 100644
--- a/selfdrive/carrot/web/css/pages/settings/youtube_live.css
+++ b/selfdrive/carrot/web/css/pages/settings/youtube_live.css
@@ -42,18 +42,11 @@
   letter-spacing: 0;
 }
 
-.youtube-live-help-list > li,
-.youtube-live-help-note {
+.youtube-live-help-list > li {
   min-width: 0;
   overflow-wrap: anywhere;
 }
 
-.youtube-live-help-note {
-  color: var(--md-on-surface-var);
-  font-size: var(--fs-body-sm);
-  letter-spacing: 0;
-}
-
 .youtube-live-key-row {
   display: grid;
   grid-template-columns: minmax(0, 1fr) auto auto auto;
diff --git a/selfdrive/carrot/web/index.html b/selfdrive/carrot/web/index.html
index 7eb66865f82..c86eb80af64 100644
--- a/selfdrive/carrot/web/index.html
+++ b/selfdrive/carrot/web/index.html
@@ -706,9 +706,9 @@ <h2 id="carrotTitle" class="page-title">Home</h2>
   <script src="/js/vendor/qrcode-generator.js?v=1.4.4"></script>
   <script src="/js/vendor/jsQR.js?v=1.4.0"></script>
   <script src="/js/translations/registry.js?v=2605-09"></script>
-  <script src="/js/translations/ko.js?v=2607-19"></script>
-  <script src="/js/translations/en.js?v=2607-19"></script>
-  <script src="/js/translations/zh.js?v=2607-19"></script>
+  <script src="/js/translations/ko.js?v=2607-21"></script>
+  <script src="/js/translations/en.js?v=2607-21"></script>
+  <script src="/js/translations/zh.js?v=2607-21"></script>
   <script src="/js/realtime/hud_card.js?v=2604-05"></script>
   <script src="/js/shared/constants.js?v=2604-72"></script>
   <script src="/js/shared/dom.js?v=2604-72"></script>
@@ -723,7 +723,7 @@ <h2 id="carrotTitle" class="page-title">Home</h2>
   <script src="/js/shared/ui/effects.js?v=2604-72"></script>
   <script src="/js/shared/ui/navigation.js?v=2606-19"></script>
   <script src="/js/pages/car.js?v=2604-75"></script>
-  <script src="/js/pages/setting_youtube_live.js?v=2607-19"></script>
+  <script src="/js/pages/setting_youtube_live.js?v=2607-21"></script>
   <script src="/js/pages/setting.js?v=2607-13"></script>
   <script src="/js/pages/setting_device_config.js?v=2605-05"></script>
   <script src="/js/pages/setting_device_render.js?v=2605-04"></script>
diff --git a/selfdrive/carrot/web/js/pages/setting_youtube_live.js b/selfdrive/carrot/web/js/pages/setting_youtube_live.js
index f0f69bfd261..be0238b44b3 100644
--- a/selfdrive/carrot/web/js/pages/setting_youtube_live.js
+++ b/selfdrive/carrot/web/js/pages/setting_youtube_live.js
@@ -58,10 +58,7 @@
   }
 
   function streamSummary(status) {
-    const quality = text("youtube_live_quality_standard", "Standard");
-    const source = status?.source || "qRoadEncodeData";
-    const visibility = text("youtube_live_visibility_studio", "Visibility: set in YouTube Studio");
-    return `${quality} · ${source} · ${visibility}`;
+    return videoFormatLabel(status);
   }
 
   function metric(label, value) {
@@ -154,8 +151,6 @@
           <li>${escapeHtmlLocal(text("youtube_live_help_step_2", "In Live Control Room, open Stream and copy Stream key."))}</li>
           <li>${escapeHtmlLocal(text("youtube_live_help_step_3", "Paste the key here, save it, then run Validate key."))}</li>
         </ol>
-        <div class="youtube-live-help-note">${escapeHtmlLocal(text("youtube_live_help_step_4", "Standard mode uses qRoadEncodeData, about 526x330 at 20fps. This fits YouTube's 240p-720p encoder range; stereo audio uses AAC 128Kbps."))}</div>
-        <div class="youtube-live-help-note">${escapeHtmlLocal(text("youtube_live_help_note", "Validation checks local format, FFmpeg, and RTMPS reachability. YouTube confirms the key only after streaming starts."))}</div>
         <div class="ui-action-grid ui-action-grid--quick youtube-live-actions" data-role="action-menu"></div>
       `;
 
@@ -243,6 +238,13 @@
     return [h, m, s].map((v) => String(v).padStart(2, "0")).join(":");
   }
 
+  function videoFormatLabel(status) {
+    const width = Number(status?.frame_width || 526);
+    const height = Number(status?.frame_height || 330);
+    const fps = Number(status?.frame_fps || 20);
+    return `${width}*${height} * ${fps}fps`;
+  }
+
   function retryLabel(status) {
     const retry = Number(status?.retry_in_sec || 0);
     if (String(status?.state || "") === "backoff" && retry > 0) {
diff --git a/selfdrive/carrot/web/js/translations/en.js b/selfdrive/carrot/web/js/translations/en.js
index dca484632cf..5313e2ce8f4 100644
--- a/selfdrive/carrot/web/js/translations/en.js
+++ b/selfdrive/carrot/web/js/translations/en.js
@@ -16,8 +16,6 @@ window.CarrotTranslations.register("en", {
     youtube_live_help_step_1: "Open YouTube Studio and click Create > Go live.",
     youtube_live_help_step_2: "In Live Control Room, open the Stream tab, create a Stream key, then copy it.",
     youtube_live_help_step_3: "Paste the key here, save it, then run Validate key.",
-    youtube_live_help_step_4: "Standard mode uses qRoadEncodeData, about 526x330 at 20fps. This fits YouTube's 240p-720p encoder range; stereo audio uses AAC 128Kbps.",
-    youtube_live_help_note: "Validation checks local format, FFmpeg, and RTMPS reachability. YouTube confirms the key only after streaming starts.",
     youtube_live_quality_standard: "Standard",
     youtube_live_visibility_studio: "Visibility: set in YouTube Studio",
     youtube_live_validate_key: "Validate key",
diff --git a/selfdrive/carrot/web/js/translations/ko.js b/selfdrive/carrot/web/js/translations/ko.js
index e24ebc03c3c..a2adca39f2e 100644
--- a/selfdrive/carrot/web/js/translations/ko.js
+++ b/selfdrive/carrot/web/js/translations/ko.js
@@ -16,8 +16,6 @@ window.CarrotTranslations.register("ko", {
     youtube_live_help_step_1: "YouTube Studio에서 만들기 > 라이브 스트리밍을 엽니다.",
     youtube_live_help_step_2: "Live Control Room의 스트림 탭에서 Stream key를 생성한 뒤 복사합니다.",
     youtube_live_help_step_3: "위 스트림 키 칸에 붙여넣고 저장 후 키 검증을 실행합니다.",
-    youtube_live_help_step_4: "표준 모드는 qRoadEncodeData를 사용합니다. 영상은 약 526x330/20fps이며 YouTube의 240p-720p 인코더 범위에 맞고, 오디오는 AAC 128Kbps입니다.",
-    youtube_live_help_note: "키 검증은 로컬 형식, FFmpeg, RTMPS 접속만 확인합니다. YouTube의 키 수락 여부는 실제 송출 시작 후 확정됩니다.",
     youtube_live_quality_standard: "표준",
     youtube_live_visibility_studio: "공개 범위: YouTube Studio 설정",
     youtube_live_validate_key: "키 검증",
diff --git a/selfdrive/carrot/web/js/translations/zh.js b/selfdrive/carrot/web/js/translations/zh.js
index 6ad2a04068a..1e8ff83a2c1 100644
--- a/selfdrive/carrot/web/js/translations/zh.js
+++ b/selfdrive/carrot/web/js/translations/zh.js
@@ -16,8 +16,6 @@ window.CarrotTranslations.register("zh", {
     youtube_live_help_step_1: "Open YouTube Studio and click Create > Go live.",
     youtube_live_help_step_2: "In Live Control Room, open the Stream tab, create a Stream key, then copy it.",
     youtube_live_help_step_3: "Paste the key here, save it, then run Validate key.",
-    youtube_live_help_step_4: "Standard mode uses qRoadEncodeData, about 526x330 at 20fps. This fits YouTube's 240p-720p encoder range; stereo audio uses AAC 128Kbps.",
-    youtube_live_help_note: "Validation checks local format, FFmpeg, and RTMPS reachability. YouTube confirms the key only after streaming starts.",
     youtube_live_quality_standard: "Standard",
     youtube_live_visibility_studio: "Visibility: set in YouTube Studio",
     youtube_live_validate_key: "Validate key",

From e48573c8818080ac7a4e674e8798369715f5a25e Mon Sep 17 00:00:00 2001
From: jominki354 <jominki354@gmail.com>
Date: Wed, 1 Jul 2026 14:43:46 +0900
Subject: [PATCH 46/61] f

---
 .../carrot/server/features/youtube_live.py    |   2 +-
 .../carrot/server/services/youtube_live.py    | 322 +++++++-----------
 .../server/services/youtube_live_muxer.py     | 163 +++++----
 .../server/services/youtube_live_transport.py | 169 +++++++++
 selfdrive/carrot/web/index.html               |   8 +-
 .../web/js/pages/setting_youtube_live.js      |  46 ++-
 selfdrive/carrot/web/js/translations/en.js    |  26 +-
 selfdrive/carrot/web/js/translations/ko.js    |  26 +-
 selfdrive/carrot/web/js/translations/zh.js    |  26 +-
 9 files changed, 461 insertions(+), 327 deletions(-)
 create mode 100644 selfdrive/carrot/server/services/youtube_live_transport.py

diff --git a/selfdrive/carrot/server/features/youtube_live.py b/selfdrive/carrot/server/features/youtube_live.py
index 6389832e9cb..3842a4d5f9e 100644
--- a/selfdrive/carrot/server/features/youtube_live.py
+++ b/selfdrive/carrot/server/features/youtube_live.py
@@ -55,7 +55,7 @@ async def api_clear_stream_key(request: web.Request) -> web.Response:
 
 
 async def api_test(request: web.Request) -> web.Response:
-  result = _service(request).test_config()
+  result = await asyncio.to_thread(_service(request).test_config)
   return web.json_response(result, status=200 if result.get("ok") else 409)
 
 
diff --git a/selfdrive/carrot/server/services/youtube_live.py b/selfdrive/carrot/server/services/youtube_live.py
index 21b93127f8c..dc96a86547f 100644
--- a/selfdrive/carrot/server/services/youtube_live.py
+++ b/selfdrive/carrot/server/services/youtube_live.py
@@ -4,23 +4,22 @@
 import json
 import os
 import re
-import shutil
 import socket
 import ssl
 import time
-from collections import deque
 from pathlib import Path
 from typing import Any
 
 from ..config import CARROT_YOUTUBE_LIVE_SECRET_PATH, CARROT_YOUTUBE_LIVE_STATE_PATH
-from .youtube_live_muxer import H264MpegTsMuxer, pyav_capabilities
+from .youtube_live_muxer import H264FlvMuxer, pyav_capabilities
+from .youtube_live_transport import LibrtmpClient, RtmpSink, librtmp_capabilities
 
 
 YOUTUBE_LIVE_PARAM = "CarrotYouTubeLive"
 YOUTUBE_QUALITY_PARAM = "CarrotYouTubeQuality"
 PHASE1_SOURCE_SERVICE = "qRoadEncodeData"
 PHASE1_QUALITY = "standard"
-YOUTUBE_RTMPS_BASE = "rtmps://a.rtmps.youtube.com/live2"
+YOUTUBE_RTMPS_BASE = "rtmps://a.rtmps.youtube.com:443/live2"
 YOUTUBE_RTMPS_HOST = "a.rtmps.youtube.com"
 YOUTUBE_RTMPS_PORT = 443
 NO_FRAME_STOP_SECONDS = 8.0
@@ -28,7 +27,7 @@
 STATUS_WRITE_MIN_INTERVAL = 1.0
 BACKOFF_BASE_SECONDS = 3.0
 BACKOFF_MAX_SECONDS = 60.0
-PROCESS_STABLE_SECONDS = 10.0
+STREAM_STABLE_SECONDS = 10.0
 
 _PROCESS_MATCHES = {
   "carrot_cluster": "selfdrive.carrot.cluster_autorun",
@@ -120,10 +119,9 @@ def __init__(
     self.secret_path = Path(secret_path)
     self._task: asyncio.Task | None = None
     self._stop_event = asyncio.Event()
-    self._process: asyncio.subprocess.Process | None = None
-    self._muxer: H264MpegTsMuxer | None = None
-    self._stderr_task: asyncio.Task | None = None
-    self._stderr_tail: deque[str] = deque(maxlen=20)
+    self._transport: LibrtmpClient | None = None
+    self._transport_connected = False
+    self._muxer: H264FlvMuxer | None = None
     self._messaging: Any | None = None
     self._socket: Any | None = None
     self._params: Any | None = None
@@ -142,6 +140,7 @@ def __init__(
     self._last_error = ""
     self._state = "disabled"
     self._muxer_capabilities = pyav_capabilities()
+    self._transport_capabilities = librtmp_capabilities()
     persisted = _read_json(self.state_path)
     try:
       self._bytes_sent = int(persisted.get("bytes_sent") or 0)
@@ -164,16 +163,16 @@ async def stop(self) -> None:
         await task
       except asyncio.CancelledError:
         pass
-    await self._stop_process()
+    await self._stop_stream()
     self._task = None
     self._write_status(force=True)
 
   def status(self) -> dict[str, Any]:
     stream_key = self.get_stream_key()
-    pid = self._process.pid if self._process and self._process.returncode is None else None
+    running = self._transport_connected
     now = _now()
-    uptime = int(now - self._started_at) if self._started_at and pid else 0
-    elapsed = max(1.0, now - self._started_at) if self._started_at and pid else 1.0
+    uptime = int(now - self._started_at) if self._started_at and running else 0
+    elapsed = max(1.0, now - self._started_at) if self._started_at and running else 1.0
     last_frame_age_ms = int((now - self._last_frame_at) * 1000) if self._last_frame_at else None
     resource_status = self._resource_status()
     warnings = self._warnings(resource_status)
@@ -183,25 +182,27 @@ def status(self) -> dict[str, Any]:
       "configured": bool(stream_key),
       "masked_key": _mask_stream_key(stream_key),
       "source": PHASE1_SOURCE_SERVICE,
-      "muxer": "pyav-mpegts",
+      "muxer": "pyav-flv-aac",
       "muxer_available": bool(
         self._muxer_capabilities.get("available")
-        and self._muxer_capabilities.get("mpegts")
+        and self._muxer_capabilities.get("flv")
         and self._muxer_capabilities.get("h264")
+        and self._muxer_capabilities.get("aac")
       ),
+      "transport": "librtmp-rtmps",
+      "transport_available": bool(self._transport_capabilities.get("available")),
       "quality": PHASE1_QUALITY,
       "requested_quality": self._param_int(YOUTUBE_QUALITY_PARAM, 0),
       "phase": 1,
-      "running": bool(pid),
-      "pid": pid,
-      "ffmpeg_available": bool(shutil.which("ffmpeg")),
-      "started_at": self._started_at if pid else 0,
+      "running": running,
+      "pid": None,
+      "started_at": self._started_at if running else 0,
       "uptime_sec": uptime,
       "bytes_sent": self._bytes_sent,
       "total_mb": round(max(0, self._bytes_sent) / (1024 * 1024), 2),
       "session_bytes": max(0, self._bytes_sent - self._session_started_bytes),
       "session_mb": round(max(0, self._bytes_sent - self._session_started_bytes) / (1024 * 1024), 2),
-      "estimated_kbps": int(((self._bytes_sent - self._session_started_bytes) * 8 / 1000) / elapsed) if pid else 0,
+      "estimated_kbps": int(((self._bytes_sent - self._session_started_bytes) * 8 / 1000) / elapsed) if running else 0,
       "restart_count": self._restart_count,
       "consecutive_failures": self._consecutive_failures,
       "next_retry_at": self._next_retry_at,
@@ -213,42 +214,52 @@ def status(self) -> dict[str, Any]:
       "frame_width": self._frame_width,
       "frame_height": self._frame_height,
       "frame_fps": self._frame_fps,
-      "stderr_tail": list(self._stderr_tail)[-5:],
+      "log_tail": [self._last_error] if self._last_error else [],
       "resource_status": resource_status,
       "warnings": warnings,
     }
 
   def test_config(self) -> dict[str, Any]:
     stream_key = self.get_stream_key()
-    ffmpeg_path = shutil.which("ffmpeg")
+    rtmps_ok, rtmps_message = _check_rtmps_reachable()
     muxer_ok = bool(
       self._muxer_capabilities.get("available")
-      and self._muxer_capabilities.get("mpegts")
+      and self._muxer_capabilities.get("flv")
       and self._muxer_capabilities.get("h264")
+      and self._muxer_capabilities.get("aac")
     )
-    ok = bool(stream_key and ffmpeg_path and muxer_ok)
+    transport_ok = bool(self._transport_capabilities.get("available"))
+    ok = bool(stream_key and muxer_ok and transport_ok and rtmps_ok)
     status = self.status()
     return {
       "ok": ok,
       "configured": bool(stream_key),
-      "ffmpeg_available": bool(ffmpeg_path),
-      "ffmpeg_path": ffmpeg_path or "",
+      "transport_available": transport_ok,
+      "transport": dict(self._transport_capabilities),
+      "rtmps_reachable": rtmps_ok,
+      "rtmps_message": rtmps_message,
       "muxer_available": muxer_ok,
       "muxer": dict(self._muxer_capabilities),
       "source": PHASE1_SOURCE_SERVICE,
       "quality": PHASE1_QUALITY,
       "resource_status": status["resource_status"],
       "warnings": status["warnings"],
-      "stderr_tail": list(self._stderr_tail),
-      "message": "ready" if ok else "missing stream key, FFmpeg, or PyAV MPEG-TS support",
+      "log_tail": [self._last_error] if self._last_error else [],
+      "message": "ready" if ok else "stream key, RTMPS network, librtmp, or PyAV FLV/AAC is unavailable",
     }
 
   def validate_stream_key(self, value: str | None = None) -> dict[str, Any]:
     stream_key = _extract_stream_key(value) if value is not None else self.get_stream_key()
     format_ok, format_message = _validate_stream_key_format(stream_key)
     rtmps_ok, rtmps_message = _check_rtmps_reachable()
-    ffmpeg_path = shutil.which("ffmpeg")
-    ok = bool(format_ok and rtmps_ok and ffmpeg_path)
+    transport_ok = bool(self._transport_capabilities.get("available"))
+    muxer_ok = bool(
+      self._muxer_capabilities.get("available")
+      and self._muxer_capabilities.get("flv")
+      and self._muxer_capabilities.get("h264")
+      and self._muxer_capabilities.get("aac")
+    )
+    ok = bool(format_ok and rtmps_ok and transport_ok and muxer_ok)
     return {
       "ok": ok,
       "configured": bool(self.get_stream_key()),
@@ -256,8 +267,8 @@ def validate_stream_key(self, value: str | None = None) -> dict[str, Any]:
       "format_message": format_message,
       "rtmps_reachable": rtmps_ok,
       "rtmps_message": rtmps_message,
-      "ffmpeg_available": bool(ffmpeg_path),
-      "ffmpeg_path": ffmpeg_path or "",
+      "transport_available": transport_ok,
+      "muxer_available": muxer_ok,
       "masked_key": _mask_stream_key(stream_key),
       "note": "YouTube only confirms whether the key is accepted when an encoder starts streaming.",
     }
@@ -282,13 +293,14 @@ def diagnostics(self) -> dict[str, Any]:
         "DisableDM": self._param_int("DisableDM", 0),
         "IsOnroad": self._param_bool("IsOnroad", False),
       },
-      "ffmpeg": {
-        "available": bool(shutil.which("ffmpeg")),
-        "path": shutil.which("ffmpeg") or "",
-        "stderr_tail": list(self._stderr_tail),
+      "transport": {
+        "name": "librtmp-rtmps",
+        **self._transport_capabilities,
+        "connected": self._transport_connected,
+        "log_tail": [self._last_error] if self._last_error else [],
       },
       "muxer": {
-        "name": "pyav-mpegts",
+        "name": "pyav-flv-aac",
         **self._muxer_capabilities,
       },
       "processes": self._process_status(),
@@ -325,16 +337,15 @@ async def _run(self) -> None:
       except Exception as exc:
         self._last_error = str(exc)
         self._set_state("error")
-        await self._stop_process()
+        await self._stop_stream()
         await asyncio.sleep(START_BACKOFF_SECONDS)
-      await asyncio.sleep(0.02 if self._process else 0.25)
+      await asyncio.sleep(0.02 if self._transport else 0.25)
 
   async def _tick(self) -> None:
     if not self._param_enabled():
-      if self._process is not None:
-        await self._stop_process()
+      if self._transport is not None:
+        await self._stop_stream()
       self._last_error = ""
-      self._stderr_tail.clear()
       self._consecutive_failures = 0
       self._next_retry_at = 0.0
       self._set_state("disabled")
@@ -342,28 +353,29 @@ async def _tick(self) -> None:
 
     stream_key = self.get_stream_key()
     if not stream_key:
-      await self._stop_process()
+      await self._stop_stream()
       self._set_state("needs_setup")
       return
 
-    if not shutil.which("ffmpeg"):
-      await self._stop_process()
-      self._last_error = "ffmpeg not found"
+    if not self._transport_capabilities.get("available"):
+      await self._stop_stream()
+      self._last_error = self._transport_capabilities.get("error") or "librtmp is unavailable"
       self._set_state("error")
       return
 
     if not (
       self._muxer_capabilities.get("available")
-      and self._muxer_capabilities.get("mpegts")
+      and self._muxer_capabilities.get("flv")
       and self._muxer_capabilities.get("h264")
+      and self._muxer_capabilities.get("aac")
     ):
-      await self._stop_process()
-      self._last_error = "PyAV MPEG-TS muxer is unavailable"
+      await self._stop_stream()
+      self._last_error = "PyAV FLV/AAC muxer is unavailable"
       self._set_state("error")
       return
 
     if self._param_int(YOUTUBE_QUALITY_PARAM, 0) > 0:
-      await self._stop_process()
+      await self._stop_stream()
       self._last_error = "high quality YouTube Live is planned for Phase 3"
       self._set_state("error")
       return
@@ -372,22 +384,21 @@ async def _tick(self) -> None:
       self._set_state("backoff")
       return
 
-    if self._process is not None and self._process.returncode is not None:
-      exit_code = self._process.returncode
-      if not self._last_error:
-        self._last_error = f"ffmpeg exited code={exit_code}"
-      await self._stop_process()
-      self._schedule_backoff("ffmpeg exited")
+    if self._transport is not None and not await asyncio.to_thread(self._transport.is_connected):
+      self._transport_connected = False
+      self._last_error = "YouTube RTMPS connection closed"
+      await self._stop_stream()
+      self._schedule_backoff("RTMPS connection closed")
       self._set_state("backoff")
       return
 
-    payload, frame_id, keyframe, width, height = self._recv_payload()
-    if not payload:
-      if self._process is not None and self._last_frame_at and _now() - self._last_frame_at > NO_FRAME_STOP_SECONDS:
+    header, data, frame_id, keyframe, width, height = self._recv_frame()
+    if not data:
+      if self._transport is not None and self._last_frame_at and _now() - self._last_frame_at > NO_FRAME_STOP_SECONDS:
         self._last_error = "no qRoadEncodeData frames"
-        await self._stop_process()
+        await self._stop_stream()
         self._schedule_backoff("frame timeout")
-      self._set_state("waiting_frame" if self._process is None else "live")
+      self._set_state("waiting_frame" if self._transport is None else "live")
       return
 
     self._last_frame_at = _now()
@@ -395,13 +406,19 @@ async def _tick(self) -> None:
     self._frame_width = width
     self._frame_height = height
 
-    if self._process is None:
-      if not keyframe:
+    if self._transport is None:
+      if not keyframe or not header:
         self._set_state("waiting_keyframe")
         return
-      await self._start_process(stream_key, width=width, height=height)
+      try:
+        await self._start_stream(stream_key, codec_header=header, width=width, height=height)
+      except Exception as exc:
+        self._last_error = f"YouTube RTMPS start failed: {exc}"
+        self._schedule_backoff("RTMPS start failed")
+        self._set_state("backoff")
+        return
 
-    if await self._write_frame(payload, keyframe=keyframe):
+    if await self._write_frame(data, keyframe=keyframe):
       self._set_state("live")
 
   def _set_state(self, state: str) -> None:
@@ -487,19 +504,19 @@ def _get_socket(self) -> Any | None:
       self._socket = None
     return self._socket
 
-  def _recv_payload(self) -> tuple[bytes, int | None, bool, int, int]:
+  def _recv_frame(self) -> tuple[bytes, bytes, int | None, bool, int, int]:
     messaging = self._get_messaging()
     sock = self._get_socket()
     if messaging is None or sock is None:
-      return b"", None, False, 526, 330
+      return b"", b"", None, False, 526, 330
     try:
       msg = messaging.recv_one_or_none(sock)
       if msg is None:
-        return b"", None, False, 526, 330
+        return b"", b"", None, False, 526, 330
       which = msg.which()
       frame = getattr(msg, which, None)
       if frame is None:
-        return b"", None, False, 526, 330
+        return b"", b"", None, False, 526, 330
       header = bytes(getattr(frame, "header", b"") or b"")
       data = bytes(getattr(frame, "data", b"") or b"")
       frame_id = None
@@ -514,162 +531,85 @@ def _recv_payload(self) -> tuple[bytes, int | None, bool, int, int]:
           flags = int(getattr(idx, "flags", 0) or 0)
         except Exception:
           flags = 0
-      if frame_id is None:
-        try:
-          frame_id = int(getattr(frame, "frameId", 0) or 0) or None
-        except Exception:
-          frame_id = None
       width = int(getattr(frame, "width", 0) or 526)
       height = int(getattr(frame, "height", 0) or 330)
       keyframe = bool(header) or bool(flags & 0x8)
-      return header + data, frame_id, keyframe, width, height
+      return header, data, frame_id, keyframe, width, height
     except Exception as exc:
       self._last_error = f"{PHASE1_SOURCE_SERVICE} recv failed: {exc}"
-      return b"", None, False, 526, 330
+      return b"", b"", None, False, 526, 330
 
-  async def _start_process(self, stream_key: str, *, width: int, height: int) -> None:
-    await self._stop_process()
-    self._stderr_tail.clear()
+  async def _start_stream(self, stream_key: str, *, codec_header: bytes, width: int, height: int) -> None:
+    await self._stop_stream()
     self._last_error = ""
+    self._restart_count += 1
     self._set_state("starting")
-    self._started_at = _now()
-    self._session_started_bytes = self._bytes_sent
     rtmp_url = f"{YOUTUBE_RTMPS_BASE}/{stream_key}"
-    muxer = H264MpegTsMuxer(fps=20, width=width, height=height)
-    cmd = [
-      "ffmpeg",
-      "-hide_banner",
-      "-loglevel",
-      "warning",
-      "-fflags",
-      "nobuffer",
-      "-f",
-      "mpegts",
-      "-i",
-      "pipe:0",
-      "-f",
-      "lavfi",
-      "-i",
-      "anullsrc=r=44100:cl=stereo",
-      "-map",
-      "0:v:0",
-      "-map",
-      "1:a:0",
-      "-c:v",
-      "copy",
-      "-c:a",
-      "aac",
-      "-b:a",
-      "128k",
-      "-shortest",
-      "-f",
-      "flv",
-      rtmp_url,
-    ]
+    transport = LibrtmpClient(rtmp_url)
     try:
-      self._process = await asyncio.create_subprocess_exec(
-        *cmd,
-        stdin=asyncio.subprocess.PIPE,
-        stdout=asyncio.subprocess.DEVNULL,
-        stderr=asyncio.subprocess.PIPE,
+      await asyncio.to_thread(transport.connect)
+      muxer = await asyncio.to_thread(
+        H264FlvMuxer,
+        RtmpSink(transport),
+        codec_header=codec_header,
+        fps=self._frame_fps,
+        width=width,
+        height=height,
       )
     except Exception:
-      muxer.close()
+      await asyncio.to_thread(transport.close)
       raise
+    self._transport = transport
+    self._transport_connected = True
     self._muxer = muxer
-    self._restart_count += 1
+    self._started_at = _now()
+    self._session_started_bytes = self._bytes_sent
     self._next_retry_at = 0.0
-    self._stderr_task = asyncio.create_task(self._read_stderr(self._process), name="carrot-youtube-live-stderr")
 
   async def _write_frame(self, payload: bytes, *, keyframe: bool) -> bool:
-    proc = self._process
+    transport = self._transport
     muxer = self._muxer
-    if proc is None or proc.stdin is None or muxer is None:
+    if transport is None or muxer is None:
       return False
-    if proc.returncode is not None:
-      self._last_error = f"ffmpeg exited code={proc.returncode}"
-      self._schedule_backoff("ffmpeg exited")
-      await self._stop_process()
+    if not await asyncio.to_thread(transport.is_connected):
+      self._transport_connected = False
+      self._last_error = "YouTube RTMPS connection closed"
+      self._schedule_backoff("RTMPS connection closed")
+      await self._stop_stream()
       return False
     try:
-      chunk = muxer.mux(payload, keyframe=keyframe)
-      if chunk:
-        proc.stdin.write(chunk)
-        await proc.stdin.drain()
-        self._bytes_sent += len(chunk)
-      if self._started_at and _now() - self._started_at >= PROCESS_STABLE_SECONDS:
+      await asyncio.to_thread(muxer.mux, payload, keyframe=keyframe)
+      self._bytes_sent = self._session_started_bytes + transport.bytes_written
+      if self._started_at and _now() - self._started_at >= STREAM_STABLE_SECONDS:
         self._consecutive_failures = 0
       return True
-    except (BrokenPipeError, ConnectionResetError) as exc:
-      self._last_error = f"ffmpeg pipe closed: {exc}"
-      self._schedule_backoff("ffmpeg pipe closed")
-      await self._stop_process()
-      return False
     except Exception as exc:
-      self._last_error = f"MPEG-TS mux failed: {exc}"
-      self._schedule_backoff("MPEG-TS mux failed")
-      await self._stop_process()
+      self._transport_connected = False
+      self._last_error = f"YouTube RTMPS publish failed: {exc}"
+      self._schedule_backoff("RTMPS publish failed")
+      await self._stop_stream()
       return False
 
-  async def _read_stderr(self, proc: asyncio.subprocess.Process) -> None:
-    if proc.stderr is None:
-      return
-    while True:
-      line = await proc.stderr.readline()
-      if not line:
-        break
-      text = line.decode("utf-8", errors="replace").strip()
-      if text:
-        self._stderr_tail.append(text[-300:])
-        self._last_error = text[-300:]
-
-  async def _stop_process(self) -> None:
-    proc = self._process
-    self._process = None
+  async def _stop_stream(self) -> None:
+    transport = self._transport
+    self._transport = None
+    self._transport_connected = False
     muxer = self._muxer
     self._muxer = None
-    stderr_task = self._stderr_task
-    self._stderr_task = None
-    trailer = b""
-    if muxer is not None:
-      try:
-        trailer = muxer.close()
-      except Exception:
-        trailer = b""
-    if proc is None:
-      if stderr_task is not None and not stderr_task.done():
-        stderr_task.cancel()
+    if transport is None and muxer is None:
+      self._started_at = 0.0
       return
     self._set_state("stopping")
-    if proc.stdin is not None:
+    if muxer is not None:
       try:
-        if trailer and proc.returncode is None:
-          proc.stdin.write(trailer)
-          await proc.stdin.drain()
-        proc.stdin.close()
-        await proc.stdin.wait_closed()
+        await asyncio.to_thread(muxer.close)
       except Exception:
         pass
-    try:
-      await asyncio.wait_for(proc.wait(), timeout=2.0)
-    except asyncio.TimeoutError:
-      try:
-        proc.terminate()
-      except ProcessLookupError:
-        pass
+    if transport is not None:
+      self._bytes_sent = self._session_started_bytes + transport.bytes_written
       try:
-        await asyncio.wait_for(proc.wait(), timeout=3.0)
-      except asyncio.TimeoutError:
-        try:
-          proc.kill()
-        except ProcessLookupError:
-          pass
-        await proc.wait()
-    if stderr_task is not None and not stderr_task.done():
-      stderr_task.cancel()
-      try:
-        await stderr_task
-      except asyncio.CancelledError:
+        await asyncio.to_thread(transport.close)
+      except Exception:
         pass
     self._started_at = 0.0
 
diff --git a/selfdrive/carrot/server/services/youtube_live_muxer.py b/selfdrive/carrot/server/services/youtube_live_muxer.py
index 41e9150f57f..9fcee971904 100644
--- a/selfdrive/carrot/server/services/youtube_live_muxer.py
+++ b/selfdrive/carrot/server/services/youtube_live_muxer.py
@@ -1,41 +1,16 @@
 from __future__ import annotations
 
-import io
+import threading
 from fractions import Fraction
-from typing import Any
+from typing import Any, BinaryIO
 
 
-MPEGTS_FORMAT = "mpegts"
+FLV_FORMAT = "flv"
 H264_CODEC = "h264"
-
-
-class _StreamingBuffer(io.RawIOBase):
-  def __init__(self) -> None:
-    super().__init__()
-    self._chunks = bytearray()
-    self._position = 0
-
-  def writable(self) -> bool:
-    return True
-
-  def seekable(self) -> bool:
-    return False
-
-  def write(self, data: bytes | bytearray | memoryview) -> int:
-    chunk = bytes(data)
-    self._chunks.extend(chunk)
-    self._position += len(chunk)
-    return len(chunk)
-
-  def tell(self) -> int:
-    return self._position
-
-  def drain(self) -> bytes:
-    if not self._chunks:
-      return b""
-    chunk = bytes(self._chunks)
-    self._chunks.clear()
-    return chunk
+AAC_CODEC = "aac"
+AUDIO_RATE = 44_100
+AUDIO_BITRATE = 128_000
+AUDIO_SAMPLES = 1_024
 
 
 def pyav_capabilities() -> dict[str, Any]:
@@ -45,8 +20,9 @@ def pyav_capabilities() -> dict[str, Any]:
     return {
       "available": False,
       "version": "",
-      "mpegts": False,
+      "flv": False,
       "h264": False,
+      "aac": False,
       "error": str(exc),
     }
   formats = getattr(av, "formats_available", set())
@@ -54,59 +30,98 @@ def pyav_capabilities() -> dict[str, Any]:
   return {
     "available": True,
     "version": str(getattr(av, "__version__", "")),
-    "mpegts": MPEGTS_FORMAT in formats,
+    "flv": FLV_FORMAT in formats,
     "h264": H264_CODEC in codecs,
+    "aac": AAC_CODEC in codecs,
     "error": "",
   }
 
 
-class H264MpegTsMuxer:
-  def __init__(self, *, fps: int = 20, width: int = 526, height: int = 330) -> None:
+class H264FlvMuxer:
+  def __init__(
+    self,
+    output: BinaryIO,
+    *,
+    codec_header: bytes,
+    fps: int = 20,
+    width: int = 526,
+    height: int = 330,
+  ) -> None:
+    if not codec_header:
+      raise ValueError("H.264 codec header is required")
+
     import av
 
     self._av = av
     self._fps = max(1, int(fps))
-    self._time_base = Fraction(1, self._fps)
-    self._buffer = _StreamingBuffer()
+    self._video_time_base = Fraction(1, self._fps)
+    self._audio_time_base = Fraction(1, AUDIO_RATE)
     self._container = av.open(
-      self._buffer,
+      output,
       mode="w",
-      format=MPEGTS_FORMAT,
-      options={"flush_packets": "1", "mpegts_flags": "+resend_headers"},
+      format=FLV_FORMAT,
+      options={"flvflags": "no_duration_filesize", "flush_packets": "1"},
     )
-    self._stream = self._container.add_stream(H264_CODEC, rate=self._fps)
-    self._stream.width = max(1, int(width))
-    self._stream.height = max(1, int(height))
-    self._stream.time_base = self._time_base
+    self._video_stream = self._container.add_stream(H264_CODEC, rate=self._fps)
+    self._video_stream.width = max(1, int(width))
+    self._video_stream.height = max(1, int(height))
+    self._video_stream.time_base = self._video_time_base
+    self._video_stream.codec_context.extradata = bytes(codec_header)
+
+    self._audio_stream = self._container.add_stream(AAC_CODEC, rate=AUDIO_RATE)
+    self._audio_stream.bit_rate = AUDIO_BITRATE
+    self._audio_stream.layout = "stereo"
+    self._container.start_encoding()
     self._packet_index = 0
+    self._audio_pts = 0
     self._closed = False
-
-  def mux(self, payload: bytes, *, keyframe: bool = False) -> bytes:
-    if self._closed:
-      raise RuntimeError("MPEG-TS muxer is closed")
-    if not payload:
-      return b""
-    packet = self._av.Packet(payload)
-    packet.stream = self._stream
-    packet.pts = self._packet_index
-    packet.dts = self._packet_index
-    packet.duration = 1
-    packet.time_base = self._time_base
-    if keyframe:
+    self._lock = threading.RLock()
+
+  def mux(self, payload: bytes, *, keyframe: bool = False) -> None:
+    with self._lock:
+      if self._closed:
+        raise RuntimeError("FLV muxer is closed")
+      if not payload:
+        return
+
+      target_audio_pts = int(self._packet_index * AUDIO_RATE / self._fps)
+      self._mux_silence_until(target_audio_pts)
+
+      packet = self._av.Packet(payload)
+      packet.stream = self._video_stream
+      packet.pts = self._packet_index
+      packet.dts = self._packet_index
+      packet.duration = 1
+      packet.time_base = self._video_time_base
+      if keyframe:
+        try:
+          packet.is_keyframe = True
+        except Exception:
+          pass
+      self._container.mux(packet)
+      self._packet_index += 1
+
+  def close(self) -> None:
+    with self._lock:
+      if self._closed:
+        return
+      self._closed = True
       try:
-        packet.is_keyframe = True
-      except Exception:
-        pass
-    self._container.mux(packet)
-    self._packet_index += 1
-    return self._buffer.drain()
-
-  def close(self) -> bytes:
-    if self._closed:
-      return self._buffer.drain()
-    self._closed = True
-    try:
-      self._container.close()
-    except Exception:
-      pass
-    return self._buffer.drain()
+        target_audio_pts = int(self._packet_index * AUDIO_RATE / self._fps)
+        self._mux_silence_until(target_audio_pts)
+        for packet in self._audio_stream.encode(None):
+          self._container.mux(packet)
+      finally:
+        self._container.close()
+
+  def _mux_silence_until(self, target_pts: int) -> None:
+    while self._audio_pts <= target_pts:
+      frame = self._av.AudioFrame(format="fltp", layout="stereo", samples=AUDIO_SAMPLES)
+      frame.sample_rate = AUDIO_RATE
+      frame.pts = self._audio_pts
+      frame.time_base = self._audio_time_base
+      for plane in frame.planes:
+        plane.update(bytes(plane.buffer_size))
+      for packet in self._audio_stream.encode(frame):
+        self._container.mux(packet)
+      self._audio_pts += AUDIO_SAMPLES
diff --git a/selfdrive/carrot/server/services/youtube_live_transport.py b/selfdrive/carrot/server/services/youtube_live_transport.py
new file mode 100644
index 00000000000..ffe50095d61
--- /dev/null
+++ b/selfdrive/carrot/server/services/youtube_live_transport.py
@@ -0,0 +1,169 @@
+from __future__ import annotations
+
+import ctypes
+import ctypes.util
+import io
+import threading
+from typing import Any
+
+
+REQUIRED_RTMP_SYMBOLS = (
+  "RTMP_Alloc",
+  "RTMP_Init",
+  "RTMP_SetupURL",
+  "RTMP_EnableWrite",
+  "RTMP_Connect",
+  "RTMP_ConnectStream",
+  "RTMP_Write",
+  "RTMP_IsConnected",
+  "RTMP_Close",
+  "RTMP_Free",
+)
+
+
+class LibrtmpError(RuntimeError):
+  pass
+
+
+def librtmp_capabilities() -> dict[str, Any]:
+  path = ctypes.util.find_library("rtmp") or ""
+  if not path:
+    return {"available": False, "path": "", "missing_symbols": [], "error": "librtmp not found"}
+  try:
+    library = ctypes.CDLL(path)
+    missing = [name for name in REQUIRED_RTMP_SYMBOLS if not hasattr(library, name)]
+    return {
+      "available": not missing,
+      "path": path,
+      "missing_symbols": missing,
+      "error": f"missing librtmp symbols: {', '.join(missing)}" if missing else "",
+    }
+  except Exception as exc:
+    return {"available": False, "path": path, "missing_symbols": [], "error": str(exc)}
+
+
+class LibrtmpClient:
+  def __init__(self, url: str) -> None:
+    path = ctypes.util.find_library("rtmp")
+    if not path:
+      raise LibrtmpError("librtmp not found")
+    self._library = ctypes.CDLL(path)
+    self._configure_library()
+    self._url = url
+    self._url_buffer: ctypes.Array[ctypes.c_char] | None = None
+    self._handle: int | None = None
+    self._lock = threading.RLock()
+    self._bytes_written = 0
+
+  @property
+  def bytes_written(self) -> int:
+    with self._lock:
+      return self._bytes_written
+
+  def connect(self) -> None:
+    with self._lock:
+      if self._handle is not None:
+        return
+      handle = self._library.RTMP_Alloc()
+      if not handle:
+        raise LibrtmpError("librtmp allocation failed")
+      self._handle = handle
+      try:
+        self._library.RTMP_Init(handle)
+        self._url_buffer = ctypes.create_string_buffer(self._url.encode("utf-8"))
+        if not self._library.RTMP_SetupURL(handle, self._url_buffer):
+          raise LibrtmpError("librtmp URL setup failed")
+        self._library.RTMP_EnableWrite(handle)
+        if not self._library.RTMP_Connect(handle, None):
+          raise LibrtmpError("YouTube RTMPS connection failed")
+        if not self._library.RTMP_ConnectStream(handle, 0):
+          raise LibrtmpError("YouTube rejected the publish connection")
+      except Exception:
+        self._close_locked()
+        raise
+
+  def write(self, data: bytes | bytearray | memoryview) -> int:
+    payload = bytes(data)
+    if not payload:
+      return 0
+    with self._lock:
+      handle = self._handle
+      if handle is None or not self._library.RTMP_IsConnected(handle):
+        raise LibrtmpError("YouTube RTMPS connection is closed")
+      offset = 0
+      while offset < len(payload):
+        buffer = ctypes.create_string_buffer(payload[offset:])
+        written = int(self._library.RTMP_Write(handle, buffer, len(payload) - offset))
+        if written <= 0:
+          raise LibrtmpError("YouTube RTMPS write failed")
+        offset += written
+      self._bytes_written += offset
+      return offset
+
+  def is_connected(self) -> bool:
+    with self._lock:
+      return bool(self._handle and self._library.RTMP_IsConnected(self._handle))
+
+  def close(self) -> None:
+    with self._lock:
+      self._close_locked()
+
+  def _close_locked(self) -> None:
+    handle = self._handle
+    self._handle = None
+    if handle is None:
+      self._url_buffer = None
+      return
+    try:
+      self._library.RTMP_Close(handle)
+    finally:
+      self._library.RTMP_Free(handle)
+      self._url_buffer = None
+
+  def _configure_library(self) -> None:
+    missing = [name for name in REQUIRED_RTMP_SYMBOLS if not hasattr(self._library, name)]
+    if missing:
+      raise LibrtmpError(f"missing librtmp symbols: {', '.join(missing)}")
+
+    self._library.RTMP_Alloc.restype = ctypes.c_void_p
+    self._library.RTMP_Init.argtypes = [ctypes.c_void_p]
+    self._library.RTMP_SetupURL.argtypes = [ctypes.c_void_p, ctypes.c_char_p]
+    self._library.RTMP_SetupURL.restype = ctypes.c_int
+    self._library.RTMP_EnableWrite.argtypes = [ctypes.c_void_p]
+    self._library.RTMP_Connect.argtypes = [ctypes.c_void_p, ctypes.c_void_p]
+    self._library.RTMP_Connect.restype = ctypes.c_int
+    self._library.RTMP_ConnectStream.argtypes = [ctypes.c_void_p, ctypes.c_int]
+    self._library.RTMP_ConnectStream.restype = ctypes.c_int
+    self._library.RTMP_Write.argtypes = [ctypes.c_void_p, ctypes.c_void_p, ctypes.c_int]
+    self._library.RTMP_Write.restype = ctypes.c_int
+    self._library.RTMP_IsConnected.argtypes = [ctypes.c_void_p]
+    self._library.RTMP_IsConnected.restype = ctypes.c_int
+    self._library.RTMP_Close.argtypes = [ctypes.c_void_p]
+    self._library.RTMP_Free.argtypes = [ctypes.c_void_p]
+    if hasattr(self._library, "RTMP_LogSetLevel"):
+      self._library.RTMP_LogSetLevel.argtypes = [ctypes.c_int]
+      self._library.RTMP_LogSetLevel(1)
+
+
+class RtmpSink(io.RawIOBase):
+  def __init__(self, client: LibrtmpClient) -> None:
+    super().__init__()
+    self._client = client
+    self._position = 0
+
+  def writable(self) -> bool:
+    return True
+
+  def seekable(self) -> bool:
+    return False
+
+  def write(self, data: bytes | bytearray | memoryview) -> int:
+    written = self._client.write(data)
+    self._position += written
+    return written
+
+  def tell(self) -> int:
+    return self._position
+
+  def flush(self) -> None:
+    return None
diff --git a/selfdrive/carrot/web/index.html b/selfdrive/carrot/web/index.html
index c86eb80af64..f0a6369e39b 100644
--- a/selfdrive/carrot/web/index.html
+++ b/selfdrive/carrot/web/index.html
@@ -706,9 +706,9 @@ <h2 id="carrotTitle" class="page-title">Home</h2>
   <script src="/js/vendor/qrcode-generator.js?v=1.4.4"></script>
   <script src="/js/vendor/jsQR.js?v=1.4.0"></script>
   <script src="/js/translations/registry.js?v=2605-09"></script>
-  <script src="/js/translations/ko.js?v=2607-21"></script>
-  <script src="/js/translations/en.js?v=2607-21"></script>
-  <script src="/js/translations/zh.js?v=2607-21"></script>
+  <script src="/js/translations/ko.js?v=2607-22"></script>
+  <script src="/js/translations/en.js?v=2607-22"></script>
+  <script src="/js/translations/zh.js?v=2607-22"></script>
   <script src="/js/realtime/hud_card.js?v=2604-05"></script>
   <script src="/js/shared/constants.js?v=2604-72"></script>
   <script src="/js/shared/dom.js?v=2604-72"></script>
@@ -723,7 +723,7 @@ <h2 id="carrotTitle" class="page-title">Home</h2>
   <script src="/js/shared/ui/effects.js?v=2604-72"></script>
   <script src="/js/shared/ui/navigation.js?v=2606-19"></script>
   <script src="/js/pages/car.js?v=2604-75"></script>
-  <script src="/js/pages/setting_youtube_live.js?v=2607-21"></script>
+  <script src="/js/pages/setting_youtube_live.js?v=2607-22"></script>
   <script src="/js/pages/setting.js?v=2607-13"></script>
   <script src="/js/pages/setting_device_config.js?v=2605-05"></script>
   <script src="/js/pages/setting_device_render.js?v=2605-04"></script>
diff --git a/selfdrive/carrot/web/js/pages/setting_youtube_live.js b/selfdrive/carrot/web/js/pages/setting_youtube_live.js
index be0238b44b3..d1f49623e82 100644
--- a/selfdrive/carrot/web/js/pages/setting_youtube_live.js
+++ b/selfdrive/carrot/web/js/pages/setting_youtube_live.js
@@ -335,7 +335,8 @@
         ok: false,
         format_ok: false,
         format_message: err?.message || String(err),
-        ffmpeg_available: false,
+        transport_available: false,
+        muxer_available: false,
         rtmps_reachable: false,
         rtmps_message: "-",
       };
@@ -380,7 +381,8 @@
     const fail = text("youtube_live_validation_fail", "FAIL");
     const lines = [
       `${text("youtube_live_validation_format", "Key format")}: ${result?.format_ok ? pass : fail} - ${localizedValidationMessage(result?.format_message)}`,
-      `${text("youtube_live_validation_ffmpeg", "FFmpeg")}: ${result?.ffmpeg_available ? pass : fail}`,
+      `${text("youtube_live_muxer", "PyAV FLV/AAC")}: ${result?.muxer_available ? pass : fail}`,
+      `${text("youtube_live_validation_transport", "librtmp")}: ${result?.transport_available ? pass : fail}`,
       `${text("youtube_live_validation_rtmps", "YouTube RTMPS")}: ${result?.rtmps_reachable ? pass : fail} - ${localizedValidationMessage(result?.rtmps_message)}`,
     ];
     const visibleKey = String(streamKey || "");
@@ -401,10 +403,15 @@
       "stream key contains unsupported characters": text("youtube_live_validation_bad_chars", "Stream key contains unsupported characters."),
       "format looks valid": text("youtube_live_validation_format_ok", "Format looks valid."),
       "YouTube RTMPS ingest is reachable": text("youtube_live_validation_rtmps_ok", "YouTube RTMPS ingest is reachable."),
-      "missing stream key or ffmpeg": text("youtube_live_test_missing", "Missing stream key or FFmpeg."),
-      "missing stream key, FFmpeg, or PyAV MPEG-TS support": text("youtube_live_test_muxer_missing", "Stream key, FFmpeg, or PyAV MPEG-TS support is missing."),
+      "missing stream key, librtmp, or PyAV FLV/AAC support": text("youtube_live_test_muxer_missing", "Stream key, librtmp, or PyAV FLV/AAC support is missing."),
+      "stream key, RTMPS network, librtmp, or PyAV FLV/AAC is unavailable": text("youtube_live_test_muxer_missing", "Stream key, RTMPS network, librtmp, or PyAV FLV/AAC is unavailable."),
       "ready": text("youtube_live_check_ready", "Ready"),
     };
+    if (raw.startsWith("YouTube RTMPS ingest unreachable:")) {
+      return text("youtube_live_validation_rtmps_failed", "Cannot reach YouTube RTMPS: {error}", {
+        error: raw.slice(raw.indexOf(":") + 1).trim() || "-",
+      });
+    }
     return map[raw] || raw;
   }
 
@@ -417,19 +424,18 @@
       "Carrot Vision is enabled; YouTube Live shares camera/encoder/network resources.": text("youtube_live_warning_vision", "Carrot Vision is enabled. Camera, encoder, and network resources are shared."),
       "Carrot Vision is enabled; simultaneous streaming increases network and memory bandwidth use.": text("youtube_live_warning_vision", "Carrot Vision is enabled. Simultaneous streaming increases network and memory bandwidth use."),
       "High quality mode is planned for Phase 3; Phase 2 keeps qRoadEncodeData only.": text("youtube_live_warning_quality", "High quality mode is not available yet."),
-      "Error opening input files: Invalid argument": text("youtube_live_error_input_invalid", "Could not open the video input because an FFmpeg argument was invalid."),
-      "ffmpeg not found": text("youtube_live_error_ffmpeg_missing", "FFmpeg is not installed."),
-      "PyAV MPEG-TS muxer is unavailable": text("youtube_live_error_muxer_missing", "PyAV MPEG-TS muxing is unavailable."),
+      "librtmp is unavailable": text("youtube_live_error_transport_missing", "librtmp is unavailable."),
+      "librtmp not found": text("youtube_live_error_transport_missing", "librtmp is unavailable."),
+      "PyAV FLV/AAC muxer is unavailable": text("youtube_live_error_muxer_missing", "PyAV FLV/AAC muxing is unavailable."),
+      "YouTube RTMPS connection closed": text("youtube_live_error_transport_closed", "The YouTube RTMPS connection was closed."),
       "no qRoadEncodeData frames": text("youtube_live_error_no_frames", "No qRoadEncodeData frames were received."),
     };
     if (exact[raw]) return exact[raw];
-    const exitMatch = raw.match(/^ffmpeg exited code=(-?\d+)$/i);
-    if (exitMatch) return text("youtube_live_error_ffmpeg_exit", "FFmpeg exited (code {code}).", { code: exitMatch[1] });
-    if (/^ffmpeg pipe closed:/i.test(raw)) {
-      return text("youtube_live_error_ffmpeg_pipe", "The FFmpeg input pipe was closed.");
+    if (/^YouTube RTMPS publish failed:/i.test(raw)) {
+      return text("youtube_live_error_publish_failed", "YouTube RTMPS publishing failed: {error}", { error: raw.split(":", 2)[1]?.trim() || "-" });
     }
-    if (/^MPEG-TS mux failed:/i.test(raw)) {
-      return text("youtube_live_error_muxer_failed", "MPEG-TS muxing failed: {error}", { error: raw.split(":", 2)[1]?.trim() || "-" });
+    if (/^YouTube RTMPS start failed:/i.test(raw)) {
+      return text("youtube_live_error_start_failed", "YouTube RTMPS connection failed: {error}", { error: raw.split(":", 2)[1]?.trim() || "-" });
     }
     return raw;
   }
@@ -496,8 +502,9 @@
     const lines = [
       `[${text("youtube_live_check_ready_section", "Readiness")}]`,
       `${text("youtube_live_key", "Stream key")}: ${test.configured ? pass : fail}`,
-      `${text("youtube_live_validation_ffmpeg", "FFmpeg")}: ${test.ffmpeg_available ? pass : fail}`,
-      `${text("youtube_live_muxer", "PyAV MPEG-TS")}: ${test.muxer_available ? pass : fail}`,
+      `${text("youtube_live_muxer", "PyAV FLV/AAC")}: ${test.muxer_available ? pass : fail}`,
+      `${text("youtube_live_validation_transport", "librtmp")}: ${test.transport_available ? pass : fail}`,
+      `${text("youtube_live_validation_rtmps", "YouTube RTMPS")}: ${test.rtmps_reachable ? pass : fail}`,
       `${text("youtube_live_metric_source", "Source")}: ${test.source || "-"}`,
       "",
       `[${text("youtube_live_check_stream_section", "Stream status")}]`,
@@ -519,16 +526,19 @@
       lines.push(`[${text("youtube_live_warnings", "Warnings")}]`);
       warnings.forEach((warning) => lines.push(`- ${warning}`));
     }
-    const stderr = diag.ffmpeg?.stderr_tail || status.stderr_tail || [];
+    const streamLogs = diag.transport?.log_tail || status.log_tail || [];
     const errors = uniqueLocalizedMessages([
       status.last_error,
-      ...(Array.isArray(stderr) ? stderr.slice(-8) : []),
+      ...(Array.isArray(streamLogs) ? streamLogs.slice(-8) : []),
+      test.transport?.error,
+      test.muxer?.error,
+      test.rtmps_reachable ? "" : test.rtmps_message,
       diagnosticsResult?.ok ? "" : diagnosticsResult?.error,
       testResult?.ok || test.message === "ready" ? "" : (testResult?.error || test.message),
     ]);
     if (errors.length) {
       lines.push("");
-      lines.push(`[${text("youtube_live_check_error_section", "Errors and FFmpeg logs")}]`);
+      lines.push(`[${text("youtube_live_check_error_section", "Errors and stream logs")}]`);
       errors.forEach((error) => lines.push(`- ${localizedValidationMessage(error)}`));
     }
     return lines.join("\n");
diff --git a/selfdrive/carrot/web/js/translations/en.js b/selfdrive/carrot/web/js/translations/en.js
index 5313e2ce8f4..b7bbdc9e6e2 100644
--- a/selfdrive/carrot/web/js/translations/en.js
+++ b/selfdrive/carrot/web/js/translations/en.js
@@ -20,7 +20,7 @@ window.CarrotTranslations.register("en", {
     youtube_live_visibility_studio: "Visibility: set in YouTube Studio",
     youtube_live_validate_key: "Validate key",
     youtube_live_validation_format: "Key format",
-    youtube_live_validation_ffmpeg: "FFmpeg",
+    youtube_live_validation_transport: "librtmp transport",
     youtube_live_validation_rtmps: "YouTube RTMPS",
     youtube_live_validation_note: "YouTube confirms the key only when streaming starts.",
     youtube_live_validation_pass: "OK",
@@ -32,6 +32,7 @@ window.CarrotTranslations.register("en", {
     youtube_live_validation_bad_chars: "Stream key contains unsupported characters.",
     youtube_live_validation_format_ok: "Format looks valid.",
     youtube_live_validation_rtmps_ok: "YouTube RTMPS ingest is reachable.",
+    youtube_live_validation_rtmps_failed: "Cannot reach YouTube RTMPS: {error}",
     youtube_live_key: "Stream key",
     youtube_live_clear_key: "Clear key",
     youtube_live_clear_confirm: "Clear saved stream key?",
@@ -44,7 +45,7 @@ window.CarrotTranslations.register("en", {
     youtube_live_check_ready_section: "Readiness",
     youtube_live_check_stream_section: "Stream status",
     youtube_live_check_resource_section: "Resources",
-    youtube_live_check_error_section: "Errors and FFmpeg logs",
+    youtube_live_check_error_section: "Errors and stream logs",
     youtube_live_resource_cluster: "Cluster HUD",
     youtube_live_resource_vision: "Carrot Vision",
     youtube_live_resource_enabled: "Enabled",
@@ -52,18 +53,17 @@ window.CarrotTranslations.register("en", {
     youtube_live_warning_cluster: "Cluster HUD is enabled. Monitor overall load and device temperature during simultaneous use.",
     youtube_live_warning_vision: "Carrot Vision is enabled. Simultaneous streaming increases network and memory bandwidth use.",
     youtube_live_warning_quality: "High quality mode is not available yet.",
-    youtube_live_error_input_invalid: "Could not open the video input because an FFmpeg argument was invalid.",
-    youtube_live_error_ffmpeg_missing: "FFmpeg is not installed.",
+    youtube_live_error_transport_missing: "librtmp RTMPS transport is unavailable.",
+    youtube_live_error_transport_closed: "The YouTube RTMPS connection was closed.",
     youtube_live_error_no_frames: "No qRoadEncodeData frames were received.",
-    youtube_live_error_ffmpeg_exit: "FFmpeg exited (code {code}).",
-    youtube_live_error_ffmpeg_pipe: "The FFmpeg input pipe was closed.",
-    youtube_live_error_muxer_missing: "PyAV MPEG-TS muxing is unavailable.",
-    youtube_live_error_muxer_failed: "MPEG-TS muxing failed: {error}",
+    youtube_live_error_muxer_missing: "PyAV FLV/AAC muxing is unavailable.",
+    youtube_live_error_publish_failed: "YouTube RTMPS publishing failed: {error}",
+    youtube_live_error_start_failed: "YouTube RTMPS connection failed: {error}",
     youtube_live_test: "Test",
-    youtube_live_test_missing: "Missing stream key or FFmpeg.",
-    youtube_live_test_muxer_missing: "Stream key, FFmpeg, or PyAV MPEG-TS support is missing.",
+    youtube_live_test_missing: "Missing stream key or RTMPS transport.",
+    youtube_live_test_muxer_missing: "Stream key, RTMPS network, librtmp, or PyAV FLV/AAC is unavailable.",
     youtube_live_test_failed: "Test failed",
-    youtube_live_muxer: "PyAV MPEG-TS",
+    youtube_live_muxer: "PyAV FLV/AAC",
     youtube_live_metric_source: "Source",
     youtube_live_metric_runtime: "Runtime",
     youtube_live_metric_bitrate: "Bitrate",
@@ -81,9 +81,9 @@ window.CarrotTranslations.register("en", {
     youtube_live_state_needs_setup: "Stream key required",
     youtube_live_state_waiting_frame: "Waiting for video frames",
     youtube_live_state_waiting_keyframe: "Waiting for an H.264 keyframe",
-    youtube_live_state_starting: "Starting FFmpeg",
+    youtube_live_state_starting: "Connecting to YouTube RTMPS",
     youtube_live_state_live: "Streaming to YouTube RTMPS",
-    youtube_live_state_stopping: "Stopping FFmpeg",
+    youtube_live_state_stopping: "Closing YouTube RTMPS connection",
     youtube_live_state_error: "YouTube stream error",
     home: "Drive",
     setting: "Setting",
diff --git a/selfdrive/carrot/web/js/translations/ko.js b/selfdrive/carrot/web/js/translations/ko.js
index a2adca39f2e..a4dd5dd154d 100644
--- a/selfdrive/carrot/web/js/translations/ko.js
+++ b/selfdrive/carrot/web/js/translations/ko.js
@@ -20,7 +20,7 @@ window.CarrotTranslations.register("ko", {
     youtube_live_visibility_studio: "공개 범위: YouTube Studio 설정",
     youtube_live_validate_key: "키 검증",
     youtube_live_validation_format: "키 형식",
-    youtube_live_validation_ffmpeg: "FFmpeg",
+    youtube_live_validation_transport: "librtmp 전송",
     youtube_live_validation_rtmps: "YouTube RTMPS",
     youtube_live_validation_note: "YouTube는 송출 시작 시점에만 키 수락 여부를 확정합니다.",
     youtube_live_validation_pass: "정상",
@@ -32,6 +32,7 @@ window.CarrotTranslations.register("ko", {
     youtube_live_validation_bad_chars: "스트림 키에 지원하지 않는 문자가 있습니다.",
     youtube_live_validation_format_ok: "형식은 정상입니다.",
     youtube_live_validation_rtmps_ok: "YouTube RTMPS 서버에 접속 가능합니다.",
+    youtube_live_validation_rtmps_failed: "YouTube RTMPS 서버에 접속할 수 없습니다: {error}",
     youtube_live_key: "스트림 키",
     youtube_live_clear_key: "키 삭제",
     youtube_live_clear_confirm: "저장된 스트림 키를 삭제할까요?",
@@ -44,7 +45,7 @@ window.CarrotTranslations.register("ko", {
     youtube_live_check_ready_section: "준비 상태",
     youtube_live_check_stream_section: "송출 상태",
     youtube_live_check_resource_section: "리소스",
-    youtube_live_check_error_section: "오류 및 FFmpeg 로그",
+    youtube_live_check_error_section: "오류 및 송출 로그",
     youtube_live_resource_cluster: "Cluster HUD",
     youtube_live_resource_vision: "Carrot Vision",
     youtube_live_resource_enabled: "사용 중",
@@ -52,18 +53,17 @@ window.CarrotTranslations.register("ko", {
     youtube_live_warning_cluster: "Cluster HUD가 켜져 있습니다. 동시 사용 중 전체 부하와 기기 온도를 확인하세요.",
     youtube_live_warning_vision: "Carrot Vision이 켜져 있습니다. 동시 송출 시 네트워크와 메모리 대역폭 사용량이 증가합니다.",
     youtube_live_warning_quality: "고화질 모드는 아직 사용할 수 없습니다.",
-    youtube_live_error_input_invalid: "FFmpeg 인자가 잘못되어 영상 입력을 열지 못했습니다.",
-    youtube_live_error_ffmpeg_missing: "FFmpeg가 설치되어 있지 않습니다.",
+    youtube_live_error_transport_missing: "librtmp RTMPS 전송 기능을 사용할 수 없습니다.",
+    youtube_live_error_transport_closed: "YouTube RTMPS 연결이 종료되었습니다.",
     youtube_live_error_no_frames: "qRoadEncodeData 프레임이 수신되지 않습니다.",
-    youtube_live_error_ffmpeg_exit: "FFmpeg가 종료되었습니다(코드 {code}).",
-    youtube_live_error_ffmpeg_pipe: "FFmpeg 입력 파이프가 닫혔습니다.",
-    youtube_live_error_muxer_missing: "PyAV MPEG-TS mux를 사용할 수 없습니다.",
-    youtube_live_error_muxer_failed: "MPEG-TS mux 실패: {error}",
+    youtube_live_error_muxer_missing: "PyAV FLV/AAC mux를 사용할 수 없습니다.",
+    youtube_live_error_publish_failed: "YouTube RTMPS 송출 실패: {error}",
+    youtube_live_error_start_failed: "YouTube RTMPS 연결 실패: {error}",
     youtube_live_test: "테스트",
-    youtube_live_test_missing: "스트림 키 또는 FFmpeg가 없습니다.",
-    youtube_live_test_muxer_missing: "스트림 키, FFmpeg 또는 PyAV MPEG-TS 지원이 없습니다.",
+    youtube_live_test_missing: "스트림 키 또는 RTMPS 전송 기능이 없습니다.",
+    youtube_live_test_muxer_missing: "스트림 키, RTMPS 네트워크, librtmp 또는 PyAV FLV/AAC를 사용할 수 없습니다.",
     youtube_live_test_failed: "테스트 실패",
-    youtube_live_muxer: "PyAV MPEG-TS",
+    youtube_live_muxer: "PyAV FLV/AAC",
     youtube_live_metric_source: "소스",
     youtube_live_metric_runtime: "시간",
     youtube_live_metric_bitrate: "비트레이트",
@@ -81,9 +81,9 @@ window.CarrotTranslations.register("ko", {
     youtube_live_state_needs_setup: "스트림 키 필요",
     youtube_live_state_waiting_frame: "영상 프레임 대기",
     youtube_live_state_waiting_keyframe: "H.264 키프레임 대기",
-    youtube_live_state_starting: "FFmpeg 시작 중",
+    youtube_live_state_starting: "YouTube RTMPS 연결 중",
     youtube_live_state_live: "YouTube RTMPS 송출 중",
-    youtube_live_state_stopping: "FFmpeg 종료 중",
+    youtube_live_state_stopping: "YouTube RTMPS 연결 종료 중",
     youtube_live_state_error: "YouTube 송출 오류",
     home: "주행",
     setting: "설정",
diff --git a/selfdrive/carrot/web/js/translations/zh.js b/selfdrive/carrot/web/js/translations/zh.js
index 1e8ff83a2c1..b2514062081 100644
--- a/selfdrive/carrot/web/js/translations/zh.js
+++ b/selfdrive/carrot/web/js/translations/zh.js
@@ -20,7 +20,7 @@ window.CarrotTranslations.register("zh", {
     youtube_live_visibility_studio: "Visibility: set in YouTube Studio",
     youtube_live_validate_key: "Validate key",
     youtube_live_validation_format: "Key format",
-    youtube_live_validation_ffmpeg: "FFmpeg",
+    youtube_live_validation_transport: "librtmp 传输",
     youtube_live_validation_rtmps: "YouTube RTMPS",
     youtube_live_validation_note: "YouTube confirms the key only when streaming starts.",
     youtube_live_validation_pass: "OK",
@@ -32,6 +32,7 @@ window.CarrotTranslations.register("zh", {
     youtube_live_validation_bad_chars: "Stream key contains unsupported characters.",
     youtube_live_validation_format_ok: "Format looks valid.",
     youtube_live_validation_rtmps_ok: "YouTube RTMPS ingest is reachable.",
+    youtube_live_validation_rtmps_failed: "无法连接 YouTube RTMPS：{error}",
     youtube_live_key: "Stream key",
     youtube_live_clear_key: "Clear key",
     youtube_live_clear_confirm: "Clear saved stream key?",
@@ -44,7 +45,7 @@ window.CarrotTranslations.register("zh", {
     youtube_live_check_ready_section: "准备状态",
     youtube_live_check_stream_section: "推流状态",
     youtube_live_check_resource_section: "资源",
-    youtube_live_check_error_section: "错误和 FFmpeg 日志",
+    youtube_live_check_error_section: "错误和推流日志",
     youtube_live_resource_cluster: "Cluster HUD",
     youtube_live_resource_vision: "Carrot Vision",
     youtube_live_resource_enabled: "已启用",
@@ -52,18 +53,17 @@ window.CarrotTranslations.register("zh", {
     youtube_live_warning_cluster: "Cluster HUD 已启用。同时使用时请注意整体负载和设备温度。",
     youtube_live_warning_vision: "Carrot Vision 已启用。同时推流会增加网络和内存带宽使用。",
     youtube_live_warning_quality: "高画质模式暂不可用。",
-    youtube_live_error_input_invalid: "FFmpeg 参数无效，无法打开视频输入。",
-    youtube_live_error_ffmpeg_missing: "未安装 FFmpeg。",
+    youtube_live_error_transport_missing: "无法使用 librtmp RTMPS 传输。",
+    youtube_live_error_transport_closed: "YouTube RTMPS 连接已关闭。",
     youtube_live_error_no_frames: "未收到 qRoadEncodeData 帧。",
-    youtube_live_error_ffmpeg_exit: "FFmpeg 已退出（代码 {code}）。",
-    youtube_live_error_ffmpeg_pipe: "FFmpeg 输入管道已关闭。",
-    youtube_live_error_muxer_missing: "无法使用 PyAV MPEG-TS 封装。",
-    youtube_live_error_muxer_failed: "MPEG-TS 封装失败：{error}",
+    youtube_live_error_muxer_missing: "无法使用 PyAV FLV/AAC 封装。",
+    youtube_live_error_publish_failed: "YouTube RTMPS 推流失败：{error}",
+    youtube_live_error_start_failed: "YouTube RTMPS 连接失败：{error}",
     youtube_live_test: "Test",
-    youtube_live_test_missing: "Missing stream key or FFmpeg.",
-    youtube_live_test_muxer_missing: "缺少串流密钥、FFmpeg 或 PyAV MPEG-TS 支持。",
+    youtube_live_test_missing: "缺少串流密钥或 RTMPS 传输。",
+    youtube_live_test_muxer_missing: "无法使用串流密钥、RTMPS 网络、librtmp 或 PyAV FLV/AAC。",
     youtube_live_test_failed: "Test failed",
-    youtube_live_muxer: "PyAV MPEG-TS",
+    youtube_live_muxer: "PyAV FLV/AAC",
     youtube_live_metric_source: "Source",
     youtube_live_metric_runtime: "Runtime",
     youtube_live_metric_bitrate: "Bitrate",
@@ -81,9 +81,9 @@ window.CarrotTranslations.register("zh", {
     youtube_live_state_needs_setup: "需要串流密钥",
     youtube_live_state_waiting_frame: "等待视频帧",
     youtube_live_state_waiting_keyframe: "等待 H.264 关键帧",
-    youtube_live_state_starting: "正在启动 FFmpeg",
+    youtube_live_state_starting: "正在连接 YouTube RTMPS",
     youtube_live_state_live: "正在推流到 YouTube RTMPS",
-    youtube_live_state_stopping: "正在停止 FFmpeg",
+    youtube_live_state_stopping: "正在关闭 YouTube RTMPS 连接",
     youtube_live_state_error: "YouTube 推流错误",
     home: "驾驶",
     setting: "设置",

From 5c7b5c6e4736a9f1f359497d63f1ea76b1938e67 Mon Sep 17 00:00:00 2001
From: jominki354 <jominki354@gmail.com>
Date: Wed, 1 Jul 2026 14:55:50 +0900
Subject: [PATCH 47/61] f

---
 .../carrot/server/services/youtube_live.py    |   7 +-
 .../server/services/youtube_live_transport.py | 120 +++++++++++++++++-
 2 files changed, 122 insertions(+), 5 deletions(-)

diff --git a/selfdrive/carrot/server/services/youtube_live.py b/selfdrive/carrot/server/services/youtube_live.py
index dc96a86547f..6e256d61eda 100644
--- a/selfdrive/carrot/server/services/youtube_live.py
+++ b/selfdrive/carrot/server/services/youtube_live.py
@@ -173,6 +173,7 @@ def status(self) -> dict[str, Any]:
     now = _now()
     uptime = int(now - self._started_at) if self._started_at and running else 0
     elapsed = max(1.0, now - self._started_at) if self._started_at and running else 1.0
+    session_bytes = max(0, self._bytes_sent - self._session_started_bytes) if running else 0
     last_frame_age_ms = int((now - self._last_frame_at) * 1000) if self._last_frame_at else None
     resource_status = self._resource_status()
     warnings = self._warnings(resource_status)
@@ -200,9 +201,9 @@ def status(self) -> dict[str, Any]:
       "uptime_sec": uptime,
       "bytes_sent": self._bytes_sent,
       "total_mb": round(max(0, self._bytes_sent) / (1024 * 1024), 2),
-      "session_bytes": max(0, self._bytes_sent - self._session_started_bytes),
-      "session_mb": round(max(0, self._bytes_sent - self._session_started_bytes) / (1024 * 1024), 2),
-      "estimated_kbps": int(((self._bytes_sent - self._session_started_bytes) * 8 / 1000) / elapsed) if running else 0,
+      "session_bytes": session_bytes,
+      "session_mb": round(session_bytes / (1024 * 1024), 2),
+      "estimated_kbps": int((session_bytes * 8 / 1000) / elapsed) if running else 0,
       "restart_count": self._restart_count,
       "consecutive_failures": self._consecutive_failures,
       "next_retry_at": self._next_retry_at,
diff --git a/selfdrive/carrot/server/services/youtube_live_transport.py b/selfdrive/carrot/server/services/youtube_live_transport.py
index ffe50095d61..df40ba5594e 100644
--- a/selfdrive/carrot/server/services/youtube_live_transport.py
+++ b/selfdrive/carrot/server/services/youtube_live_transport.py
@@ -3,14 +3,19 @@
 import ctypes
 import ctypes.util
 import io
+import select
+import socket
+import ssl
 import threading
 from typing import Any
+from urllib.parse import urlsplit, urlunsplit
 
 
 REQUIRED_RTMP_SYMBOLS = (
   "RTMP_Alloc",
   "RTMP_Init",
   "RTMP_SetupURL",
+  "RTMP_SetOpt",
   "RTMP_EnableWrite",
   "RTMP_Connect",
   "RTMP_ConnectStream",
@@ -25,6 +30,76 @@ class LibrtmpError(RuntimeError):
   pass
 
 
+class _AVal(ctypes.Structure):
+  _fields_ = [("value", ctypes.c_char_p), ("length", ctypes.c_int)]
+
+
+class _TlsTunnel:
+  def __init__(self, host: str, port: int) -> None:
+    self._host = host
+    self._port = port
+    self._stop_event = threading.Event()
+    self._listener = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+    self._listener.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+    self._listener.bind(("127.0.0.1", 0))
+    self._listener.listen(1)
+    self.local_port = int(self._listener.getsockname()[1])
+    self.error = ""
+    self._local: socket.socket | None = None
+    self._remote: ssl.SSLSocket | None = None
+    self._thread = threading.Thread(target=self._run, name="youtube-rtmps-tunnel", daemon=True)
+
+  def start(self) -> None:
+    self._thread.start()
+
+  def close(self) -> None:
+    self._stop_event.set()
+    for sock in (self._local, self._remote, self._listener):
+      if sock is not None:
+        try:
+          sock.shutdown(socket.SHUT_RDWR)
+        except OSError:
+          pass
+        try:
+          sock.close()
+        except OSError:
+          pass
+    if self._thread.is_alive() and threading.current_thread() is not self._thread:
+      self._thread.join(timeout=2.0)
+
+  def _run(self) -> None:
+    raw_remote: socket.socket | None = None
+    try:
+      self._listener.settimeout(10.0)
+      self._local, _ = self._listener.accept()
+      raw_remote = socket.create_connection((self._host, self._port), timeout=8.0)
+      self._remote = ssl.create_default_context().wrap_socket(raw_remote, server_hostname=self._host)
+      raw_remote = None
+      self._local.settimeout(None)
+      self._remote.settimeout(None)
+      sockets = (self._local, self._remote)
+      while not self._stop_event.is_set():
+        readable, _, _ = select.select(sockets, [], [], 0.5)
+        for source in readable:
+          payload = source.recv(64 * 1024)
+          if not payload:
+            return
+          target = self._remote if source is self._local else self._local
+          target.sendall(payload)
+    except Exception as exc:
+      if not self._stop_event.is_set():
+        self.error = str(exc)
+    finally:
+      if raw_remote is not None:
+        raw_remote.close()
+      for sock in (self._local, self._remote):
+        if sock is not None:
+          try:
+            sock.close()
+          except OSError:
+            pass
+
+
 def librtmp_capabilities() -> dict[str, Any]:
   path = ctypes.util.find_library("rtmp") or ""
   if not path:
@@ -35,6 +110,7 @@ def librtmp_capabilities() -> dict[str, Any]:
     return {
       "available": not missing,
       "path": path,
+      "rtmps_mode": "python-tls-tunnel",
       "missing_symbols": missing,
       "error": f"missing librtmp symbols: {', '.join(missing)}" if missing else "",
     }
@@ -51,6 +127,8 @@ def __init__(self, url: str) -> None:
     self._configure_library()
     self._url = url
     self._url_buffer: ctypes.Array[ctypes.c_char] | None = None
+    self._tc_url_buffer: ctypes.Array[ctypes.c_char] | None = None
+    self._tunnel: _TlsTunnel | None = None
     self._handle: int | None = None
     self._lock = threading.RLock()
     self._bytes_written = 0
@@ -70,12 +148,16 @@ def connect(self) -> None:
       self._handle = handle
       try:
         self._library.RTMP_Init(handle)
-        self._url_buffer = ctypes.create_string_buffer(self._url.encode("utf-8"))
+        setup_url, tc_url = self._prepare_url()
+        self._url_buffer = ctypes.create_string_buffer(setup_url.encode("utf-8"))
         if not self._library.RTMP_SetupURL(handle, self._url_buffer):
           raise LibrtmpError("librtmp URL setup failed")
+        if tc_url:
+          self._set_string_option(handle, "tcUrl", tc_url)
         self._library.RTMP_EnableWrite(handle)
         if not self._library.RTMP_Connect(handle, None):
-          raise LibrtmpError("YouTube RTMPS connection failed")
+          detail = f": {self._tunnel.error}" if self._tunnel and self._tunnel.error else ""
+          raise LibrtmpError(f"YouTube RTMPS connection failed{detail}")
         if not self._library.RTMP_ConnectStream(handle, 0):
           raise LibrtmpError("YouTube rejected the publish connection")
       except Exception:
@@ -113,12 +195,44 @@ def _close_locked(self) -> None:
     self._handle = None
     if handle is None:
       self._url_buffer = None
+      self._tc_url_buffer = None
+      if self._tunnel is not None:
+        self._tunnel.close()
+        self._tunnel = None
       return
     try:
       self._library.RTMP_Close(handle)
     finally:
       self._library.RTMP_Free(handle)
       self._url_buffer = None
+      self._tc_url_buffer = None
+      if self._tunnel is not None:
+        self._tunnel.close()
+        self._tunnel = None
+
+  def _prepare_url(self) -> tuple[str, str]:
+    parsed = urlsplit(self._url)
+    if parsed.scheme.lower() != "rtmps":
+      return self._url, ""
+    host = parsed.hostname or ""
+    if not host:
+      raise LibrtmpError("RTMPS host is missing")
+    port = parsed.port or 443
+    self._tunnel = _TlsTunnel(host, port)
+    self._tunnel.start()
+    setup_url = urlunsplit(("rtmp", f"127.0.0.1:{self._tunnel.local_port}", parsed.path, parsed.query, ""))
+    path_parts = [part for part in parsed.path.split("/") if part]
+    app_path = f"/{path_parts[0]}" if path_parts else "/"
+    tc_url = urlunsplit(("rtmps", parsed.netloc, app_path, "", ""))
+    return setup_url, tc_url
+
+  def _set_string_option(self, handle: int, name: str, value: str) -> None:
+    name_buffer = ctypes.create_string_buffer(name.encode("utf-8"))
+    self._tc_url_buffer = ctypes.create_string_buffer(value.encode("utf-8"))
+    option = _AVal(ctypes.cast(name_buffer, ctypes.c_char_p), len(name_buffer.value))
+    argument = _AVal(ctypes.cast(self._tc_url_buffer, ctypes.c_char_p), len(self._tc_url_buffer.value))
+    if not self._library.RTMP_SetOpt(handle, ctypes.byref(option), ctypes.byref(argument)):
+      raise LibrtmpError(f"librtmp option failed: {name}")
 
   def _configure_library(self) -> None:
     missing = [name for name in REQUIRED_RTMP_SYMBOLS if not hasattr(self._library, name)]
@@ -129,6 +243,8 @@ def _configure_library(self) -> None:
     self._library.RTMP_Init.argtypes = [ctypes.c_void_p]
     self._library.RTMP_SetupURL.argtypes = [ctypes.c_void_p, ctypes.c_char_p]
     self._library.RTMP_SetupURL.restype = ctypes.c_int
+    self._library.RTMP_SetOpt.argtypes = [ctypes.c_void_p, ctypes.POINTER(_AVal), ctypes.POINTER(_AVal)]
+    self._library.RTMP_SetOpt.restype = ctypes.c_int
     self._library.RTMP_EnableWrite.argtypes = [ctypes.c_void_p]
     self._library.RTMP_Connect.argtypes = [ctypes.c_void_p, ctypes.c_void_p]
     self._library.RTMP_Connect.restype = ctypes.c_int

From ae8757bf27a82def9a61c138f5919846cdd18740 Mon Sep 17 00:00:00 2001
From: jominki354 <jominki354@gmail.com>
Date: Wed, 1 Jul 2026 15:04:55 +0900
Subject: [PATCH 48/61] f

---
 .../server/services/youtube_live_muxer.py     | 59 ++++++++++++++++++-
 1 file changed, 57 insertions(+), 2 deletions(-)

diff --git a/selfdrive/carrot/server/services/youtube_live_muxer.py b/selfdrive/carrot/server/services/youtube_live_muxer.py
index 9fcee971904..3fb58b16055 100644
--- a/selfdrive/carrot/server/services/youtube_live_muxer.py
+++ b/selfdrive/carrot/server/services/youtube_live_muxer.py
@@ -13,6 +13,61 @@
 AUDIO_SAMPLES = 1_024
 
 
+def _annexb_nalus(payload: bytes) -> list[bytes]:
+  starts: list[tuple[int, int]] = []
+  index = 0
+  size = len(payload)
+  while index + 3 <= size:
+    if index + 4 <= size and payload[index:index + 4] == b"\x00\x00\x00\x01":
+      starts.append((index, 4))
+      index += 4
+    elif payload[index:index + 3] == b"\x00\x00\x01":
+      starts.append((index, 3))
+      index += 3
+    else:
+      index += 1
+
+  nalus = []
+  for position, (offset, start_size) in enumerate(starts):
+    start = offset + start_size
+    end = starts[position + 1][0] if position + 1 < len(starts) else size
+    while end > start and payload[end - 1] == 0:
+      end -= 1
+    if end > start:
+      nalus.append(payload[start:end])
+  return nalus
+
+
+def _avc_decoder_configuration(codec_header: bytes) -> bytes:
+  if codec_header[:1] == b"\x01" and not codec_header.startswith((b"\x00\x00\x01", b"\x00\x00\x00\x01")):
+    return bytes(codec_header)
+  nalus = _annexb_nalus(codec_header)
+  sps_units = [nalu for nalu in nalus if nalu and nalu[0] & 0x1F == 7]
+  pps_units = [nalu for nalu in nalus if nalu and nalu[0] & 0x1F == 8]
+  if not sps_units or not pps_units or len(sps_units[0]) < 4:
+    raise ValueError("H.264 codec header has no SPS/PPS")
+  if len(sps_units) > 31 or len(pps_units) > 255:
+    raise ValueError("H.264 codec header has too many parameter sets")
+
+  first_sps = sps_units[0]
+  result = bytearray((1, first_sps[1], first_sps[2], first_sps[3], 0xFF, 0xE0 | len(sps_units)))
+  for sps in sps_units:
+    result.extend(len(sps).to_bytes(2, "big"))
+    result.extend(sps)
+  result.append(len(pps_units))
+  for pps in pps_units:
+    result.extend(len(pps).to_bytes(2, "big"))
+    result.extend(pps)
+  return bytes(result)
+
+
+def _annexb_to_avcc(payload: bytes) -> bytes:
+  nalus = _annexb_nalus(payload)
+  if not nalus:
+    return bytes(payload)
+  return b"".join(len(nalu).to_bytes(4, "big") + nalu for nalu in nalus)
+
+
 def pyav_capabilities() -> dict[str, Any]:
   try:
     import av
@@ -66,7 +121,7 @@ def __init__(
     self._video_stream.width = max(1, int(width))
     self._video_stream.height = max(1, int(height))
     self._video_stream.time_base = self._video_time_base
-    self._video_stream.codec_context.extradata = bytes(codec_header)
+    self._video_stream.codec_context.extradata = _avc_decoder_configuration(codec_header)
 
     self._audio_stream = self._container.add_stream(AAC_CODEC, rate=AUDIO_RATE)
     self._audio_stream.bit_rate = AUDIO_BITRATE
@@ -87,7 +142,7 @@ def mux(self, payload: bytes, *, keyframe: bool = False) -> None:
       target_audio_pts = int(self._packet_index * AUDIO_RATE / self._fps)
       self._mux_silence_until(target_audio_pts)
 
-      packet = self._av.Packet(payload)
+      packet = self._av.Packet(_annexb_to_avcc(payload))
       packet.stream = self._video_stream
       packet.pts = self._packet_index
       packet.dts = self._packet_index

From 2a927acba56c2b6444c226f943030c44a204b236 Mon Sep 17 00:00:00 2001
From: jominki354 <jominki354@gmail.com>
Date: Wed, 1 Jul 2026 15:17:25 +0900
Subject: [PATCH 49/61] f

---
 .../server/services/youtube_live_muxer.py     | 75 ++++++++++---------
 1 file changed, 39 insertions(+), 36 deletions(-)

diff --git a/selfdrive/carrot/server/services/youtube_live_muxer.py b/selfdrive/carrot/server/services/youtube_live_muxer.py
index 3fb58b16055..a11138f9766 100644
--- a/selfdrive/carrot/server/services/youtube_live_muxer.py
+++ b/selfdrive/carrot/server/services/youtube_live_muxer.py
@@ -5,7 +5,6 @@
 from typing import Any, BinaryIO
 
 
-FLV_FORMAT = "flv"
 H264_CODEC = "h264"
 AAC_CODEC = "aac"
 AUDIO_RATE = 44_100
@@ -80,12 +79,11 @@ def pyav_capabilities() -> dict[str, Any]:
       "aac": False,
       "error": str(exc),
     }
-  formats = getattr(av, "formats_available", set())
   codecs = getattr(av, "codecs_available", set())
   return {
     "available": True,
     "version": str(getattr(av, "__version__", "")),
-    "flv": FLV_FORMAT in formats,
+    "flv": True,
     "h264": H264_CODEC in codecs,
     "aac": AAC_CODEC in codecs,
     "error": "",
@@ -108,29 +106,26 @@ def __init__(
     import av
 
     self._av = av
+    self._output = output
     self._fps = max(1, int(fps))
     self._video_time_base = Fraction(1, self._fps)
     self._audio_time_base = Fraction(1, AUDIO_RATE)
-    self._container = av.open(
-      output,
-      mode="w",
-      format=FLV_FORMAT,
-      options={"flvflags": "no_duration_filesize", "flush_packets": "1"},
-    )
-    self._video_stream = self._container.add_stream(H264_CODEC, rate=self._fps)
-    self._video_stream.width = max(1, int(width))
-    self._video_stream.height = max(1, int(height))
-    self._video_stream.time_base = self._video_time_base
-    self._video_stream.codec_context.extradata = _avc_decoder_configuration(codec_header)
-
-    self._audio_stream = self._container.add_stream(AAC_CODEC, rate=AUDIO_RATE)
-    self._audio_stream.bit_rate = AUDIO_BITRATE
-    self._audio_stream.layout = "stereo"
-    self._container.start_encoding()
+    self._video_config = _avc_decoder_configuration(codec_header)
+    self._audio_codec = av.CodecContext.create(AAC_CODEC, "w")
+    self._audio_codec.sample_rate = AUDIO_RATE
+    self._audio_codec.layout = "stereo"
+    self._audio_codec.format = "fltp"
+    self._audio_codec.bit_rate = AUDIO_BITRATE
+    self._audio_codec.time_base = self._audio_time_base
+    self._audio_codec.open()
     self._packet_index = 0
     self._audio_pts = 0
     self._closed = False
     self._lock = threading.RLock()
+    self._output.write(b"FLV\x01\x05\x00\x00\x00\x09\x00\x00\x00\x00")
+    self._write_tag(9, 0, b"\x17\x00\x00\x00\x00" + self._video_config)
+    audio_config = bytes(self._audio_codec.extradata or b"\x12\x10")
+    self._write_tag(8, 0, b"\xAF\x00" + audio_config)
 
   def mux(self, payload: bytes, *, keyframe: bool = False) -> None:
     with self._lock:
@@ -142,18 +137,9 @@ def mux(self, payload: bytes, *, keyframe: bool = False) -> None:
       target_audio_pts = int(self._packet_index * AUDIO_RATE / self._fps)
       self._mux_silence_until(target_audio_pts)
 
-      packet = self._av.Packet(_annexb_to_avcc(payload))
-      packet.stream = self._video_stream
-      packet.pts = self._packet_index
-      packet.dts = self._packet_index
-      packet.duration = 1
-      packet.time_base = self._video_time_base
-      if keyframe:
-        try:
-          packet.is_keyframe = True
-        except Exception:
-          pass
-      self._container.mux(packet)
+      timestamp_ms = int(self._packet_index * 1000 / self._fps)
+      frame_header = b"\x17" if keyframe else b"\x27"
+      self._write_tag(9, timestamp_ms, frame_header + b"\x01\x00\x00\x00" + _annexb_to_avcc(payload))
       self._packet_index += 1
 
   def close(self) -> None:
@@ -164,10 +150,10 @@ def close(self) -> None:
       try:
         target_audio_pts = int(self._packet_index * AUDIO_RATE / self._fps)
         self._mux_silence_until(target_audio_pts)
-        for packet in self._audio_stream.encode(None):
-          self._container.mux(packet)
+        for packet in self._audio_codec.encode(None):
+          self._write_audio_packet(packet)
       finally:
-        self._container.close()
+        self._output.flush()
 
   def _mux_silence_until(self, target_pts: int) -> None:
     while self._audio_pts <= target_pts:
@@ -177,6 +163,23 @@ def _mux_silence_until(self, target_pts: int) -> None:
       frame.time_base = self._audio_time_base
       for plane in frame.planes:
         plane.update(bytes(plane.buffer_size))
-      for packet in self._audio_stream.encode(frame):
-        self._container.mux(packet)
+      for packet in self._audio_codec.encode(frame):
+        self._write_audio_packet(packet)
       self._audio_pts += AUDIO_SAMPLES
+
+  def _write_audio_packet(self, packet: Any) -> None:
+    packet_pts = packet.pts if packet.pts is not None else self._audio_pts
+    time_base = packet.time_base or self._audio_time_base
+    timestamp_ms = max(0, int(packet_pts * time_base * 1000))
+    self._write_tag(8, timestamp_ms, b"\xAF\x01" + bytes(packet))
+
+  def _write_tag(self, tag_type: int, timestamp_ms: int, payload: bytes) -> None:
+    timestamp = max(0, int(timestamp_ms)) & 0xFFFFFFFF
+    header = (
+      bytes((tag_type,))
+      + len(payload).to_bytes(3, "big")
+      + (timestamp & 0xFFFFFF).to_bytes(3, "big")
+      + bytes(((timestamp >> 24) & 0xFF,))
+      + b"\x00\x00\x00"
+    )
+    self._output.write(header + payload + (len(payload) + 11).to_bytes(4, "big"))

From 02f5b2115e51c85e8050527017f1a494067496be Mon Sep 17 00:00:00 2001
From: jominki354 <jominki354@gmail.com>
Date: Wed, 1 Jul 2026 15:40:12 +0900
Subject: [PATCH 50/61] f

---
 .../server/services/youtube_live_transport.py | 49 ++++++++++++++-----
 1 file changed, 36 insertions(+), 13 deletions(-)

diff --git a/selfdrive/carrot/server/services/youtube_live_transport.py b/selfdrive/carrot/server/services/youtube_live_transport.py
index df40ba5594e..a52abf49db9 100644
--- a/selfdrive/carrot/server/services/youtube_live_transport.py
+++ b/selfdrive/carrot/server/services/youtube_live_transport.py
@@ -165,6 +165,10 @@ def connect(self) -> None:
         raise
 
   def write(self, data: bytes | bytearray | memoryview) -> int:
+    # Returns bytes CONSUMED by librtmp (may be < len). librtmp's RTMP_Write
+    # parses FLV tags and reads look-ahead beyond the current tag; feeding it a
+    # small single-tag buffer makes it read out of bounds and segfault, so the
+    # caller must batch and carry the unconsumed remainder forward.
     payload = bytes(data)
     if not payload:
       return 0
@@ -172,15 +176,12 @@ def write(self, data: bytes | bytearray | memoryview) -> int:
       handle = self._handle
       if handle is None or not self._library.RTMP_IsConnected(handle):
         raise LibrtmpError("YouTube RTMPS connection is closed")
-      offset = 0
-      while offset < len(payload):
-        buffer = ctypes.create_string_buffer(payload[offset:])
-        written = int(self._library.RTMP_Write(handle, buffer, len(payload) - offset))
-        if written <= 0:
-          raise LibrtmpError("YouTube RTMPS write failed")
-        offset += written
-      self._bytes_written += offset
-      return offset
+      buffer = ctypes.create_string_buffer(payload)
+      written = int(self._library.RTMP_Write(handle, buffer, len(payload)))
+      if written < 0:
+        raise LibrtmpError("YouTube RTMPS write failed")
+      self._bytes_written += written
+      return written
 
   def is_connected(self) -> bool:
     with self._lock:
@@ -262,10 +263,17 @@ def _configure_library(self) -> None:
 
 
 class RtmpSink(io.RawIOBase):
+  # Buffer muxer output and hand librtmp large, multi-tag chunks. Feeding
+  # librtmp one small FLV tag at a time makes RTMP_Write read past the buffer
+  # (look-ahead) and segfault. We keep whatever librtmp does not consume and
+  # prepend it to the next batch so it always has trailing context.
+  FLUSH_THRESHOLD = 16384
+
   def __init__(self, client: LibrtmpClient) -> None:
     super().__init__()
     self._client = client
     self._position = 0
+    self._pending = bytearray()
 
   def writable(self) -> bool:
     return True
@@ -274,12 +282,27 @@ def seekable(self) -> bool:
     return False
 
   def write(self, data: bytes | bytearray | memoryview) -> int:
-    written = self._client.write(data)
-    self._position += written
-    return written
+    chunk = bytes(data)
+    self._pending.extend(chunk)
+    self._position += len(chunk)
+    if len(self._pending) >= self.FLUSH_THRESHOLD:
+      self._drain(self.FLUSH_THRESHOLD)
+    return len(chunk)
+
+  def _drain(self, floor: int) -> None:
+    # Keep at least `floor` bytes buffered so librtmp always has look-ahead.
+    while len(self._pending) >= floor:
+      written = self._client.write(bytes(self._pending))
+      if written <= 0:
+        break
+      del self._pending[:written]
 
   def tell(self) -> int:
     return self._position
 
   def flush(self) -> None:
-    return None
+    while self._pending:
+      written = self._client.write(bytes(self._pending))
+      if written <= 0:
+        break
+      del self._pending[:written]

From 7892f21ed6a24b4273f8888da89f89307aa75768 Mon Sep 17 00:00:00 2001
From: jominki354 <jominki354@gmail.com>
Date: Wed, 1 Jul 2026 15:55:25 +0900
Subject: [PATCH 51/61] f

---
 .../carrot/server/services/youtube_live.py    | 34 +++++++++++++++++--
 1 file changed, 31 insertions(+), 3 deletions(-)

diff --git a/selfdrive/carrot/server/services/youtube_live.py b/selfdrive/carrot/server/services/youtube_live.py
index 6e256d61eda..18aef22ff2f 100644
--- a/selfdrive/carrot/server/services/youtube_live.py
+++ b/selfdrive/carrot/server/services/youtube_live.py
@@ -7,6 +7,7 @@
 import socket
 import ssl
 import time
+from collections import deque
 from pathlib import Path
 from typing import Any
 
@@ -28,6 +29,8 @@
 BACKOFF_BASE_SECONDS = 3.0
 BACKOFF_MAX_SECONDS = 60.0
 STREAM_STABLE_SECONDS = 10.0
+MIN_RECONNECT_INTERVAL_SECONDS = 3.0
+EVENT_LOG_MAX = 50
 
 _PROCESS_MATCHES = {
   "carrot_cluster": "selfdrive.carrot.cluster_autorun",
@@ -40,6 +43,12 @@ def _now() -> float:
   return time.time()
 
 
+def _mono() -> float:
+  # Monotonic clock for durations/intervals — immune to wall-clock jumps
+  # (comma syncs system time from GPS/NTP after boot, which can step the clock).
+  return time.monotonic()
+
+
 def _read_json(path: Path) -> dict[str, Any]:
   try:
     raw = json.loads(path.read_text(encoding="utf-8"))
@@ -139,6 +148,8 @@ def __init__(
     self._next_retry_at = 0.0
     self._last_error = ""
     self._state = "disabled"
+    self._events: deque[dict[str, Any]] = deque(maxlen=EVENT_LOG_MAX)
+    self._last_start_mono = 0.0
     self._muxer_capabilities = pyav_capabilities()
     self._transport_capabilities = librtmp_capabilities()
     persisted = _read_json(self.state_path)
@@ -215,7 +226,7 @@ def status(self) -> dict[str, Any]:
       "frame_width": self._frame_width,
       "frame_height": self._frame_height,
       "frame_fps": self._frame_fps,
-      "log_tail": [self._last_error] if self._last_error else [],
+      "log_tail": [f"{event['level']}: {event['message']}" for event in list(self._events)[-12:]],
       "resource_status": resource_status,
       "warnings": warnings,
     }
@@ -245,7 +256,7 @@ def test_config(self) -> dict[str, Any]:
       "quality": PHASE1_QUALITY,
       "resource_status": status["resource_status"],
       "warnings": status["warnings"],
-      "log_tail": [self._last_error] if self._last_error else [],
+      "log_tail": [f"{event['level']}: {event['message']}" for event in list(self._events)[-12:]],
       "message": "ready" if ok else "stream key, RTMPS network, librtmp, or PyAV FLV/AAC is unavailable",
     }
 
@@ -298,7 +309,7 @@ def diagnostics(self) -> dict[str, Any]:
         "name": "librtmp-rtmps",
         **self._transport_capabilities,
         "connected": self._transport_connected,
-        "log_tail": [self._last_error] if self._last_error else [],
+        "log_tail": [f"{event['level']}: {event['message']}" for event in list(self._events)[-12:]],
       },
       "muxer": {
         "name": "pyav-flv-aac",
@@ -411,6 +422,11 @@ async def _tick(self) -> None:
       if not keyframe or not header:
         self._set_state("waiting_keyframe")
         return
+      if self._last_start_mono and (_mono() - self._last_start_mono) < MIN_RECONNECT_INTERVAL_SECONDS:
+        # Avoid hammering YouTube with rapid reconnects (it rejects them and it
+        # spins the state machine); hold briefly between start attempts.
+        self._set_state("backoff")
+        return
       try:
         await self._start_stream(stream_key, codec_header=header, width=width, height=height)
       except Exception as exc:
@@ -436,6 +452,14 @@ def _write_status(self, *, force: bool = False) -> None:
     except Exception:
       pass
 
+  def _log(self, message: str, level: str = "info") -> None:
+    # Rolling event history that survives restarts (unlike _last_error, which is
+    # cleared on each start attempt). Surfaced via status()/diagnostics log_tail.
+    text = str(message or "").strip()
+    if not text:
+      return
+    self._events.append({"t": round(_now(), 3), "level": level, "message": text})
+
   def _param_enabled(self) -> bool:
     try:
       params = self._get_params()
@@ -544,7 +568,9 @@ async def _start_stream(self, stream_key: str, *, codec_header: bytes, width: in
     await self._stop_stream()
     self._last_error = ""
     self._restart_count += 1
+    self._last_start_mono = _mono()
     self._set_state("starting")
+    self._log("connecting to YouTube RTMPS")
     rtmp_url = f"{YOUTUBE_RTMPS_BASE}/{stream_key}"
     transport = LibrtmpClient(rtmp_url)
     try:
@@ -566,6 +592,7 @@ async def _start_stream(self, stream_key: str, *, codec_header: bytes, width: in
     self._started_at = _now()
     self._session_started_bytes = self._bytes_sent
     self._next_retry_at = 0.0
+    self._log(f"stream started ({width}x{height})")
 
   async def _write_frame(self, payload: bytes, *, keyframe: bool) -> bool:
     transport = self._transport
@@ -620,6 +647,7 @@ def _schedule_backoff(self, reason: str = "") -> None:
     self._next_retry_at = _now() + delay
     if reason and not self._last_error:
       self._last_error = reason
+    self._log(f"retry in {delay:.0f}s: {reason or self._last_error or 'reconnect'}", "warn")
 
   def _process_status(self) -> dict[str, Any]:
     result = {}

From 259c34d87c0a0a0f74b8af0b7319dbb5c2ac771b Mon Sep 17 00:00:00 2001
From: jominki354 <jominki354@gmail.com>
Date: Wed, 1 Jul 2026 16:03:36 +0900
Subject: [PATCH 52/61] f

---
 .../carrot/server/services/youtube_live.py    | 68 ++++++++++++++-----
 .../server/services/youtube_live_muxer.py     | 23 +++++--
 2 files changed, 67 insertions(+), 24 deletions(-)

diff --git a/selfdrive/carrot/server/services/youtube_live.py b/selfdrive/carrot/server/services/youtube_live.py
index 18aef22ff2f..697aa17cf56 100644
--- a/selfdrive/carrot/server/services/youtube_live.py
+++ b/selfdrive/carrot/server/services/youtube_live.py
@@ -136,16 +136,21 @@ def __init__(
     self._params: Any | None = None
     self._last_status_write = 0.0
     self._started_at = 0.0
+    self._started_mono = 0.0
     self._last_frame_at = 0.0
+    self._last_frame_mono = 0.0
     self._last_frame_id: int | None = None
     self._frame_width = 526
     self._frame_height = 330
     self._frame_fps = 20
+    self._frame_ts_ns = 0
+    self._stream_t0_ns = 0
+    self._last_pts_ms = 0
     self._bytes_sent = 0
     self._session_started_bytes = 0
     self._restart_count = 0
     self._consecutive_failures = 0
-    self._next_retry_at = 0.0
+    self._next_retry_mono = 0.0
     self._last_error = ""
     self._state = "disabled"
     self._events: deque[dict[str, Any]] = deque(maxlen=EVENT_LOG_MAX)
@@ -182,10 +187,12 @@ def status(self) -> dict[str, Any]:
     stream_key = self.get_stream_key()
     running = self._transport_connected
     now = _now()
-    uptime = int(now - self._started_at) if self._started_at and running else 0
-    elapsed = max(1.0, now - self._started_at) if self._started_at and running else 1.0
+    mono = _mono()
+    uptime = int(mono - self._started_mono) if self._started_mono and running else 0
+    elapsed = max(1.0, mono - self._started_mono) if self._started_mono and running else 1.0
     session_bytes = max(0, self._bytes_sent - self._session_started_bytes) if running else 0
-    last_frame_age_ms = int((now - self._last_frame_at) * 1000) if self._last_frame_at else None
+    last_frame_age_ms = int((mono - self._last_frame_mono) * 1000) if self._last_frame_mono else None
+    retry_in_sec = max(0, int(self._next_retry_mono - mono)) if self._next_retry_mono else 0
     resource_status = self._resource_status()
     warnings = self._warnings(resource_status)
     return {
@@ -217,8 +224,8 @@ def status(self) -> dict[str, Any]:
       "estimated_kbps": int((session_bytes * 8 / 1000) / elapsed) if running else 0,
       "restart_count": self._restart_count,
       "consecutive_failures": self._consecutive_failures,
-      "next_retry_at": self._next_retry_at,
-      "retry_in_sec": max(0, int(self._next_retry_at - now)) if self._next_retry_at else 0,
+      "next_retry_at": (now + retry_in_sec) if retry_in_sec else 0.0,
+      "retry_in_sec": retry_in_sec,
       "last_error": self._last_error,
       "last_frame_at": self._last_frame_at,
       "last_frame_age_ms": last_frame_age_ms,
@@ -359,7 +366,7 @@ async def _tick(self) -> None:
         await self._stop_stream()
       self._last_error = ""
       self._consecutive_failures = 0
-      self._next_retry_at = 0.0
+      self._next_retry_mono = 0.0
       self._set_state("disabled")
       return
 
@@ -392,7 +399,7 @@ async def _tick(self) -> None:
       self._set_state("error")
       return
 
-    if self._next_retry_at and _now() < self._next_retry_at:
+    if self._next_retry_mono and _mono() < self._next_retry_mono:
       self._set_state("backoff")
       return
 
@@ -406,7 +413,7 @@ async def _tick(self) -> None:
 
     header, data, frame_id, keyframe, width, height = self._recv_frame()
     if not data:
-      if self._transport is not None and self._last_frame_at and _now() - self._last_frame_at > NO_FRAME_STOP_SECONDS:
+      if self._transport is not None and self._last_frame_mono and _mono() - self._last_frame_mono > NO_FRAME_STOP_SECONDS:
         self._last_error = "no qRoadEncodeData frames"
         await self._stop_stream()
         self._schedule_backoff("frame timeout")
@@ -414,6 +421,7 @@ async def _tick(self) -> None:
       return
 
     self._last_frame_at = _now()
+    self._last_frame_mono = _mono()
     self._last_frame_id = frame_id
     self._frame_width = width
     self._frame_height = height
@@ -443,12 +451,12 @@ def _set_state(self, state: str) -> None:
     self._write_status()
 
   def _write_status(self, *, force: bool = False) -> None:
-    now = _now()
-    if not force and now - self._last_status_write < STATUS_WRITE_MIN_INTERVAL:
+    mono = _mono()
+    if not force and mono - self._last_status_write < STATUS_WRITE_MIN_INTERVAL:
       return
-    self._last_status_write = now
+    self._last_status_write = mono
     try:
-      _write_json_atomic(self.state_path, {"updated_at": now, **self.status()})
+      _write_json_atomic(self.state_path, {"updated_at": _now(), **self.status()})
     except Exception:
       pass
 
@@ -559,11 +567,32 @@ def _recv_frame(self) -> tuple[bytes, bytes, int | None, bool, int, int]:
       width = int(getattr(frame, "width", 0) or 526)
       height = int(getattr(frame, "height", 0) or 330)
       keyframe = bool(header) or bool(flags & 0x8)
+      try:
+        # boottime ns from the encoder; monotonic and immune to wall-clock jumps
+        self._frame_ts_ns = int(getattr(frame, "timestampEof", 0) or getattr(frame, "timestampSof", 0) or 0)
+      except Exception:
+        self._frame_ts_ns = 0
       return header, data, frame_id, keyframe, width, height
     except Exception as exc:
       self._last_error = f"{PHASE1_SOURCE_SERVICE} recv failed: {exc}"
       return b"", b"", None, False, 526, 330
 
+  def _frame_pts_ms(self) -> int | None:
+    # Real presentation time (ms) from the encoder frame timestamp, relative to
+    # the first frame of this session. Keeps the stream aligned to wall time even
+    # when frames are dropped; returns None if no timestamp so the muxer falls
+    # back to frame-index timing.
+    ts_ns = self._frame_ts_ns
+    if ts_ns <= 0:
+      return None
+    if self._stream_t0_ns <= 0:
+      self._stream_t0_ns = ts_ns
+    pts_ms = int((ts_ns - self._stream_t0_ns) / 1_000_000)
+    if pts_ms < self._last_pts_ms:
+      pts_ms = self._last_pts_ms
+    self._last_pts_ms = pts_ms
+    return pts_ms
+
   async def _start_stream(self, stream_key: str, *, codec_header: bytes, width: int, height: int) -> None:
     await self._stop_stream()
     self._last_error = ""
@@ -590,8 +619,11 @@ async def _start_stream(self, stream_key: str, *, codec_header: bytes, width: in
     self._transport_connected = True
     self._muxer = muxer
     self._started_at = _now()
+    self._started_mono = _mono()
     self._session_started_bytes = self._bytes_sent
-    self._next_retry_at = 0.0
+    self._next_retry_mono = 0.0
+    self._stream_t0_ns = 0
+    self._last_pts_ms = 0
     self._log(f"stream started ({width}x{height})")
 
   async def _write_frame(self, payload: bytes, *, keyframe: bool) -> bool:
@@ -606,9 +638,9 @@ async def _write_frame(self, payload: bytes, *, keyframe: bool) -> bool:
       await self._stop_stream()
       return False
     try:
-      await asyncio.to_thread(muxer.mux, payload, keyframe=keyframe)
+      await asyncio.to_thread(muxer.mux, payload, keyframe=keyframe, timestamp_ms=self._frame_pts_ms())
       self._bytes_sent = self._session_started_bytes + transport.bytes_written
-      if self._started_at and _now() - self._started_at >= STREAM_STABLE_SECONDS:
+      if self._started_mono and _mono() - self._started_mono >= STREAM_STABLE_SECONDS:
         self._consecutive_failures = 0
       return True
     except Exception as exc:
@@ -626,6 +658,7 @@ async def _stop_stream(self) -> None:
     self._muxer = None
     if transport is None and muxer is None:
       self._started_at = 0.0
+      self._started_mono = 0.0
       return
     self._set_state("stopping")
     if muxer is not None:
@@ -640,11 +673,12 @@ async def _stop_stream(self) -> None:
       except Exception:
         pass
     self._started_at = 0.0
+    self._started_mono = 0.0
 
   def _schedule_backoff(self, reason: str = "") -> None:
     self._consecutive_failures += 1
     delay = min(BACKOFF_MAX_SECONDS, BACKOFF_BASE_SECONDS * (2 ** max(0, self._consecutive_failures - 1)))
-    self._next_retry_at = _now() + delay
+    self._next_retry_mono = _mono() + delay
     if reason and not self._last_error:
       self._last_error = reason
     self._log(f"retry in {delay:.0f}s: {reason or self._last_error or 'reconnect'}", "warn")
diff --git a/selfdrive/carrot/server/services/youtube_live_muxer.py b/selfdrive/carrot/server/services/youtube_live_muxer.py
index a11138f9766..f79c349b390 100644
--- a/selfdrive/carrot/server/services/youtube_live_muxer.py
+++ b/selfdrive/carrot/server/services/youtube_live_muxer.py
@@ -120,6 +120,7 @@ def __init__(
     self._audio_codec.open()
     self._packet_index = 0
     self._audio_pts = 0
+    self._last_video_ms = 0
     self._closed = False
     self._lock = threading.RLock()
     self._output.write(b"FLV\x01\x05\x00\x00\x00\x09\x00\x00\x00\x00")
@@ -127,19 +128,28 @@ def __init__(
     audio_config = bytes(self._audio_codec.extradata or b"\x12\x10")
     self._write_tag(8, 0, b"\xAF\x00" + audio_config)
 
-  def mux(self, payload: bytes, *, keyframe: bool = False) -> None:
+  def mux(self, payload: bytes, *, keyframe: bool = False, timestamp_ms: int | None = None) -> None:
     with self._lock:
       if self._closed:
         raise RuntimeError("FLV muxer is closed")
       if not payload:
         return
 
-      target_audio_pts = int(self._packet_index * AUDIO_RATE / self._fps)
-      self._mux_silence_until(target_audio_pts)
+      if timestamp_ms is None:
+        video_ms = int(self._packet_index * 1000 / self._fps)
+      else:
+        video_ms = max(0, int(timestamp_ms))
+      # FLV/RTMP timestamps must be non-decreasing
+      if video_ms < self._last_video_ms:
+        video_ms = self._last_video_ms
+      self._last_video_ms = video_ms
+
+      # keep the silent audio track filled up to the current video time so a
+      # dropped-frame gap stays A/V aligned
+      self._mux_silence_until(int(video_ms * AUDIO_RATE / 1000))
 
-      timestamp_ms = int(self._packet_index * 1000 / self._fps)
       frame_header = b"\x17" if keyframe else b"\x27"
-      self._write_tag(9, timestamp_ms, frame_header + b"\x01\x00\x00\x00" + _annexb_to_avcc(payload))
+      self._write_tag(9, video_ms, frame_header + b"\x01\x00\x00\x00" + _annexb_to_avcc(payload))
       self._packet_index += 1
 
   def close(self) -> None:
@@ -148,8 +158,7 @@ def close(self) -> None:
         return
       self._closed = True
       try:
-        target_audio_pts = int(self._packet_index * AUDIO_RATE / self._fps)
-        self._mux_silence_until(target_audio_pts)
+        self._mux_silence_until(int(self._last_video_ms * AUDIO_RATE / 1000))
         for packet in self._audio_codec.encode(None):
           self._write_audio_packet(packet)
       finally:

From ea93601f16a9a63a2ebae698c36128f0eaa8d873 Mon Sep 17 00:00:00 2001
From: jominki354 <jominki354@gmail.com>
Date: Wed, 1 Jul 2026 16:07:37 +0900
Subject: [PATCH 53/61] f

---
 .../web/css/components/nav_status_badges.css  | 46 ++++++++++++
 selfdrive/carrot/web/index.html               |  6 ++
 .../web/js/shared/ui/nav_status_badges.js     | 70 +++++++++++++++++++
 3 files changed, 122 insertions(+)
 create mode 100644 selfdrive/carrot/web/css/components/nav_status_badges.css
 create mode 100644 selfdrive/carrot/web/js/shared/ui/nav_status_badges.js

diff --git a/selfdrive/carrot/web/css/components/nav_status_badges.css b/selfdrive/carrot/web/css/components/nav_status_badges.css
new file mode 100644
index 00000000000..5758e1f6f76
--- /dev/null
+++ b/selfdrive/carrot/web/css/components/nav_status_badges.css
@@ -0,0 +1,46 @@
+.topbar #btnHome .nav-status-badges {
+  position: absolute;
+  top: 5px;
+  right: 6px;
+  z-index: 1;
+  display: none;
+  max-width: calc(100% - 12px);
+  align-items: center;
+  justify-content: flex-end;
+  gap: 2px;
+  pointer-events: none;
+}
+
+.topbar #btnHome .nav-status-badges.is-visible {
+  display: flex;
+}
+
+.topbar #btnHome .nav-status-badge {
+  min-width: 24px;
+  padding: 2px 4px;
+  border-radius: 999px;
+  color: var(--md-on-error, #ffffff);
+  font-size: 8px;
+  font-weight: 900;
+  letter-spacing: 0;
+  line-height: 1;
+  text-align: center;
+  white-space: nowrap;
+  box-shadow: 0 0 0 1px color-mix(in srgb, var(--md-surface) 72%, transparent);
+}
+
+.topbar #btnHome .nav-status-badge--record {
+  background: rgba(118, 18, 20, 0.92);
+  color: #ffd7d3;
+  animation: nav-rec-badge-blink 1s steps(1, end) infinite;
+}
+
+.topbar #btnHome .nav-status-badge--live {
+  background: var(--md-error, #ba1a1a);
+}
+
+/* The shared badge container replaces the legacy REC pseudo-element. */
+.topbar #btnHome.recording::before {
+  display: none;
+  animation: none;
+}
diff --git a/selfdrive/carrot/web/index.html b/selfdrive/carrot/web/index.html
index f0a6369e39b..c44de9b63fd 100644
--- a/selfdrive/carrot/web/index.html
+++ b/selfdrive/carrot/web/index.html
@@ -95,6 +95,7 @@
   <link rel="stylesheet" href="/css/base.css?v=2605-10" />
   <link rel="stylesheet" href="/css/layout.css?v=2605-08" />
   <link rel="stylesheet" href="/css/components.css?v=2606-06" />
+  <link rel="stylesheet" href="/css/components/nav_status_badges.css?v=2607-01" />
   <link rel="stylesheet" href="/css/pages/logs.css?v=2606-02" />
   <link rel="stylesheet" href="/css/pages/terminal.css?v=2606-01" />
   <link rel="stylesheet" href="/css/pages/settings/base.css?v=2606-21" />
@@ -621,6 +622,10 @@ <h2 id="carrotTitle" class="page-title">Home</h2>
   <!-- Bottom Navigation (Material 3 style) -->
   <nav class="topbar">
     <button id="btnHome" class="nav-btn active">
+      <span id="navHomeStatusBadges" class="nav-status-badges" aria-hidden="true">
+        <span id="navRecordStatusBadge" class="nav-status-badge nav-status-badge--record" hidden>REC</span>
+        <span id="navYouTubeStatusBadge" class="nav-status-badge nav-status-badge--live" hidden>LIVE</span>
+      </span>
       <span class="nav-icon">
         <svg width="24" height="24" viewBox="0 0 24 24" fill="currentColor"><path d="M10 20v-6h4v6h5v-8h3L12 3 2 12h3v8z"/></svg>
       </span>
@@ -724,6 +729,7 @@ <h2 id="carrotTitle" class="page-title">Home</h2>
   <script src="/js/shared/ui/navigation.js?v=2606-19"></script>
   <script src="/js/pages/car.js?v=2604-75"></script>
   <script src="/js/pages/setting_youtube_live.js?v=2607-22"></script>
+  <script src="/js/shared/ui/nav_status_badges.js?v=2607-01"></script>
   <script src="/js/pages/setting.js?v=2607-13"></script>
   <script src="/js/pages/setting_device_config.js?v=2605-05"></script>
   <script src="/js/pages/setting_device_render.js?v=2605-04"></script>
diff --git a/selfdrive/carrot/web/js/shared/ui/nav_status_badges.js b/selfdrive/carrot/web/js/shared/ui/nav_status_badges.js
new file mode 100644
index 00000000000..039861ffb6d
--- /dev/null
+++ b/selfdrive/carrot/web/js/shared/ui/nav_status_badges.js
@@ -0,0 +1,70 @@
+(function initNavStatusBadges() {
+  "use strict";
+
+  const homeButton = document.getElementById("btnHome");
+  const badgeGroup = document.getElementById("navHomeStatusBadges");
+  const recordBadge = document.getElementById("navRecordStatusBadge");
+  const liveBadge = document.getElementById("navYouTubeStatusBadge");
+  if (!homeButton || !badgeGroup || !recordBadge || !liveBadge) return;
+
+  const POLL_INTERVAL_MS = 2000;
+  const STALE_AFTER_MS = 8000;
+  let youtubeLive = false;
+  let lastSuccessAt = 0;
+  let pollPending = false;
+  let pollTimer = null;
+
+  function syncBadges() {
+    const recording = homeButton.classList.contains("recording")
+      && homeButton.dataset.recordBadge === "REC";
+    recordBadge.hidden = !recording;
+    liveBadge.hidden = !youtubeLive;
+    badgeGroup.classList.toggle("is-visible", recording || youtubeLive);
+  }
+
+  async function pollYouTubeStatus() {
+    if (pollPending || document.hidden) return;
+    pollPending = true;
+    try {
+      const status = await getJson("/api/youtube_live/status");
+      lastSuccessAt = Date.now();
+      youtubeLive = status?.state === "live" && status?.running === true;
+      syncBadges();
+    } catch (_) {
+      if (!lastSuccessAt || Date.now() - lastSuccessAt >= STALE_AFTER_MS) {
+        youtubeLive = false;
+        syncBadges();
+      }
+    } finally {
+      pollPending = false;
+    }
+  }
+
+  function startPolling() {
+    if (pollTimer !== null) return;
+    pollYouTubeStatus();
+    pollTimer = window.setInterval(pollYouTubeStatus, POLL_INTERVAL_MS);
+  }
+
+  function stopPolling() {
+    if (pollTimer === null) return;
+    window.clearInterval(pollTimer);
+    pollTimer = null;
+  }
+
+  new MutationObserver(syncBadges).observe(homeButton, {
+    attributes: true,
+    attributeFilter: ["class", "data-record-badge"],
+  });
+
+  document.addEventListener("visibilitychange", () => {
+    if (document.hidden) stopPolling();
+    else startPolling();
+  });
+  window.addEventListener("online", pollYouTubeStatus);
+  window.addEventListener("pageshow", startPolling);
+  window.addEventListener("pagehide", stopPolling);
+
+  syncBadges();
+  startPolling();
+})();

From de87f0814c67c7e15826b3bde81c73b71cc43af0 Mon Sep 17 00:00:00 2001
From: jominki354 <jominki354@gmail.com>
Date: Wed, 1 Jul 2026 16:10:14 +0900
Subject: [PATCH 54/61] f

---
 selfdrive/carrot/web/css/components/nav_status_badges.css | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/carrot/web/css/components/nav_status_badges.css b/selfdrive/carrot/web/css/components/nav_status_badges.css
index 5758e1f6f76..8cc616701f0 100644
--- a/selfdrive/carrot/web/css/components/nav_status_badges.css
+++ b/selfdrive/carrot/web/css/components/nav_status_badges.css
@@ -37,6 +37,7 @@
 
 .topbar #btnHome .nav-status-badge--live {
   background: var(--md-error, #ba1a1a);
+  animation: nav-rec-badge-blink 1s steps(1, end) infinite;
 }
 
 /* The shared badge container replaces the legacy REC pseudo-element. */

From a6b67d9d6b4f2f2cf25f359b1ffb79aea1e9d617 Mon Sep 17 00:00:00 2001
From: jominki354 <jominki354@gmail.com>
Date: Wed, 1 Jul 2026 16:11:59 +0900
Subject: [PATCH 55/61] f

---
 selfdrive/carrot/server/services/youtube_live.py    |  2 +-
 .../carrot/web/css/components/nav_status_badges.css | 13 +++++++++++++
 .../carrot/web/js/shared/ui/nav_status_badges.js    |  3 +++
 3 files changed, 17 insertions(+), 1 deletion(-)

diff --git a/selfdrive/carrot/server/services/youtube_live.py b/selfdrive/carrot/server/services/youtube_live.py
index 697aa17cf56..aac49182ee5 100644
--- a/selfdrive/carrot/server/services/youtube_live.py
+++ b/selfdrive/carrot/server/services/youtube_live.py
@@ -638,7 +638,7 @@ async def _write_frame(self, payload: bytes, *, keyframe: bool) -> bool:
       await self._stop_stream()
       return False
     try:
-      await asyncio.to_thread(muxer.mux, payload, keyframe=keyframe, timestamp_ms=self._frame_pts_ms())
+      await asyncio.to_thread(muxer.mux, payload, keyframe=keyframe)
       self._bytes_sent = self._session_started_bytes + transport.bytes_written
       if self._started_mono and _mono() - self._started_mono >= STREAM_STABLE_SECONDS:
         self._consecutive_failures = 0
diff --git a/selfdrive/carrot/web/css/components/nav_status_badges.css b/selfdrive/carrot/web/css/components/nav_status_badges.css
index 8cc616701f0..48c9c142278 100644
--- a/selfdrive/carrot/web/css/components/nav_status_badges.css
+++ b/selfdrive/carrot/web/css/components/nav_status_badges.css
@@ -15,6 +15,19 @@
   display: flex;
 }
 
+.topbar #btnHome.youtube-live,
+.topbar #btnHome.youtube-live.active {
+  color: #ff8f84;
+}
+
+.topbar #btnHome.youtube-live.active {
+  background: color-mix(in srgb, #ff6b6b 18%, transparent);
+}
+
+.topbar #btnHome.youtube-live.active > span:last-child::after {
+  background: currentColor;
+}
+
 .topbar #btnHome .nav-status-badge {
   min-width: 24px;
   padding: 2px 4px;
diff --git a/selfdrive/carrot/web/js/shared/ui/nav_status_badges.js b/selfdrive/carrot/web/js/shared/ui/nav_status_badges.js
index 039861ffb6d..1d09b0e6dc1 100644
--- a/selfdrive/carrot/web/js/shared/ui/nav_status_badges.js
+++ b/selfdrive/carrot/web/js/shared/ui/nav_status_badges.js
@@ -15,6 +15,9 @@
   let pollTimer = null;
 
   function syncBadges() {
+    if (homeButton.classList.contains("youtube-live") !== youtubeLive) {
+      homeButton.classList.toggle("youtube-live", youtubeLive);
+    }
     const recording = homeButton.classList.contains("recording")
       && homeButton.dataset.recordBadge === "REC";
     recordBadge.hidden = !recording;

From ce55f564eb3258b255ece39e7bd0dede98bb5d86 Mon Sep 17 00:00:00 2001
From: jominki354 <jominki354@gmail.com>
Date: Wed, 1 Jul 2026 16:17:51 +0900
Subject: [PATCH 56/61] f

---
 .../carrot/server/services/youtube_live.py    | 26 -------------------
 .../web/css/components/nav_status_badges.css  | 16 ++++++++++++
 selfdrive/carrot/web/index.html               |  2 +-
 3 files changed, 17 insertions(+), 27 deletions(-)

diff --git a/selfdrive/carrot/server/services/youtube_live.py b/selfdrive/carrot/server/services/youtube_live.py
index aac49182ee5..bd56e3fe6a4 100644
--- a/selfdrive/carrot/server/services/youtube_live.py
+++ b/selfdrive/carrot/server/services/youtube_live.py
@@ -143,9 +143,6 @@ def __init__(
     self._frame_width = 526
     self._frame_height = 330
     self._frame_fps = 20
-    self._frame_ts_ns = 0
-    self._stream_t0_ns = 0
-    self._last_pts_ms = 0
     self._bytes_sent = 0
     self._session_started_bytes = 0
     self._restart_count = 0
@@ -567,32 +564,11 @@ def _recv_frame(self) -> tuple[bytes, bytes, int | None, bool, int, int]:
       width = int(getattr(frame, "width", 0) or 526)
       height = int(getattr(frame, "height", 0) or 330)
       keyframe = bool(header) or bool(flags & 0x8)
-      try:
-        # boottime ns from the encoder; monotonic and immune to wall-clock jumps
-        self._frame_ts_ns = int(getattr(frame, "timestampEof", 0) or getattr(frame, "timestampSof", 0) or 0)
-      except Exception:
-        self._frame_ts_ns = 0
       return header, data, frame_id, keyframe, width, height
     except Exception as exc:
       self._last_error = f"{PHASE1_SOURCE_SERVICE} recv failed: {exc}"
       return b"", b"", None, False, 526, 330
 
-  def _frame_pts_ms(self) -> int | None:
-    # Real presentation time (ms) from the encoder frame timestamp, relative to
-    # the first frame of this session. Keeps the stream aligned to wall time even
-    # when frames are dropped; returns None if no timestamp so the muxer falls
-    # back to frame-index timing.
-    ts_ns = self._frame_ts_ns
-    if ts_ns <= 0:
-      return None
-    if self._stream_t0_ns <= 0:
-      self._stream_t0_ns = ts_ns
-    pts_ms = int((ts_ns - self._stream_t0_ns) / 1_000_000)
-    if pts_ms < self._last_pts_ms:
-      pts_ms = self._last_pts_ms
-    self._last_pts_ms = pts_ms
-    return pts_ms
-
   async def _start_stream(self, stream_key: str, *, codec_header: bytes, width: int, height: int) -> None:
     await self._stop_stream()
     self._last_error = ""
@@ -622,8 +598,6 @@ async def _start_stream(self, stream_key: str, *, codec_header: bytes, width: in
     self._started_mono = _mono()
     self._session_started_bytes = self._bytes_sent
     self._next_retry_mono = 0.0
-    self._stream_t0_ns = 0
-    self._last_pts_ms = 0
     self._log(f"stream started ({width}x{height})")
 
   async def _write_frame(self, payload: bytes, *, keyframe: bool) -> bool:
diff --git a/selfdrive/carrot/web/css/components/nav_status_badges.css b/selfdrive/carrot/web/css/components/nav_status_badges.css
index 48c9c142278..4b891866c27 100644
--- a/selfdrive/carrot/web/css/components/nav_status_badges.css
+++ b/selfdrive/carrot/web/css/components/nav_status_badges.css
@@ -28,6 +28,11 @@
   background: currentColor;
 }
 
+.topbar #btnHome.recording,
+.topbar #btnHome.youtube-live {
+  animation: nav-status-button-blink 1.2s steps(1, end) infinite;
+}
+
 .topbar #btnHome .nav-status-badge {
   min-width: 24px;
   padding: 2px 4px;
@@ -58,3 +63,14 @@
   display: none;
   animation: none;
 }
+
+@keyframes nav-status-button-blink {
+  0%, 49% {
+    background: color-mix(in srgb, #ff6b6b 22%, transparent);
+    box-shadow: inset 0 0 0 1px color-mix(in srgb, #ff6b6b 58%, transparent);
+  }
+  50%, 100% {
+    background: transparent;
+    box-shadow: none;
+  }
+}
diff --git a/selfdrive/carrot/web/index.html b/selfdrive/carrot/web/index.html
index c44de9b63fd..f1c53e2d48e 100644
--- a/selfdrive/carrot/web/index.html
+++ b/selfdrive/carrot/web/index.html
@@ -95,7 +95,7 @@
   <link rel="stylesheet" href="/css/base.css?v=2605-10" />
   <link rel="stylesheet" href="/css/layout.css?v=2605-08" />
   <link rel="stylesheet" href="/css/components.css?v=2606-06" />
-  <link rel="stylesheet" href="/css/components/nav_status_badges.css?v=2607-01" />
+  <link rel="stylesheet" href="/css/components/nav_status_badges.css?v=2607-02" />
   <link rel="stylesheet" href="/css/pages/logs.css?v=2606-02" />
   <link rel="stylesheet" href="/css/pages/terminal.css?v=2606-01" />
   <link rel="stylesheet" href="/css/pages/settings/base.css?v=2606-21" />

From 97fbfdefbbcf027d063c238936a61818b371765e Mon Sep 17 00:00:00 2001
From: jominki354 <jominki354@gmail.com>
Date: Wed, 1 Jul 2026 16:28:07 +0900
Subject: [PATCH 57/61] f

---
 .../carrot/server/services/youtube_live.py    | 60 ++++++++++++++-----
 .../web/css/components/nav_status_badges.css  | 24 ++++----
 selfdrive/carrot/web/index.html               |  4 +-
 selfdrive/carrot/web/js/pages/car.js          | 42 +++++++------
 selfdrive/carrot_settings.json                |  8 +--
 selfdrive/ui/layouts/main.py                  | 21 ++++---
 selfdrive/ui/mici/layouts/main.py             | 21 ++++---
 system/manager/process_config.py              | 10 +++-
 8 files changed, 125 insertions(+), 65 deletions(-)

diff --git a/selfdrive/carrot/server/services/youtube_live.py b/selfdrive/carrot/server/services/youtube_live.py
index bd56e3fe6a4..29bf263126e 100644
--- a/selfdrive/carrot/server/services/youtube_live.py
+++ b/selfdrive/carrot/server/services/youtube_live.py
@@ -20,6 +20,17 @@
 YOUTUBE_QUALITY_PARAM = "CarrotYouTubeQuality"
 PHASE1_SOURCE_SERVICE = "qRoadEncodeData"
 PHASE1_QUALITY = "standard"
+# Single 3-way selector (CarrotYouTubeQuality):
+#   0 일반  = low-res qcamera (road, data-saving)
+#   1 고화질 = full-res road livestream
+#   2 광각  = full-res wide livestream
+# 1/2 need stream_encoderd, which the manager gate enables for HQ streaming.
+SOURCE_BY_QUALITY = {
+  0: "qRoadEncodeData",
+  1: "livestreamRoadEncodeData",
+  2: "livestreamWideRoadEncodeData",
+}
+QUALITY_LABELS = {0: "standard", 1: "high", 2: "wide"}
 YOUTUBE_RTMPS_BASE = "rtmps://a.rtmps.youtube.com:443/live2"
 YOUTUBE_RTMPS_HOST = "a.rtmps.youtube.com"
 YOUTUBE_RTMPS_PORT = 443
@@ -31,6 +42,7 @@
 STREAM_STABLE_SECONDS = 10.0
 MIN_RECONNECT_INTERVAL_SECONDS = 3.0
 EVENT_LOG_MAX = 50
+PROC_CACHE_SECONDS = 5.0
 
 _PROCESS_MATCHES = {
   "carrot_cluster": "selfdrive.carrot.cluster_autorun",
@@ -133,6 +145,8 @@ def __init__(
     self._muxer: H264FlvMuxer | None = None
     self._messaging: Any | None = None
     self._socket: Any | None = None
+    self._socket_source = ""
+    self._active_source = ""
     self._params: Any | None = None
     self._last_status_write = 0.0
     self._started_at = 0.0
@@ -152,6 +166,8 @@ def __init__(
     self._state = "disabled"
     self._events: deque[dict[str, Any]] = deque(maxlen=EVENT_LOG_MAX)
     self._last_start_mono = 0.0
+    self._proc_cache: dict[str, Any] | None = None
+    self._proc_cache_mono = 0.0
     self._muxer_capabilities = pyav_capabilities()
     self._transport_capabilities = librtmp_capabilities()
     persisted = _read_json(self.state_path)
@@ -197,7 +213,7 @@ def status(self) -> dict[str, Any]:
       "enabled": self._param_enabled(),
       "configured": bool(stream_key),
       "masked_key": _mask_stream_key(stream_key),
-      "source": PHASE1_SOURCE_SERVICE,
+      "source": self._current_source(),
       "muxer": "pyav-flv-aac",
       "muxer_available": bool(
         self._muxer_capabilities.get("available")
@@ -207,7 +223,7 @@ def status(self) -> dict[str, Any]:
       ),
       "transport": "librtmp-rtmps",
       "transport_available": bool(self._transport_capabilities.get("available")),
-      "quality": PHASE1_QUALITY,
+      "quality": self._quality_label(),
       "requested_quality": self._param_int(YOUTUBE_QUALITY_PARAM, 0),
       "phase": 1,
       "running": running,
@@ -256,8 +272,8 @@ def test_config(self) -> dict[str, Any]:
       "rtmps_message": rtmps_message,
       "muxer_available": muxer_ok,
       "muxer": dict(self._muxer_capabilities),
-      "source": PHASE1_SOURCE_SERVICE,
-      "quality": PHASE1_QUALITY,
+      "source": self._current_source(),
+      "quality": self._quality_label(),
       "resource_status": status["resource_status"],
       "warnings": status["warnings"],
       "log_tail": [f"{event['level']}: {event['message']}" for event in list(self._events)[-12:]],
@@ -298,8 +314,8 @@ def diagnostics(self) -> dict[str, Any]:
       "config": {
         "stream_key_configured": bool(stream_key),
         "stream_key_masked": _mask_stream_key(stream_key),
-        "source": PHASE1_SOURCE_SERVICE,
-        "quality": PHASE1_QUALITY,
+        "source": self._current_source(),
+        "quality": self._quality_label(),
         "rtmps_ingest": f"{YOUTUBE_RTMPS_BASE}/{_mask_stream_key(stream_key)}" if stream_key else "",
       },
       "params": {
@@ -390,11 +406,9 @@ async def _tick(self) -> None:
       self._set_state("error")
       return
 
-    if self._param_int(YOUTUBE_QUALITY_PARAM, 0) > 0:
+    if self._transport is not None and self._active_source and self._active_source != self._current_source():
+      self._log(f"source changed to {self._current_source()}; restarting")
       await self._stop_stream()
-      self._last_error = "high quality YouTube Live is planned for Phase 3"
-      self._set_state("error")
-      return
 
     if self._next_retry_mono and _mono() < self._next_retry_mono:
       self._set_state("backoff")
@@ -521,16 +535,27 @@ def _get_messaging(self) -> Any | None:
       self._messaging = None
     return self._messaging
 
+  def _current_source(self) -> str:
+    quality = self._param_int(YOUTUBE_QUALITY_PARAM, 0)
+    return SOURCE_BY_QUALITY.get(quality, SOURCE_BY_QUALITY[0])
+
+  def _quality_label(self) -> str:
+    return QUALITY_LABELS.get(self._param_int(YOUTUBE_QUALITY_PARAM, 0), "standard")
+
   def _get_socket(self) -> Any | None:
-    if self._socket is not None:
+    source = self._current_source()
+    if self._socket is not None and self._socket_source == source:
       return self._socket
+    # first subscription or the selected source (quality/camera) changed
+    self._socket = None
     messaging = self._get_messaging()
     if messaging is None:
       return None
     try:
-      self._socket = messaging.sub_sock(PHASE1_SOURCE_SERVICE, conflate=True)
+      self._socket = messaging.sub_sock(source, conflate=True)
+      self._socket_source = source
     except Exception as exc:
-      self._last_error = f"{PHASE1_SOURCE_SERVICE} socket failed: {exc}"
+      self._last_error = f"{source} socket failed: {exc}"
       self._socket = None
     return self._socket
 
@@ -598,6 +623,7 @@ async def _start_stream(self, stream_key: str, *, codec_header: bytes, width: in
     self._started_mono = _mono()
     self._session_started_bytes = self._bytes_sent
     self._next_retry_mono = 0.0
+    self._active_source = self._current_source()
     self._log(f"stream started ({width}x{height})")
 
   async def _write_frame(self, payload: bytes, *, keyframe: bool) -> bool:
@@ -658,6 +684,9 @@ def _schedule_backoff(self, reason: str = "") -> None:
     self._log(f"retry in {delay:.0f}s: {reason or self._last_error or 'reconnect'}", "warn")
 
   def _process_status(self) -> dict[str, Any]:
+    mono = _mono()
+    if self._proc_cache is not None and (mono - self._proc_cache_mono) < PROC_CACHE_SECONDS:
+      return self._proc_cache
     result = {}
     for name, match in _PROCESS_MATCHES.items():
       pids = _find_matching_pids(match)
@@ -665,6 +694,8 @@ def _process_status(self) -> dict[str, Any]:
         "running": bool(pids),
         "pids": pids[:8],
       }
+    self._proc_cache = result
+    self._proc_cache_mono = mono
     return result
 
   def _resource_status(self) -> dict[str, Any]:
@@ -698,7 +729,8 @@ def _warnings(self, resource_status: dict[str, Any]) -> list[str]:
     if vision and vision.get("enabled"):
       warnings.append("Carrot Vision is enabled; simultaneous streaming increases network and memory bandwidth use.")
     if self._param_int(YOUTUBE_QUALITY_PARAM, 0) > 0:
-      warnings.append("High quality mode is planned for Phase 3; Phase 2 keeps qRoadEncodeData only.")
+      if not (vision and vision.get("stream_encoderd_running")):
+        warnings.append("High quality/wide uses the livestream encoder (stream_encoderd); it starts onroad — wait for frames.")
     return warnings
 
 
diff --git a/selfdrive/carrot/web/css/components/nav_status_badges.css b/selfdrive/carrot/web/css/components/nav_status_badges.css
index 4b891866c27..f9b1d075976 100644
--- a/selfdrive/carrot/web/css/components/nav_status_badges.css
+++ b/selfdrive/carrot/web/css/components/nav_status_badges.css
@@ -30,7 +30,7 @@
 
 .topbar #btnHome.recording,
 .topbar #btnHome.youtube-live {
-  animation: nav-status-button-blink 1.2s steps(1, end) infinite;
+  animation: nav-status-button-fade 2.4s ease-in-out infinite;
 }
 
 .topbar #btnHome .nav-status-badge {
@@ -50,12 +50,10 @@
 .topbar #btnHome .nav-status-badge--record {
   background: rgba(118, 18, 20, 0.92);
   color: #ffd7d3;
-  animation: nav-rec-badge-blink 1s steps(1, end) infinite;
 }
 
 .topbar #btnHome .nav-status-badge--live {
   background: var(--md-error, #ba1a1a);
-  animation: nav-rec-badge-blink 1s steps(1, end) infinite;
 }
 
 /* The shared badge container replaces the legacy REC pseudo-element. */
@@ -64,13 +62,19 @@
   animation: none;
 }
 
-@keyframes nav-status-button-blink {
-  0%, 49% {
-    background: color-mix(in srgb, #ff6b6b 22%, transparent);
-    box-shadow: inset 0 0 0 1px color-mix(in srgb, #ff6b6b 58%, transparent);
+@keyframes nav-status-button-fade {
+  0%, 100% {
+    background: color-mix(in srgb, #c9827b 5%, transparent);
   }
-  50%, 100% {
-    background: transparent;
-    box-shadow: none;
+  50% {
+    background: color-mix(in srgb, #c9827b 14%, transparent);
+  }
+}
+
+@media (prefers-reduced-motion: reduce) {
+  .topbar #btnHome.recording,
+  .topbar #btnHome.youtube-live {
+    animation: none;
+    background: color-mix(in srgb, #c9827b 10%, transparent);
   }
 }
diff --git a/selfdrive/carrot/web/index.html b/selfdrive/carrot/web/index.html
index f1c53e2d48e..cd17d8099f9 100644
--- a/selfdrive/carrot/web/index.html
+++ b/selfdrive/carrot/web/index.html
@@ -95,7 +95,7 @@
   <link rel="stylesheet" href="/css/base.css?v=2605-10" />
   <link rel="stylesheet" href="/css/layout.css?v=2605-08" />
   <link rel="stylesheet" href="/css/components.css?v=2606-06" />
-  <link rel="stylesheet" href="/css/components/nav_status_badges.css?v=2607-02" />
+  <link rel="stylesheet" href="/css/components/nav_status_badges.css?v=2607-04" />
   <link rel="stylesheet" href="/css/pages/logs.css?v=2606-02" />
   <link rel="stylesheet" href="/css/pages/terminal.css?v=2606-01" />
   <link rel="stylesheet" href="/css/pages/settings/base.css?v=2606-21" />
@@ -727,7 +727,7 @@ <h2 id="carrotTitle" class="page-title">Home</h2>
   <script src="/js/shared/ui/viewport.js?v=2604-71"></script>
   <script src="/js/shared/ui/effects.js?v=2604-72"></script>
   <script src="/js/shared/ui/navigation.js?v=2606-19"></script>
-  <script src="/js/pages/car.js?v=2604-75"></script>
+  <script src="/js/pages/car.js?v=2607-01"></script>
   <script src="/js/pages/setting_youtube_live.js?v=2607-22"></script>
   <script src="/js/shared/ui/nav_status_badges.js?v=2607-01"></script>
   <script src="/js/pages/setting.js?v=2607-13"></script>
diff --git a/selfdrive/carrot/web/js/pages/car.js b/selfdrive/carrot/web/js/pages/car.js
index d6a8fd20b84..429ea62f905 100644
--- a/selfdrive/carrot/web/js/pages/car.js
+++ b/selfdrive/carrot/web/js/pages/car.js
@@ -5,10 +5,11 @@
 const CURRENT_CAR_CACHE_KEY = "carrot_web_current_car_label";
 const CURRENT_CAR_PROMPT_SESSION_KEY = "carrot_web_missing_car_prompted";
 const CURRENT_CAR_RETRY_DELAYS_MS = [350, 800, 1500, 2500, 4000];
+const RECORD_STATE_POLL_MS = 1200;
 
 let recordStateIsOn = false;
 let recordTogglePending = false;
-let recordStateResyncTimer = null;
+let recordStatePollTimer = null;
 let currentCarRetryTimer = null;
 let currentCarRetryIndex = 0;
 let currentCarLastKnownLabel = "";
@@ -108,15 +109,18 @@ function parseRecordStateValue(value) {
   );
 }
 
-function scheduleRecordStateResync(delay = 520) {
-  if (recordStateResyncTimer) {
-    clearTimeout(recordStateResyncTimer);
-    recordStateResyncTimer = null;
-  }
-  recordStateResyncTimer = window.setTimeout(() => {
-    recordStateResyncTimer = null;
+function startRecordStatePolling() {
+  if (recordStatePollTimer !== null || document.hidden) return;
+  loadRecordState({ force: true }).catch(() => {});
+  recordStatePollTimer = window.setInterval(() => {
     loadRecordState({ force: true }).catch(() => {});
-  }, delay);
+  }, RECORD_STATE_POLL_MS);
+}
+
+function stopRecordStatePolling() {
+  if (recordStatePollTimer === null) return;
+  window.clearInterval(recordStatePollTimer);
+  recordStatePollTimer = null;
 }
 
 function applyRecordFabState(isOn = recordStateIsOn) {
@@ -193,24 +197,30 @@ async function loadCurrentCar(options = {}) {
 window.addEventListener("pageshow", () => {
   loadCurrentCar({ resetRetry: true }).catch(() => {});
   scheduleUiWarmup(90);
+  startRecordStatePolling();
 });
 
 document.addEventListener("visibilitychange", () => {
   if (!document.hidden) {
     loadCurrentCar({ resetRetry: true, force: true }).catch(() => {});
     scheduleUiWarmup(70);
+    startRecordStatePolling();
+  } else {
+    stopRecordStatePolling();
   }
 });
 
 window.addEventListener("online", () => {
   scheduleUiWarmup(40);
+  loadRecordState({ force: true }).catch(() => {});
 });
+window.addEventListener("pagehide", stopRecordStatePolling);
 
 async function loadRecordState(options = {}) {
   const force = options.force === true;
   const ttlMs = Number.isFinite(options.ttlMs) ? options.ttlMs : PAGE_DATA_TTL_MS;
-  if (recordTogglePending && !force) return;
-  if (!force && recordStateLoadPromise) return recordStateLoadPromise;
+  if (recordTogglePending) return recordStateIsOn;
+  if (recordStateLoadPromise) return recordStateLoadPromise;
   if (!force && hasFreshPageData(recordStateLoadedAt, ttlMs)) return recordStateIsOn;
 
   recordStateLoadPromise = (async () => {
@@ -235,15 +245,11 @@ async function toggleRecord() {
   const prev = recordStateIsOn;
   const next = !prev;
   recordTogglePending = true;
-  if (recordStateResyncTimer) {
-    clearTimeout(recordStateResyncTimer);
-    recordStateResyncTimer = null;
-  }
-  applyRecordFabState(next);
-
   try {
     await setParam("ScreenRecord", next);
-    scheduleRecordStateResync();
+    await waitMs(650);
+    recordTogglePending = false;
+    await loadRecordState({ force: true });
   } catch (e) {
     applyRecordFabState(prev);
     showAppToast((UI_STRINGS[LANG].record || "Failed to toggle record: ") + e.message, { tone: "error" });
diff --git a/selfdrive/carrot_settings.json b/selfdrive/carrot_settings.json
index 70c8d417e43..d9a04d8b039 100644
--- a/selfdrive/carrot_settings.json
+++ b/selfdrive/carrot_settings.json
@@ -1767,15 +1767,15 @@
       "group": "SYS_YOUTUBE",
       "name": "CarrotYouTubeQuality",
       "title": "YouTube 화질",
-      "descr": "0: 표준(qRoadEncodeData), 1: 고화질(준비중)",
+      "descr": "송출 소스\n0: 일반 (qcam, 저해상·데이터절약)\n1: 고화질 (전방 풀해상도)\n2: 광각 (광각 풀해상도)",
       "egroup": "System",
       "etitle": "YouTube Quality",
-      "edescr": "0: Standard(qRoadEncodeData), 1: High quality(preparing)",
+      "edescr": "Stream source\n0: Normal (qcam, low-res)\n1: High (road, full-res)\n2: Wide (wide cam, full-res)",
       "cgroup": "System",
       "ctitle": "YouTube Quality",
-      "cdescr": "0: Standard(qRoadEncodeData), 1: High quality(preparing)",
+      "cdescr": "Stream source\n0: Normal (qcam, low-res)\n1: High (road, full-res)\n2: Wide (wide cam, full-res)",
       "min": 0,
-      "max": 1,
+      "max": 2,
       "default": 0,
       "unit": 1
     },
diff --git a/selfdrive/ui/layouts/main.py b/selfdrive/ui/layouts/main.py
index cb1ca8fc1f2..415144620ed 100644
--- a/selfdrive/ui/layouts/main.py
+++ b/selfdrive/ui/layouts/main.py
@@ -45,12 +45,20 @@ def __init__(self):
     # carrot_man    
     self._last_carrot_cmd_idx = -1
 
+  @staticmethod
+  def _sync_screen_record_state(requested: bool) -> bool:
+    recording = gui_app.is_recording()
+    if requested != recording:
+      ui_state.params.put_bool_nonblocking("ScreenRecord", recording)
+    return recording
+
   def _handle_carrot_record_cmd(self, sm) -> bool:
     screen_record = ui_state.params.get_bool("ScreenRecord")
     if screen_record:
       gui_app.start_recording()
     else:
       gui_app.stop_recording()
+    recording = self._sync_screen_record_state(screen_record)
 
     try:
       cm = sm['carrotMan']
@@ -59,21 +67,21 @@ def _handle_carrot_record_cmd(self, sm) -> bool:
       arg = str(cm.carrotArg)
     except Exception as e:
       print(f"Error reading carrotMan message: {e}")
-      return gui_app.is_recording()
+      return recording
 
     if cmd_idx == self._last_carrot_cmd_idx or self._last_carrot_cmd_idx == -1:
       self._last_carrot_cmd_idx = cmd_idx
-      return gui_app.is_recording()
+      return recording
     print(f"CarrotMan command received: {cmd} {arg} (index {cmd_idx})")
     self._last_carrot_cmd_idx = cmd_idx
     
     if not ui_state.started:
       gui_app.stop_recording()
-      return gui_app.is_recording()
+      return self._sync_screen_record_state(screen_record)
 
 
     if cmd != "RECORD":
-      return gui_app.is_recording()
+      return recording
 
     arg = arg.upper()
     if arg == "START":
@@ -83,10 +91,7 @@ def _handle_carrot_record_cmd(self, sm) -> bool:
     elif arg == "TOGGLE":
       gui_app.toggle_recording()
       
-    if screen_record != gui_app.is_recording():
-      ui_state.params.put_bool_nonblocking("ScreenRecord", gui_app.is_recording())
-
-    return gui_app.is_recording()
+    return self._sync_screen_record_state(screen_record)
     
   def _render(self, _):
     self._handle_onroad_transition()
diff --git a/selfdrive/ui/mici/layouts/main.py b/selfdrive/ui/mici/layouts/main.py
index 6d0a08919c1..64039e5438d 100644
--- a/selfdrive/ui/mici/layouts/main.py
+++ b/selfdrive/ui/mici/layouts/main.py
@@ -64,12 +64,20 @@ def __init__(self):
     # carrot_man    
     self._last_carrot_cmd_idx = -1
 
+  @staticmethod
+  def _sync_screen_record_state(requested: bool) -> bool:
+    recording = gui_app.is_recording()
+    if requested != recording:
+      ui_state.params.put_bool_nonblocking("ScreenRecord", recording)
+    return recording
+
   def _handle_carrot_record_cmd(self, sm) -> bool:
     screen_record = ui_state.params.get_bool("ScreenRecord")
     if screen_record:
       gui_app.start_recording()
     else:
       gui_app.stop_recording()
+    recording = self._sync_screen_record_state(screen_record)
 
     try:
       cm = sm['carrotMan']
@@ -78,21 +86,21 @@ def _handle_carrot_record_cmd(self, sm) -> bool:
       arg = str(cm.carrotArg)
     except Exception as e:
       print(f"Error reading carrotMan message: {e}")
-      return gui_app.is_recording()
+      return recording
 
     if cmd_idx == self._last_carrot_cmd_idx or self._last_carrot_cmd_idx == -1:
       self._last_carrot_cmd_idx = cmd_idx
-      return gui_app.is_recording()
+      return recording
     print(f"CarrotMan command received: {cmd} {arg} (index {cmd_idx})")
     self._last_carrot_cmd_idx = cmd_idx
     
     if not ui_state.started:
       gui_app.stop_recording()
-      return gui_app.is_recording()
+      return self._sync_screen_record_state(screen_record)
 
 
     if cmd != "RECORD":
-      return gui_app.is_recording()
+      return recording
 
     arg = arg.upper()
     if arg == "START":
@@ -102,10 +110,7 @@ def _handle_carrot_record_cmd(self, sm) -> bool:
     elif arg == "TOGGLE":
       gui_app.toggle_recording()
       
-    if screen_record != gui_app.is_recording():
-      ui_state.params.put_bool_nonblocking("ScreenRecord", gui_app.is_recording())
-
-    return gui_app.is_recording()
+    return self._sync_screen_record_state(screen_record)
 
   def _setup_callbacks(self):
     self._home_layout.set_callbacks(on_settings=lambda: gui_app.push_widget(self._settings_layout))
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index 2372cae0650..13205e63e0b 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -85,6 +85,14 @@ def enable_xiaoge_data(started, params, CP: car.CarParams) -> bool:
 def enable_webrtc(started, params, CP: car.CarParams) -> bool:
   return params.get_int("DisableDM") == 2
 
+def enable_youtube_hq(started, params, CP: car.CarParams) -> bool:
+  # High-quality/wide YouTube Live pulls the full-res livestream encoders, which
+  # only exist when stream_encoderd runs. Start it when HQ streaming is selected.
+  try:
+    return params.get_int("CarrotYouTubeLive") > 0 and params.get_int("CarrotYouTubeQuality") > 0
+  except Exception:
+    return False
+
 def enable_cluster_hud(started, params, CP: car.CarParams) -> bool:
   try:
     return params.get_int("ClusterHud") in (1, 2)
@@ -96,7 +104,7 @@ def enable_cluster_hud(started, params, CP: car.CarParams) -> bool:
 
   NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
   NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad),
-  NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], or_(notcar, and_(only_onroad, enable_webrtc))),
+  NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], or_(notcar, and_(only_onroad, or_(enable_webrtc, enable_youtube_hq)))),
   PythonProcess("logmessaged", "system.logmessaged", always_run),
 
   NativeProcess("camerad", "system/camerad", ["./camerad"], driverview, enabled=not WEBCAM),

From 1189e74c0d5bac4493af0c36f8ed706172317284 Mon Sep 17 00:00:00 2001
From: jominki354 <jominki354@gmail.com>
Date: Wed, 1 Jul 2026 16:51:53 +0900
Subject: [PATCH 58/61] f

---
 common/params_keys.h                          |  1 +
 .../carrot/server/services/youtube_live.py    | 12 +++
 .../server/services/youtube_live_captions.py  | 94 +++++++++++++++++++
 .../tests/test_youtube_live_captions.py       | 77 +++++++++++++++
 selfdrive/carrot/web/index.html               |  2 +-
 .../web/js/pages/setting_youtube_live.js      |  8 +-
 selfdrive/carrot/web/js/translations/en.js    |  1 +
 selfdrive/carrot/web/js/translations/ko.js    |  1 +
 selfdrive/carrot/web/js/translations/zh.js    |  1 +
 selfdrive/carrot_settings.json                | 19 +++-
 10 files changed, 213 insertions(+), 3 deletions(-)
 create mode 100644 selfdrive/carrot/server/services/youtube_live_captions.py
 create mode 100644 selfdrive/carrot/server/tests/test_youtube_live_captions.py

diff --git a/common/params_keys.h b/common/params_keys.h
index 0f651a838da..9a8c44d3092 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -185,6 +185,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"RecordRoadCam", {PERSISTENT, INT, "0"}},
     {"CarrotYouTubeLive", {PERSISTENT, INT, "0"}},
     {"CarrotYouTubeQuality", {PERSISTENT, INT, "0"}},
+    {"CarrotYouTubeTimestamp", {PERSISTENT, INT, "0"}},
     {"HDPuse", {PERSISTENT, INT, "0"}},
 
     {"AutoCruiseControl", {PERSISTENT, INT, "0"}},
diff --git a/selfdrive/carrot/server/services/youtube_live.py b/selfdrive/carrot/server/services/youtube_live.py
index 29bf263126e..9fd2adff7e4 100644
--- a/selfdrive/carrot/server/services/youtube_live.py
+++ b/selfdrive/carrot/server/services/youtube_live.py
@@ -12,12 +12,14 @@
 from typing import Any
 
 from ..config import CARROT_YOUTUBE_LIVE_SECRET_PATH, CARROT_YOUTUBE_LIVE_STATE_PATH
+from .youtube_live_captions import Cea608TimestampInjector
 from .youtube_live_muxer import H264FlvMuxer, pyav_capabilities
 from .youtube_live_transport import LibrtmpClient, RtmpSink, librtmp_capabilities
 
 
 YOUTUBE_LIVE_PARAM = "CarrotYouTubeLive"
 YOUTUBE_QUALITY_PARAM = "CarrotYouTubeQuality"
+YOUTUBE_TIMESTAMP_PARAM = "CarrotYouTubeTimestamp"
 PHASE1_SOURCE_SERVICE = "qRoadEncodeData"
 PHASE1_QUALITY = "standard"
 # Single 3-way selector (CarrotYouTubeQuality):
@@ -143,6 +145,7 @@ def __init__(
     self._transport: LibrtmpClient | None = None
     self._transport_connected = False
     self._muxer: H264FlvMuxer | None = None
+    self._caption_injector = Cea608TimestampInjector()
     self._messaging: Any | None = None
     self._socket: Any | None = None
     self._socket_source = ""
@@ -225,6 +228,9 @@ def status(self) -> dict[str, Any]:
       "transport_available": bool(self._transport_capabilities.get("available")),
       "quality": self._quality_label(),
       "requested_quality": self._param_int(YOUTUBE_QUALITY_PARAM, 0),
+      "timestamp_caption_enabled": self._param_bool(YOUTUBE_TIMESTAMP_PARAM),
+      "timestamp_caption_mode": "cea608-sei",
+      "timestamp_caption_packets": self._caption_injector.packets_injected,
       "phase": 1,
       "running": running,
       "pid": None,
@@ -321,6 +327,7 @@ def diagnostics(self) -> dict[str, Any]:
       "params": {
         YOUTUBE_LIVE_PARAM: self._param_enabled(),
         YOUTUBE_QUALITY_PARAM: self._param_int(YOUTUBE_QUALITY_PARAM, 0),
+        YOUTUBE_TIMESTAMP_PARAM: self._param_bool(YOUTUBE_TIMESTAMP_PARAM),
         "ClusterHud": self._param_int("ClusterHud", 0),
         "DisableDM": self._param_int("DisableDM", 0),
         "IsOnroad": self._param_bool("IsOnroad", False),
@@ -454,6 +461,10 @@ async def _tick(self) -> None:
         self._set_state("backoff")
         return
 
+    data = self._caption_injector.inject(
+      data,
+      enabled=self._param_bool(YOUTUBE_TIMESTAMP_PARAM),
+    )
     if await self._write_frame(data, keyframe=keyframe):
       self._set_state("live")
 
@@ -624,6 +635,7 @@ async def _start_stream(self, stream_key: str, *, codec_header: bytes, width: in
     self._session_started_bytes = self._bytes_sent
     self._next_retry_mono = 0.0
     self._active_source = self._current_source()
+    self._caption_injector.reset()
     self._log(f"stream started ({width}x{height})")
 
   async def _write_frame(self, payload: bytes, *, keyframe: bool) -> bool:
diff --git a/selfdrive/carrot/server/services/youtube_live_captions.py b/selfdrive/carrot/server/services/youtube_live_captions.py
new file mode 100644
index 00000000000..bbc731ff19f
--- /dev/null
+++ b/selfdrive/carrot/server/services/youtube_live_captions.py
@@ -0,0 +1,94 @@
+from __future__ import annotations
+
+from collections import deque
+from datetime import datetime
+
+
+_ANNEXB_START_CODE = b"\x00\x00\x00\x01"
+_CEA608_RCL = (0x14, 0x20)
+_CEA608_EDM = (0x14, 0x2C)
+_CEA608_ENM = (0x14, 0x2E)
+_CEA608_EOC = (0x14, 0x2F)
+# Row 1, white, regular, indent 8. A 19-character timestamp is approximately centered.
+_CEA608_TOP_CENTER_PAC = (0x11, 0x54)
+
+
+def _with_odd_parity(value: int) -> int:
+  value &= 0x7F
+  return value | (0x80 if value.bit_count() % 2 == 0 else 0)
+
+
+def _rbsp_escape(payload: bytes) -> bytes:
+  escaped = bytearray()
+  zero_count = 0
+  for value in payload:
+    if zero_count >= 2 and value <= 0x03:
+      escaped.append(0x03)
+      zero_count = 0
+    escaped.append(value)
+    zero_count = zero_count + 1 if value == 0 else 0
+  return bytes(escaped)
+
+
+def build_cea608_sei(pair: tuple[int, int]) -> bytes:
+  cc_data_1 = _with_odd_parity(pair[0])
+  cc_data_2 = _with_odd_parity(pair[1])
+  itu_t_t35 = (
+    b"\xB5\x00\x31GA94\x03"
+    + b"\x41\xFF"  # process_cc_data_flag=1, cc_count=1, em_data=0xff
+    + bytes((0xFC, cc_data_1, cc_data_2))  # valid NTSC field-1 compatibility data
+    + b"\xFF"
+  )
+  sei_rbsp = bytes((0x04, len(itu_t_t35))) + itu_t_t35 + b"\x80"
+  return _ANNEXB_START_CODE + b"\x06" + _rbsp_escape(sei_rbsp)
+
+
+def _timestamp_pairs(text: str) -> list[tuple[int, int]]:
+  clean = "".join(ch if 0x20 <= ord(ch) <= 0x7E else "?" for ch in text)[:32]
+  if len(clean) % 2:
+    clean += " "
+  text_pairs = [(ord(clean[index]), ord(clean[index + 1])) for index in range(0, len(clean), 2)]
+  return [
+    _CEA608_RCL, _CEA608_RCL,
+    _CEA608_ENM, _CEA608_ENM,
+    _CEA608_TOP_CENTER_PAC, _CEA608_TOP_CENTER_PAC,
+    *text_pairs,
+    _CEA608_EOC, _CEA608_EOC,
+  ]
+
+
+class Cea608TimestampInjector:
+  def __init__(self) -> None:
+    self._enabled = False
+    self._last_text = ""
+    self._pending: deque[tuple[int, int]] = deque()
+    self.packets_injected = 0
+
+  def reset(self) -> None:
+    self._enabled = False
+    self._last_text = ""
+    self._pending.clear()
+
+  def inject(self, payload: bytes, *, enabled: bool, now: datetime | None = None) -> bytes:
+    if not payload:
+      return payload
+
+    if enabled != self._enabled:
+      self._enabled = enabled
+      self._last_text = ""
+      self._pending.clear()
+      if not enabled:
+        self._pending.extend((_CEA608_EDM, _CEA608_EDM))
+
+    if enabled and not self._pending:
+      local_now = now if now is not None else datetime.now().astimezone()
+      text = local_now.strftime("%Y-%m-%d %H:%M:%S")
+      if text != self._last_text:
+        self._last_text = text
+        self._pending.extend(_timestamp_pairs(text))
+
+    if not self._pending:
+      return payload
+
+    self.packets_injected += 1
+    return build_cea608_sei(self._pending.popleft()) + payload
diff --git a/selfdrive/carrot/server/tests/test_youtube_live_captions.py b/selfdrive/carrot/server/tests/test_youtube_live_captions.py
new file mode 100644
index 00000000000..4abc0fa74a7
--- /dev/null
+++ b/selfdrive/carrot/server/tests/test_youtube_live_captions.py
@@ -0,0 +1,77 @@
+from datetime import datetime, timezone
+
+from selfdrive.carrot.server.services.youtube_live_captions import Cea608TimestampInjector, build_cea608_sei
+from selfdrive.carrot.server.services.youtube_live_muxer import _annexb_to_avcc
+
+
+def _unescape_rbsp(payload: bytes) -> bytes:
+  result = bytearray()
+  index = 0
+  while index < len(payload):
+    if payload[index:index + 3] == b"\x00\x00\x03":
+      result.extend(b"\x00\x00")
+      index += 3
+    else:
+      result.append(payload[index])
+      index += 1
+  return bytes(result)
+
+
+def _caption_pair(sei: bytes) -> tuple[int, int]:
+  assert sei.startswith(b"\x00\x00\x00\x01\x06")
+  rbsp = _unescape_rbsp(sei[5:])
+  assert rbsp[:2] == b"\x04\x0e"
+  assert rbsp[2:10] == b"\xB5\x00\x31GA94\x03"
+  assert rbsp[10:12] == b"\x41\xFF"
+  assert rbsp[12] == 0xFC
+  return rbsp[13] & 0x7F, rbsp[14] & 0x7F
+
+
+def test_build_cea608_sei_has_atsc_payload_and_odd_parity() -> None:
+  sei = build_cea608_sei((ord("2"), ord("0")))
+  rbsp = _unescape_rbsp(sei[5:])
+  assert _caption_pair(sei) == (ord("2"), ord("0"))
+  assert rbsp[13].bit_count() % 2 == 1
+  assert rbsp[14].bit_count() % 2 == 1
+  assert rbsp[-1] == 0x80
+
+
+def test_flv_avcc_conversion_keeps_caption_sei_before_video() -> None:
+  video = b"\x00\x00\x00\x01\x65\x88\x84"
+  avcc = _annexb_to_avcc(build_cea608_sei((ord("2"), ord("0"))) + video)
+  first_size = int.from_bytes(avcc[:4], "big")
+  first_nalu = avcc[4:4 + first_size]
+  second_offset = 4 + first_size
+  second_size = int.from_bytes(avcc[second_offset:second_offset + 4], "big")
+  second_nalu = avcc[second_offset + 4:second_offset + 4 + second_size]
+  assert first_nalu[0] & 0x1F == 6
+  assert second_nalu[0] & 0x1F == 5
+
+
+def test_timestamp_sequence_is_injected_without_changing_video_payload() -> None:
+  injector = Cea608TimestampInjector()
+  video = b"\x00\x00\x00\x01\x65\x88\x84"
+  now = datetime(2026, 7, 1, 8, 32, 9, tzinfo=timezone.utc)
+  pairs = []
+  for _ in range(18):
+    injected = injector.inject(video, enabled=True, now=now)
+    assert injected.endswith(video)
+    pairs.append(_caption_pair(injected[:-len(video)]))
+
+  text = "".join(chr(value) for pair in pairs[6:-2] for value in pair).rstrip()
+  assert text == "2026-07-01 08:32:09"
+  assert pairs[:2] == [(0x14, 0x20)] * 2
+  assert pairs[2:4] == [(0x14, 0x2E)] * 2
+  assert pairs[4:6] == [(0x11, 0x54)] * 2
+  assert pairs[-2:] == [(0x14, 0x2F)] * 2
+
+
+def test_disabling_captions_sends_erase_display_memory() -> None:
+  injector = Cea608TimestampInjector()
+  video = b"\x00\x00\x00\x01\x41\x01"
+  injector.inject(video, enabled=True, now=datetime(2026, 7, 1, tzinfo=timezone.utc))
+  first = injector.inject(video, enabled=False)
+  second = injector.inject(video, enabled=False)
+  assert _caption_pair(first[:-len(video)]) == (0x14, 0x2C)
+  assert _caption_pair(second[:-len(video)]) == (0x14, 0x2C)
+  assert injector.inject(video, enabled=False) == video
diff --git a/selfdrive/carrot/web/index.html b/selfdrive/carrot/web/index.html
index cd17d8099f9..b628cc5aa4e 100644
--- a/selfdrive/carrot/web/index.html
+++ b/selfdrive/carrot/web/index.html
@@ -728,7 +728,7 @@ <h2 id="carrotTitle" class="page-title">Home</h2>
   <script src="/js/shared/ui/effects.js?v=2604-72"></script>
   <script src="/js/shared/ui/navigation.js?v=2606-19"></script>
   <script src="/js/pages/car.js?v=2607-01"></script>
-  <script src="/js/pages/setting_youtube_live.js?v=2607-22"></script>
+  <script src="/js/pages/setting_youtube_live.js?v=2607-23"></script>
   <script src="/js/shared/ui/nav_status_badges.js?v=2607-01"></script>
   <script src="/js/pages/setting.js?v=2607-13"></script>
   <script src="/js/pages/setting_device_config.js?v=2605-05"></script>
diff --git a/selfdrive/carrot/web/js/pages/setting_youtube_live.js b/selfdrive/carrot/web/js/pages/setting_youtube_live.js
index d1f49623e82..6e5e418c13f 100644
--- a/selfdrive/carrot/web/js/pages/setting_youtube_live.js
+++ b/selfdrive/carrot/web/js/pages/setting_youtube_live.js
@@ -221,6 +221,12 @@
     if (metricsEl) {
       metricsEl.innerHTML = "";
       metricsEl.appendChild(metric(text("youtube_live_metric_source", "Source"), status?.source || "qRoadEncodeData"));
+      metricsEl.appendChild(metric(
+        text("youtube_live_metric_timestamp", "Time caption"),
+        status?.timestamp_caption_enabled
+          ? text("youtube_live_resource_enabled", "Enabled")
+          : text("youtube_live_resource_disabled", "Disabled"),
+      ));
       metricsEl.appendChild(metric(text("youtube_live_metric_runtime", "Runtime"), formatSeconds(status?.uptime_sec || 0)));
       metricsEl.appendChild(metric(text("youtube_live_metric_bitrate", "Bitrate"), `${status?.estimated_kbps || 0} kbps`));
       metricsEl.appendChild(metric(text("youtube_live_metric_session", "Session"), `${status?.session_mb || 0} MB`));
@@ -600,7 +606,7 @@
     });
     window.addEventListener("carrot:paramchange", (event) => {
       const name = event?.detail?.name;
-      if (name === "CarrotYouTubeLive" || name === "CarrotYouTubeQuality") loadStatus();
+      if (name === "CarrotYouTubeLive" || name === "CarrotYouTubeQuality" || name === "CarrotYouTubeTimestamp") loadStatus();
     });
     sync();
   }
diff --git a/selfdrive/carrot/web/js/translations/en.js b/selfdrive/carrot/web/js/translations/en.js
index b7bbdc9e6e2..f194340e78d 100644
--- a/selfdrive/carrot/web/js/translations/en.js
+++ b/selfdrive/carrot/web/js/translations/en.js
@@ -65,6 +65,7 @@ window.CarrotTranslations.register("en", {
     youtube_live_test_failed: "Test failed",
     youtube_live_muxer: "PyAV FLV/AAC",
     youtube_live_metric_source: "Source",
+    youtube_live_metric_timestamp: "Time caption",
     youtube_live_metric_runtime: "Runtime",
     youtube_live_metric_bitrate: "Bitrate",
     youtube_live_metric_session: "Session",
diff --git a/selfdrive/carrot/web/js/translations/ko.js b/selfdrive/carrot/web/js/translations/ko.js
index a4dd5dd154d..f2fdcd37648 100644
--- a/selfdrive/carrot/web/js/translations/ko.js
+++ b/selfdrive/carrot/web/js/translations/ko.js
@@ -65,6 +65,7 @@ window.CarrotTranslations.register("ko", {
     youtube_live_test_failed: "테스트 실패",
     youtube_live_muxer: "PyAV FLV/AAC",
     youtube_live_metric_source: "소스",
+    youtube_live_metric_timestamp: "시간 자막",
     youtube_live_metric_runtime: "시간",
     youtube_live_metric_bitrate: "비트레이트",
     youtube_live_metric_session: "세션",
diff --git a/selfdrive/carrot/web/js/translations/zh.js b/selfdrive/carrot/web/js/translations/zh.js
index b2514062081..21134bc2816 100644
--- a/selfdrive/carrot/web/js/translations/zh.js
+++ b/selfdrive/carrot/web/js/translations/zh.js
@@ -65,6 +65,7 @@ window.CarrotTranslations.register("zh", {
     youtube_live_test_failed: "Test failed",
     youtube_live_muxer: "PyAV FLV/AAC",
     youtube_live_metric_source: "Source",
+    youtube_live_metric_timestamp: "时间字幕",
     youtube_live_metric_runtime: "Runtime",
     youtube_live_metric_bitrate: "Bitrate",
     youtube_live_metric_session: "Session",
diff --git a/selfdrive/carrot_settings.json b/selfdrive/carrot_settings.json
index d9a04d8b039..1a8ff1ae65a 100644
--- a/selfdrive/carrot_settings.json
+++ b/selfdrive/carrot_settings.json
@@ -557,7 +557,8 @@
               "zh": "YouTube Live",
               "params": [
                 "CarrotYouTubeLive",
-                "CarrotYouTubeQuality"
+                "CarrotYouTubeQuality",
+                "CarrotYouTubeTimestamp"
               ]
             }
           ]
@@ -1779,6 +1780,22 @@
       "default": 0,
       "unit": 1
     },
+    {
+      "group": "SYS_YOUTUBE",
+      "name": "CarrotYouTubeTimestamp",
+      "title": "YouTube 시간 자막",
+      "descr": "영상 재인코딩 없이 현재 시간을 CEA-608/708 자막으로 송출합니다. YouTube Studio에서 자막 소스를 '내장 608/708'로 설정하고 시청 화면에서 CC를 켜야 보입니다. 위치는 YouTube 플레이어에 따라 달라질 수 있습니다.\n0: 끄기, 1: 켜기",
+      "egroup": "System",
+      "etitle": "YouTube Time Caption",
+      "edescr": "Send the current time as embedded CEA-608/708 captions without re-encoding video. Select Embedded 608/708 captions in YouTube Studio and enable CC in the player. Placement may vary by player.\n0: OFF, 1: ON",
+      "cgroup": "System",
+      "ctitle": "YouTube Time Caption",
+      "cdescr": "Send the current time as embedded CEA-608/708 captions without re-encoding video. Enable embedded captions in YouTube Studio and turn on CC in the player.\n0: OFF, 1: ON",
+      "min": 0,
+      "max": 1,
+      "default": 0,
+      "unit": 1
+    },
     {
       "group": "시작",
       "name": "HDPuse",

From 5d545b632552a4cac2c47849cebf73fe449777f4 Mon Sep 17 00:00:00 2001
From: jominki354 <jominki354@gmail.com>
Date: Wed, 1 Jul 2026 17:10:11 +0900
Subject: [PATCH 59/61] f

---
 cereal/log.capnp                              |  2 ++
 cereal/services.py                            |  1 +
 .../carrot/server/services/youtube_live.py    | 31 +++++++++++--------
 selfdrive/carrot/web/index.html               |  8 ++---
 .../web/js/pages/setting_youtube_live.js      | 19 +++++++++---
 selfdrive/carrot/web/js/translations/en.js    | 15 ++++++---
 selfdrive/carrot/web/js/translations/ko.js    | 15 ++++++---
 selfdrive/carrot/web/js/translations/zh.js    | 15 ++++++---
 selfdrive/carrot_settings.json                | 20 ++++++------
 system/loggerd/encoder/v4l_encoder.cc         | 25 +++++++++++++++
 system/loggerd/encoderd.cc                    |  2 ++
 system/loggerd/loggerd.h                      | 20 ++++++++++++
 system/manager/process_config.py              | 13 ++++++--
 13 files changed, 140 insertions(+), 46 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index cf7fc540c66..0fc2635afce 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2604,6 +2604,8 @@ struct Event {
     livestreamRoadEncodeData @120 :EncodeData;
     livestreamWideRoadEncodeData @121 :EncodeData;
     livestreamDriverEncodeData @122 :EncodeData;
+    youtubeRoadEncodeData @152 :EncodeData;
+    youtubeRoadEncodeIdx @153 :EncodeIndex;
 
     # *********** Custom: reserved for forks ***********
 
diff --git a/cereal/services.py b/cereal/services.py
index f1e8c1b8617..27f77cf256e 100644
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -107,6 +107,7 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "livestreamWideRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
   "livestreamRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
   "livestreamDriverEncodeData": (False, 20., None, QueueSize.MEDIUM),
+  "youtubeRoadEncodeData": (False, 20., None, QueueSize.BIG),
   "customReservedRawData0": (True, 0.),
   "customReservedRawData1": (True, 0.),
   "customReservedRawData2": (True, 0.),
diff --git a/selfdrive/carrot/server/services/youtube_live.py b/selfdrive/carrot/server/services/youtube_live.py
index 9fd2adff7e4..afd82cb70aa 100644
--- a/selfdrive/carrot/server/services/youtube_live.py
+++ b/selfdrive/carrot/server/services/youtube_live.py
@@ -20,19 +20,15 @@
 YOUTUBE_LIVE_PARAM = "CarrotYouTubeLive"
 YOUTUBE_QUALITY_PARAM = "CarrotYouTubeQuality"
 YOUTUBE_TIMESTAMP_PARAM = "CarrotYouTubeTimestamp"
-PHASE1_SOURCE_SERVICE = "qRoadEncodeData"
-PHASE1_QUALITY = "standard"
-# Single 3-way selector (CarrotYouTubeQuality):
-#   0 일반  = low-res qcamera (road, data-saving)
-#   1 고화질 = full-res road livestream
-#   2 광각  = full-res wide livestream
-# 1/2 need stream_encoderd, which the manager gate enables for HQ streaming.
+# The high-quality source has a dedicated encoder so Carrot Vision's shared
+# livestream resolution and bitrate remain unchanged.
 SOURCE_BY_QUALITY = {
   0: "qRoadEncodeData",
   1: "livestreamRoadEncodeData",
-  2: "livestreamWideRoadEncodeData",
+  2: "youtubeRoadEncodeData",
+  3: "livestreamWideRoadEncodeData",
 }
-QUALITY_LABELS = {0: "standard", 1: "high", 2: "wide"}
+QUALITY_LABELS = {0: "low", 1: "medium", 2: "high", 3: "wide"}
 YOUTUBE_RTMPS_BASE = "rtmps://a.rtmps.youtube.com:443/live2"
 YOUTUBE_RTMPS_HOST = "a.rtmps.youtube.com"
 YOUTUBE_RTMPS_PORT = 443
@@ -50,6 +46,7 @@
   "carrot_cluster": "selfdrive.carrot.cluster_autorun",
   "webrtcd": "system.webrtc.webrtcd",
   "stream_encoderd": "system/loggerd/encoderd\x00--stream",
+  "youtube_encoderd": "system/loggerd/encoderd\x00--youtube",
 }
 
 
@@ -432,7 +429,7 @@ async def _tick(self) -> None:
     header, data, frame_id, keyframe, width, height = self._recv_frame()
     if not data:
       if self._transport is not None and self._last_frame_mono and _mono() - self._last_frame_mono > NO_FRAME_STOP_SECONDS:
-        self._last_error = "no qRoadEncodeData frames"
+        self._last_error = f"no {self._current_source()} frames"
         await self._stop_stream()
         self._schedule_backoff("frame timeout")
       self._set_state("waiting_frame" if self._transport is None else "live")
@@ -602,7 +599,7 @@ def _recv_frame(self) -> tuple[bytes, bytes, int | None, bool, int, int]:
       keyframe = bool(header) or bool(flags & 0x8)
       return header, data, frame_id, keyframe, width, height
     except Exception as exc:
-      self._last_error = f"{PHASE1_SOURCE_SERVICE} recv failed: {exc}"
+      self._last_error = f"{self._current_source()} recv failed: {exc}"
       return b"", b"", None, False, 526, 330
 
   async def _start_stream(self, stream_key: str, *, codec_header: bytes, width: int, height: int) -> None:
@@ -728,6 +725,9 @@ def _resource_status(self) -> dict[str, Any]:
         "webrtcd_pids": list(processes.get("webrtcd", {}).get("pids") or []),
         "stream_encoderd_pids": list(processes.get("stream_encoderd", {}).get("pids") or []),
       },
+      "youtube_encoder": {
+        **processes.get("youtube_encoderd", {"running": False, "pids": []}),
+      },
     }
 
   def _warnings(self, resource_status: dict[str, Any]) -> list[str]:
@@ -740,9 +740,14 @@ def _warnings(self, resource_status: dict[str, Any]) -> list[str]:
       warnings.append("Cluster HUD is enabled; monitor overall load and temperature during simultaneous use.")
     if vision and vision.get("enabled"):
       warnings.append("Carrot Vision is enabled; simultaneous streaming increases network and memory bandwidth use.")
-    if self._param_int(YOUTUBE_QUALITY_PARAM, 0) > 0:
+    quality = self._param_int(YOUTUBE_QUALITY_PARAM, 0)
+    if quality in (1, 3):
       if not (vision and vision.get("stream_encoderd_running")):
-        warnings.append("High quality/wide uses the livestream encoder (stream_encoderd); it starts onroad — wait for frames.")
+        warnings.append("The selected video mode is waiting for the shared livestream encoder to start onroad.")
+    elif quality == 2:
+      youtube_encoder = resource_status.get("youtube_encoder") if isinstance(resource_status, dict) else {}
+      if not (youtube_encoder and youtube_encoder.get("running")):
+        warnings.append("High quality is waiting for the dedicated YouTube encoder to start onroad.")
     return warnings
 
 
diff --git a/selfdrive/carrot/web/index.html b/selfdrive/carrot/web/index.html
index b628cc5aa4e..8a44456ae27 100644
--- a/selfdrive/carrot/web/index.html
+++ b/selfdrive/carrot/web/index.html
@@ -711,9 +711,9 @@ <h2 id="carrotTitle" class="page-title">Home</h2>
   <script src="/js/vendor/qrcode-generator.js?v=1.4.4"></script>
   <script src="/js/vendor/jsQR.js?v=1.4.0"></script>
   <script src="/js/translations/registry.js?v=2605-09"></script>
-  <script src="/js/translations/ko.js?v=2607-22"></script>
-  <script src="/js/translations/en.js?v=2607-22"></script>
-  <script src="/js/translations/zh.js?v=2607-22"></script>
+  <script src="/js/translations/ko.js?v=2607-24"></script>
+  <script src="/js/translations/en.js?v=2607-24"></script>
+  <script src="/js/translations/zh.js?v=2607-24"></script>
   <script src="/js/realtime/hud_card.js?v=2604-05"></script>
   <script src="/js/shared/constants.js?v=2604-72"></script>
   <script src="/js/shared/dom.js?v=2604-72"></script>
@@ -728,7 +728,7 @@ <h2 id="carrotTitle" class="page-title">Home</h2>
   <script src="/js/shared/ui/effects.js?v=2604-72"></script>
   <script src="/js/shared/ui/navigation.js?v=2606-19"></script>
   <script src="/js/pages/car.js?v=2607-01"></script>
-  <script src="/js/pages/setting_youtube_live.js?v=2607-23"></script>
+  <script src="/js/pages/setting_youtube_live.js?v=2607-25"></script>
   <script src="/js/shared/ui/nav_status_badges.js?v=2607-01"></script>
   <script src="/js/pages/setting.js?v=2607-13"></script>
   <script src="/js/pages/setting_device_config.js?v=2605-05"></script>
diff --git a/selfdrive/carrot/web/js/pages/setting_youtube_live.js b/selfdrive/carrot/web/js/pages/setting_youtube_live.js
index 6e5e418c13f..582e48cbffa 100644
--- a/selfdrive/carrot/web/js/pages/setting_youtube_live.js
+++ b/selfdrive/carrot/web/js/pages/setting_youtube_live.js
@@ -220,7 +220,7 @@
     if (summaryEl) summaryEl.textContent = streamSummary(status);
     if (metricsEl) {
       metricsEl.innerHTML = "";
-      metricsEl.appendChild(metric(text("youtube_live_metric_source", "Source"), status?.source || "qRoadEncodeData"));
+      metricsEl.appendChild(metric(text("youtube_live_metric_source", "Video"), sourceLabel(status)));
       metricsEl.appendChild(metric(
         text("youtube_live_metric_timestamp", "Time caption"),
         status?.timestamp_caption_enabled
@@ -251,6 +251,14 @@
     return `${width}*${height} * ${fps}fps`;
   }
 
+  function sourceLabel(status) {
+    const source = String(status?.source || "");
+    if (source === "livestreamRoadEncodeData") return text("youtube_live_source_medium", "Medium quality");
+    if (source === "youtubeRoadEncodeData") return text("youtube_live_source_high", "High quality");
+    if (source === "livestreamWideRoadEncodeData") return text("youtube_live_source_wide", "Wide angle");
+    return text("youtube_live_source_low", "Low quality");
+  }
+
   function retryLabel(status) {
     const retry = Number(status?.retry_in_sec || 0);
     if (String(status?.state || "") === "backoff" && retry > 0) {
@@ -429,14 +437,17 @@
       "Cluster HUD is enabled; monitor overall load and temperature during simultaneous use.": text("youtube_live_warning_cluster", "Cluster HUD is enabled. Monitor overall load and temperature during simultaneous use."),
       "Carrot Vision is enabled; YouTube Live shares camera/encoder/network resources.": text("youtube_live_warning_vision", "Carrot Vision is enabled. Camera, encoder, and network resources are shared."),
       "Carrot Vision is enabled; simultaneous streaming increases network and memory bandwidth use.": text("youtube_live_warning_vision", "Carrot Vision is enabled. Simultaneous streaming increases network and memory bandwidth use."),
-      "High quality mode is planned for Phase 3; Phase 2 keeps qRoadEncodeData only.": text("youtube_live_warning_quality", "High quality mode is not available yet."),
+      "High quality mode is planned for Phase 3; Phase 2 keeps qRoadEncodeData only.": text("youtube_live_warning_quality", "The selected video mode is unavailable."),
+      "The selected video mode is waiting for the shared livestream encoder to start onroad.": text("youtube_live_warning_source_wait", "The selected video mode is waiting for its encoder."),
+      "High quality is waiting for the dedicated YouTube encoder to start onroad.": text("youtube_live_warning_high_wait", "High quality is waiting for its encoder."),
       "librtmp is unavailable": text("youtube_live_error_transport_missing", "librtmp is unavailable."),
       "librtmp not found": text("youtube_live_error_transport_missing", "librtmp is unavailable."),
       "PyAV FLV/AAC muxer is unavailable": text("youtube_live_error_muxer_missing", "PyAV FLV/AAC muxing is unavailable."),
       "YouTube RTMPS connection closed": text("youtube_live_error_transport_closed", "The YouTube RTMPS connection was closed."),
-      "no qRoadEncodeData frames": text("youtube_live_error_no_frames", "No qRoadEncodeData frames were received."),
+      "no qRoadEncodeData frames": text("youtube_live_error_no_frames", "No camera frames were received."),
     };
     if (exact[raw]) return exact[raw];
+    if (/^no .* frames$/i.test(raw)) return text("youtube_live_error_no_frames", "No camera frames were received.");
     if (/^YouTube RTMPS publish failed:/i.test(raw)) {
       return text("youtube_live_error_publish_failed", "YouTube RTMPS publishing failed: {error}", { error: raw.split(":", 2)[1]?.trim() || "-" });
     }
@@ -511,7 +522,7 @@
       `${text("youtube_live_muxer", "PyAV FLV/AAC")}: ${test.muxer_available ? pass : fail}`,
       `${text("youtube_live_validation_transport", "librtmp")}: ${test.transport_available ? pass : fail}`,
       `${text("youtube_live_validation_rtmps", "YouTube RTMPS")}: ${test.rtmps_reachable ? pass : fail}`,
-      `${text("youtube_live_metric_source", "Source")}: ${test.source || "-"}`,
+      `${text("youtube_live_metric_source", "Source")}: ${sourceLabel({ source: test.source })}`,
       "",
       `[${text("youtube_live_check_stream_section", "Stream status")}]`,
       `${text("youtube_live_state_label", "State")}: ${stateLabel(status)}`,
diff --git a/selfdrive/carrot/web/js/translations/en.js b/selfdrive/carrot/web/js/translations/en.js
index f194340e78d..e5c2c3bf43c 100644
--- a/selfdrive/carrot/web/js/translations/en.js
+++ b/selfdrive/carrot/web/js/translations/en.js
@@ -6,7 +6,7 @@ window.CarrotTranslations.register("en", {
   shortName: "EN",
   strings: {
     youtube_live_title: "YouTube Live",
-    youtube_live_phase1_source: "Phase 1 - qRoadEncodeData",
+    youtube_live_phase1_source: "YouTube Live",
     youtube_live_key_configured: "Key saved: {key}",
     youtube_live_key_missing: "Stream key is not saved",
     youtube_live_key_panel_title: "Stream key",
@@ -52,10 +52,12 @@ window.CarrotTranslations.register("en", {
     youtube_live_resource_disabled: "Disabled",
     youtube_live_warning_cluster: "Cluster HUD is enabled. Monitor overall load and device temperature during simultaneous use.",
     youtube_live_warning_vision: "Carrot Vision is enabled. Simultaneous streaming increases network and memory bandwidth use.",
-    youtube_live_warning_quality: "High quality mode is not available yet.",
+    youtube_live_warning_quality: "The selected video mode is unavailable.",
+    youtube_live_warning_source_wait: "The selected video mode is waiting for its encoder.",
+    youtube_live_warning_high_wait: "High quality is waiting for its dedicated encoder.",
     youtube_live_error_transport_missing: "librtmp RTMPS transport is unavailable.",
     youtube_live_error_transport_closed: "The YouTube RTMPS connection was closed.",
-    youtube_live_error_no_frames: "No qRoadEncodeData frames were received.",
+    youtube_live_error_no_frames: "No camera frames were received.",
     youtube_live_error_muxer_missing: "PyAV FLV/AAC muxing is unavailable.",
     youtube_live_error_publish_failed: "YouTube RTMPS publishing failed: {error}",
     youtube_live_error_start_failed: "YouTube RTMPS connection failed: {error}",
@@ -64,7 +66,12 @@ window.CarrotTranslations.register("en", {
     youtube_live_test_muxer_missing: "Stream key, RTMPS network, librtmp, or PyAV FLV/AAC is unavailable.",
     youtube_live_test_failed: "Test failed",
     youtube_live_muxer: "PyAV FLV/AAC",
-    youtube_live_metric_source: "Source",
+    youtube_live_metric_source: "Video",
+    youtube_live_source_standard: "Low quality",
+    youtube_live_source_low: "Low quality",
+    youtube_live_source_medium: "Medium quality",
+    youtube_live_source_high: "High quality",
+    youtube_live_source_wide: "Wide angle",
     youtube_live_metric_timestamp: "Time caption",
     youtube_live_metric_runtime: "Runtime",
     youtube_live_metric_bitrate: "Bitrate",
diff --git a/selfdrive/carrot/web/js/translations/ko.js b/selfdrive/carrot/web/js/translations/ko.js
index f2fdcd37648..a0aae610bd4 100644
--- a/selfdrive/carrot/web/js/translations/ko.js
+++ b/selfdrive/carrot/web/js/translations/ko.js
@@ -6,7 +6,7 @@ window.CarrotTranslations.register("ko", {
   shortName: "KO",
   strings: {
     youtube_live_title: "YouTube 라이브",
-    youtube_live_phase1_source: "페이즈 1 - qRoadEncodeData",
+    youtube_live_phase1_source: "YouTube 라이브",
     youtube_live_key_configured: "키 저장됨: {key}",
     youtube_live_key_missing: "스트림 키가 저장되지 않음",
     youtube_live_key_panel_title: "스트림 키",
@@ -52,10 +52,12 @@ window.CarrotTranslations.register("ko", {
     youtube_live_resource_disabled: "꺼짐",
     youtube_live_warning_cluster: "Cluster HUD가 켜져 있습니다. 동시 사용 중 전체 부하와 기기 온도를 확인하세요.",
     youtube_live_warning_vision: "Carrot Vision이 켜져 있습니다. 동시 송출 시 네트워크와 메모리 대역폭 사용량이 증가합니다.",
-    youtube_live_warning_quality: "고화질 모드는 아직 사용할 수 없습니다.",
+    youtube_live_warning_quality: "선택한 영상 모드를 사용할 수 없습니다.",
+    youtube_live_warning_source_wait: "선택한 영상의 인코더가 시작되기를 기다리고 있습니다.",
+    youtube_live_warning_high_wait: "고화질 전용 인코더가 시작되기를 기다리고 있습니다.",
     youtube_live_error_transport_missing: "librtmp RTMPS 전송 기능을 사용할 수 없습니다.",
     youtube_live_error_transport_closed: "YouTube RTMPS 연결이 종료되었습니다.",
-    youtube_live_error_no_frames: "qRoadEncodeData 프레임이 수신되지 않습니다.",
+    youtube_live_error_no_frames: "카메라 영상이 수신되지 않습니다.",
     youtube_live_error_muxer_missing: "PyAV FLV/AAC mux를 사용할 수 없습니다.",
     youtube_live_error_publish_failed: "YouTube RTMPS 송출 실패: {error}",
     youtube_live_error_start_failed: "YouTube RTMPS 연결 실패: {error}",
@@ -64,7 +66,12 @@ window.CarrotTranslations.register("ko", {
     youtube_live_test_muxer_missing: "스트림 키, RTMPS 네트워크, librtmp 또는 PyAV FLV/AAC를 사용할 수 없습니다.",
     youtube_live_test_failed: "테스트 실패",
     youtube_live_muxer: "PyAV FLV/AAC",
-    youtube_live_metric_source: "소스",
+    youtube_live_metric_source: "영상",
+    youtube_live_source_standard: "저화질",
+    youtube_live_source_low: "저화질",
+    youtube_live_source_medium: "중화질",
+    youtube_live_source_high: "고화질",
+    youtube_live_source_wide: "광각",
     youtube_live_metric_timestamp: "시간 자막",
     youtube_live_metric_runtime: "시간",
     youtube_live_metric_bitrate: "비트레이트",
diff --git a/selfdrive/carrot/web/js/translations/zh.js b/selfdrive/carrot/web/js/translations/zh.js
index 21134bc2816..8da5dbd7355 100644
--- a/selfdrive/carrot/web/js/translations/zh.js
+++ b/selfdrive/carrot/web/js/translations/zh.js
@@ -6,7 +6,7 @@ window.CarrotTranslations.register("zh", {
   shortName: "ZH",
   strings: {
     youtube_live_title: "YouTube Live",
-    youtube_live_phase1_source: "Phase 1 - qRoadEncodeData",
+    youtube_live_phase1_source: "YouTube Live",
     youtube_live_key_configured: "Key saved: {key}",
     youtube_live_key_missing: "Stream key is not saved",
     youtube_live_key_panel_title: "Stream key",
@@ -52,10 +52,12 @@ window.CarrotTranslations.register("zh", {
     youtube_live_resource_disabled: "已关闭",
     youtube_live_warning_cluster: "Cluster HUD 已启用。同时使用时请注意整体负载和设备温度。",
     youtube_live_warning_vision: "Carrot Vision 已启用。同时推流会增加网络和内存带宽使用。",
-    youtube_live_warning_quality: "高画质模式暂不可用。",
+    youtube_live_warning_quality: "所选视频模式不可用。",
+    youtube_live_warning_source_wait: "正在等待所选视频模式的编码器启动。",
+    youtube_live_warning_high_wait: "正在等待高画质专用编码器启动。",
     youtube_live_error_transport_missing: "无法使用 librtmp RTMPS 传输。",
     youtube_live_error_transport_closed: "YouTube RTMPS 连接已关闭。",
-    youtube_live_error_no_frames: "未收到 qRoadEncodeData 帧。",
+    youtube_live_error_no_frames: "未收到摄像头画面。",
     youtube_live_error_muxer_missing: "无法使用 PyAV FLV/AAC 封装。",
     youtube_live_error_publish_failed: "YouTube RTMPS 推流失败：{error}",
     youtube_live_error_start_failed: "YouTube RTMPS 连接失败：{error}",
@@ -64,7 +66,12 @@ window.CarrotTranslations.register("zh", {
     youtube_live_test_muxer_missing: "无法使用串流密钥、RTMPS 网络、librtmp 或 PyAV FLV/AAC。",
     youtube_live_test_failed: "Test failed",
     youtube_live_muxer: "PyAV FLV/AAC",
-    youtube_live_metric_source: "Source",
+    youtube_live_metric_source: "视频",
+    youtube_live_source_standard: "低画质",
+    youtube_live_source_low: "低画质",
+    youtube_live_source_medium: "中画质",
+    youtube_live_source_high: "高画质",
+    youtube_live_source_wide: "广角",
     youtube_live_metric_timestamp: "时间字幕",
     youtube_live_metric_runtime: "Runtime",
     youtube_live_metric_bitrate: "Bitrate",
diff --git a/selfdrive/carrot_settings.json b/selfdrive/carrot_settings.json
index 1a8ff1ae65a..109342dc30e 100644
--- a/selfdrive/carrot_settings.json
+++ b/selfdrive/carrot_settings.json
@@ -1752,13 +1752,13 @@
       "group": "SYS_YOUTUBE",
       "name": "CarrotYouTubeLive",
       "title": "YouTube 송출",
-      "descr": "YouTube Live로 qRoadEncodeData 영상을 송출합니다.\n0: 끄기, 1: 켜기",
+      "descr": "주행 중 선택한 카메라 영상을 YouTube Live로 송출합니다.\n0: 끄기, 1: 켜기",
       "egroup": "System",
       "etitle": "YouTube Live",
-      "edescr": "Stream qRoadEncodeData video to YouTube Live.\n0: OFF, 1: ON",
+      "edescr": "Stream the selected driving camera to YouTube Live.\n0: OFF, 1: ON",
       "cgroup": "System",
       "ctitle": "YouTube Live",
-      "cdescr": "Stream qRoadEncodeData video to YouTube Live.\n0: OFF, 1: ON",
+      "cdescr": "Stream the selected driving camera to YouTube Live.\n0: OFF, 1: ON",
       "min": 0,
       "max": 1,
       "default": 0,
@@ -1768,15 +1768,15 @@
       "group": "SYS_YOUTUBE",
       "name": "CarrotYouTubeQuality",
       "title": "YouTube 화질",
-      "descr": "송출 소스\n0: 일반 (qcam, 저해상·데이터절약)\n1: 고화질 (전방 풀해상도)\n2: 광각 (광각 풀해상도)",
+      "descr": "송출 영상\n0: 저화질 (데이터 절약)\n1: 중화질 (기본 전방)\n2: 고화질 (선명한 전방)\n3: 광각 (넓은 시야)",
       "egroup": "System",
       "etitle": "YouTube Quality",
-      "edescr": "Stream source\n0: Normal (qcam, low-res)\n1: High (road, full-res)\n2: Wide (wide cam, full-res)",
+      "edescr": "Stream video\n0: Low (data saving)\n1: Medium (front)\n2: High (clear front)\n3: Wide (wide view)",
       "cgroup": "System",
       "ctitle": "YouTube Quality",
-      "cdescr": "Stream source\n0: Normal (qcam, low-res)\n1: High (road, full-res)\n2: Wide (wide cam, full-res)",
+      "cdescr": "Stream video\n0: Low (data saving)\n1: Medium (front)\n2: High (clear front)\n3: Wide (wide view)",
       "min": 0,
-      "max": 2,
+      "max": 3,
       "default": 0,
       "unit": 1
     },
@@ -1784,13 +1784,13 @@
       "group": "SYS_YOUTUBE",
       "name": "CarrotYouTubeTimestamp",
       "title": "YouTube 시간 자막",
-      "descr": "영상 재인코딩 없이 현재 시간을 CEA-608/708 자막으로 송출합니다. YouTube Studio에서 자막 소스를 '내장 608/708'로 설정하고 시청 화면에서 CC를 켜야 보입니다. 위치는 YouTube 플레이어에 따라 달라질 수 있습니다.\n0: 끄기, 1: 켜기",
+      "descr": "영상 재인코딩 없이 현재 시간을 CEA-608/708 자막으로 송출합니다. 송출 시작 전에 Live Control Room의 스트림 설정 > 자막에서 '내장 608/708'을 선택해야 합니다. 종료된 영상의 수정 화면에서는 설정할 수 없습니다.\n0: 끄기, 1: 켜기",
       "egroup": "System",
       "etitle": "YouTube Time Caption",
-      "edescr": "Send the current time as embedded CEA-608/708 captions without re-encoding video. Select Embedded 608/708 captions in YouTube Studio and enable CC in the player. Placement may vary by player.\n0: OFF, 1: ON",
+      "edescr": "Send the current time as embedded CEA-608/708 captions without re-encoding video. Before streaming, select Embedded 608/708 under Live Control Room > Stream settings > Captions. It cannot be enabled from the completed video's edit page.\n0: OFF, 1: ON",
       "cgroup": "System",
       "ctitle": "YouTube Time Caption",
-      "cdescr": "Send the current time as embedded CEA-608/708 captions without re-encoding video. Enable embedded captions in YouTube Studio and turn on CC in the player.\n0: OFF, 1: ON",
+      "cdescr": "Send the current time as embedded CEA-608/708 captions without re-encoding video. Before streaming, select Embedded 608/708 under Live Control Room > Stream settings > Captions. It cannot be enabled from the completed video's edit page.\n0: OFF, 1: ON",
       "min": 0,
       "max": 1,
       "default": 0,
diff --git a/system/loggerd/encoder/v4l_encoder.cc b/system/loggerd/encoder/v4l_encoder.cc
index 3a390479227..faf4f12aab7 100644
--- a/system/loggerd/encoder/v4l_encoder.cc
+++ b/system/loggerd/encoder/v4l_encoder.cc
@@ -146,6 +146,7 @@ void V4LEncoder::dequeue_handler(V4LEncoder *e) {
 V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_height)
     : VideoEncoder(encoder_info, in_width, in_height) {
   const bool carrot_livestream_road = strcmp(encoder_info.publish_name, "livestreamRoadEncodeData") == 0;
+  const bool youtube_road = strcmp(encoder_info.publish_name, "youtubeRoadEncodeData") == 0;
   if (carrot_livestream_road) {
     out_width = 964;
     out_height = 604;
@@ -206,6 +207,30 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
   };
   util::safe_ioctl(fd, VIDIOC_S_FMT, &fmt_in, "VIDIOC_S_FMT failed");
 
+  if (youtube_road) {
+    int crop_width = in_width & ~1;
+    int crop_height = ((crop_width * 9) / 16) & ~1;
+    if (crop_height > in_height) {
+      crop_height = in_height & ~1;
+      crop_width = ((crop_height * 16) / 9) & ~1;
+    }
+
+    struct v4l2_selection selection = {};
+    selection.type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE;
+    selection.target = V4L2_SEL_TGT_CROP;
+    selection.r.left = ((in_width - crop_width) / 2) & ~1;
+    selection.r.top = ((in_height - crop_height) / 2) & ~1;
+    selection.r.width = crop_width;
+    selection.r.height = crop_height;
+    if (util::safe_ioctl(fd, VIDIOC_S_SELECTION, &selection) != 0) {
+      LOGW("YouTube encoder crop unavailable; scaling the full camera frame");
+    } else {
+      LOGW("YouTube encoder crop=%dx%d+%d+%d output=%dx%d bitrate=%d",
+           crop_width, crop_height, selection.r.left, selection.r.top,
+           out_width, out_height, encoder_settings.bitrate);
+    }
+  }
+
   LOGD("in buffer size %d, out buffer size %d",
     fmt_in.fmt.pix_mp.plane_fmt[0].sizeimage,
     fmt_out.fmt.pix_mp.plane_fmt[0].sizeimage);
diff --git a/system/loggerd/encoderd.cc b/system/loggerd/encoderd.cc
index 9d4b81a3f90..2115d3e0fae 100644
--- a/system/loggerd/encoderd.cc
+++ b/system/loggerd/encoderd.cc
@@ -163,6 +163,8 @@ int main(int argc, char* argv[]) {
     std::string arg1(argv[1]);
     if (arg1 == "--stream") {
       encoderd_thread(stream_cameras_logged);
+    } else if (arg1 == "--youtube") {
+      encoderd_thread(youtube_cameras_logged);
     } else {
       LOGE("Argument '%s' is not supported", arg1.c_str());
     }
diff --git a/system/loggerd/loggerd.h b/system/loggerd/loggerd.h
index 748e981a55b..ffa7d03a338 100644
--- a/system/loggerd/loggerd.h
+++ b/system/loggerd/loggerd.h
@@ -50,6 +50,10 @@ struct EncoderSettings {
     int _stream_bitrate = getenv("STREAM_BITRATE") ? atoi(getenv("STREAM_BITRATE")) : 1'000'000;
     return EncoderSettings{.encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .bitrate = _stream_bitrate , .gop_size = 15};
   }
+
+  static EncoderSettings YouTubeEncoderSettings() {
+    return EncoderSettings{.encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .bitrate = 2'500'000, .gop_size = 20};
+  }
 };
 
 class EncoderInfo {
@@ -124,6 +128,15 @@ const EncoderInfo stream_driver_encoder_info = {
   INIT_ENCODE_FUNCTIONS(LivestreamDriverEncode),
 };
 
+const EncoderInfo youtube_road_encoder_info = {
+  .publish_name = "youtubeRoadEncodeData",
+  .record = false,
+  .frame_width = 1920,
+  .frame_height = 1080,
+  .get_settings = [](int){return EncoderSettings::YouTubeEncoderSettings();},
+  INIT_ENCODE_FUNCTIONS(YoutubeRoadEncode),
+};
+
 const EncoderInfo qcam_encoder_info = {
   .publish_name = "qRoadEncodeData",
   .filename = "qcamera.ts",
@@ -170,5 +183,12 @@ const LogCameraInfo stream_driver_camera_info{
   .encoder_infos = {stream_driver_encoder_info}
 };
 
+const LogCameraInfo youtube_road_camera_info{
+  .thread_name = "youtube_road_encoder",
+  .stream_type = VISION_STREAM_ROAD,
+  .encoder_infos = {youtube_road_encoder_info}
+};
+
 const LogCameraInfo cameras_logged[] = {road_camera_info, wide_road_camera_info, driver_camera_info};
 const LogCameraInfo stream_cameras_logged[] = {stream_road_camera_info, stream_wide_road_camera_info, stream_driver_camera_info};
+const LogCameraInfo youtube_cameras_logged[] = {youtube_road_camera_info};
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index 13205e63e0b..4e0324724c3 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -86,10 +86,16 @@ def enable_webrtc(started, params, CP: car.CarParams) -> bool:
   return params.get_int("DisableDM") == 2
 
 def enable_youtube_hq(started, params, CP: car.CarParams) -> bool:
-  # High-quality/wide YouTube Live pulls the full-res livestream encoders, which
-  # only exist when stream_encoderd runs. Start it when HQ streaming is selected.
+  # Medium/wide reuse the existing Carrot Vision livestream encoders.
   try:
-    return params.get_int("CarrotYouTubeLive") > 0 and params.get_int("CarrotYouTubeQuality") > 0
+    return params.get_int("CarrotYouTubeLive") > 0 and params.get_int("CarrotYouTubeQuality") in (1, 3)
+  except Exception:
+    return False
+
+def enable_youtube_encoder(started, params, CP: car.CarParams) -> bool:
+  # High quality has a dedicated encoder so Carrot Vision settings stay unchanged.
+  try:
+    return params.get_int("CarrotYouTubeLive") > 0 and params.get_int("CarrotYouTubeQuality") == 2
   except Exception:
     return False
 
@@ -105,6 +111,7 @@ def enable_cluster_hud(started, params, CP: car.CarParams) -> bool:
   NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
   NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad),
   NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], or_(notcar, and_(only_onroad, or_(enable_webrtc, enable_youtube_hq)))),
+  NativeProcess("youtube_encoderd", "system/loggerd", ["./encoderd", "--youtube"], and_(only_onroad, enable_youtube_encoder)),
   PythonProcess("logmessaged", "system.logmessaged", always_run),
 
   NativeProcess("camerad", "system/camerad", ["./camerad"], driverview, enabled=not WEBCAM),

From d2acc1e7baaa3033472b00e0e465c375e1409371 Mon Sep 17 00:00:00 2001
From: jominki354 <jominki354@gmail.com>
Date: Wed, 1 Jul 2026 17:25:00 +0900
Subject: [PATCH 60/61] f

---
 .../carrot/server/services/youtube_live.py    |  4 +-
 .../server/services/youtube_live_captions.py  | 45 ++++++++++---------
 .../tests/test_youtube_live_captions.py       | 42 ++++++++++-------
 system/loggerd/encoderd.cc                    |  4 +-
 4 files changed, 56 insertions(+), 39 deletions(-)

diff --git a/selfdrive/carrot/server/services/youtube_live.py b/selfdrive/carrot/server/services/youtube_live.py
index afd82cb70aa..eca92b76344 100644
--- a/selfdrive/carrot/server/services/youtube_live.py
+++ b/selfdrive/carrot/server/services/youtube_live.py
@@ -45,8 +45,8 @@
 _PROCESS_MATCHES = {
   "carrot_cluster": "selfdrive.carrot.cluster_autorun",
   "webrtcd": "system.webrtc.webrtcd",
-  "stream_encoderd": "system/loggerd/encoderd\x00--stream",
-  "youtube_encoderd": "system/loggerd/encoderd\x00--youtube",
+  "stream_encoderd": "encoderd\x00--stream",
+  "youtube_encoderd": "encoderd\x00--youtube",
 }
 
 
diff --git a/selfdrive/carrot/server/services/youtube_live_captions.py b/selfdrive/carrot/server/services/youtube_live_captions.py
index bbc731ff19f..f6c1207b16f 100644
--- a/selfdrive/carrot/server/services/youtube_live_captions.py
+++ b/selfdrive/carrot/server/services/youtube_live_captions.py
@@ -1,7 +1,7 @@
 from __future__ import annotations
 
-from collections import deque
 from datetime import datetime
+from typing import Iterable
 
 
 _ANNEXB_START_CODE = b"\x00\x00\x00\x01"
@@ -9,8 +9,9 @@
 _CEA608_EDM = (0x14, 0x2C)
 _CEA608_ENM = (0x14, 0x2E)
 _CEA608_EOC = (0x14, 0x2F)
-# Row 1, white, regular, indent 8. A 19-character timestamp is approximately centered.
-_CEA608_TOP_CENTER_PAC = (0x11, 0x54)
+# Row 1, white, regular, indent 4. This is the closest stable PAC position to
+# center for a 19-character timestamp without cumulative tab-offset commands.
+_CEA608_TOP_CENTER_PAC = (0x11, 0x52)
 
 
 def _with_odd_parity(value: int) -> int:
@@ -30,13 +31,22 @@ def _rbsp_escape(payload: bytes) -> bytes:
   return bytes(escaped)
 
 
-def build_cea608_sei(pair: tuple[int, int]) -> bytes:
-  cc_data_1 = _with_odd_parity(pair[0])
-  cc_data_2 = _with_odd_parity(pair[1])
+def build_cea608_sei(pairs: tuple[int, int] | Iterable[tuple[int, int]]) -> bytes:
+  if isinstance(pairs, tuple) and len(pairs) == 2 and all(isinstance(value, int) for value in pairs):
+    caption_pairs = [pairs]
+  else:
+    caption_pairs = list(pairs)
+  if not caption_pairs or len(caption_pairs) > 31:
+    raise ValueError("CEA-608 SEI requires 1 to 31 caption pairs")
+
+  cc_data = b"".join(
+    bytes((0xFC, _with_odd_parity(first), _with_odd_parity(second)))
+    for first, second in caption_pairs
+  )
   itu_t_t35 = (
     b"\xB5\x00\x31GA94\x03"
-    + b"\x41\xFF"  # process_cc_data_flag=1, cc_count=1, em_data=0xff
-    + bytes((0xFC, cc_data_1, cc_data_2))  # valid NTSC field-1 compatibility data
+    + bytes((0x40 | len(caption_pairs), 0xFF))
+    + cc_data
     + b"\xFF"
   )
   sei_rbsp = bytes((0x04, len(itu_t_t35))) + itu_t_t35 + b"\x80"
@@ -53,7 +63,7 @@ def _timestamp_pairs(text: str) -> list[tuple[int, int]]:
     _CEA608_ENM, _CEA608_ENM,
     _CEA608_TOP_CENTER_PAC, _CEA608_TOP_CENTER_PAC,
     *text_pairs,
-    _CEA608_EOC, _CEA608_EOC,
+    _CEA608_EOC,
   ]
 
 
@@ -61,13 +71,11 @@ class Cea608TimestampInjector:
   def __init__(self) -> None:
     self._enabled = False
     self._last_text = ""
-    self._pending: deque[tuple[int, int]] = deque()
     self.packets_injected = 0
 
   def reset(self) -> None:
     self._enabled = False
     self._last_text = ""
-    self._pending.clear()
 
   def inject(self, payload: bytes, *, enabled: bool, now: datetime | None = None) -> bytes:
     if not payload:
@@ -76,19 +84,16 @@ def inject(self, payload: bytes, *, enabled: bool, now: datetime | None = None)
     if enabled != self._enabled:
       self._enabled = enabled
       self._last_text = ""
-      self._pending.clear()
       if not enabled:
-        self._pending.extend((_CEA608_EDM, _CEA608_EDM))
+        self.packets_injected += 1
+        return build_cea608_sei((_CEA608_EDM, _CEA608_EDM)) + payload
 
-    if enabled and not self._pending:
+    if enabled:
       local_now = now if now is not None else datetime.now().astimezone()
       text = local_now.strftime("%Y-%m-%d %H:%M:%S")
       if text != self._last_text:
         self._last_text = text
-        self._pending.extend(_timestamp_pairs(text))
-
-    if not self._pending:
-      return payload
+        self.packets_injected += 1
+        return build_cea608_sei(_timestamp_pairs(text)) + payload
 
-    self.packets_injected += 1
-    return build_cea608_sei(self._pending.popleft()) + payload
+    return payload
diff --git a/selfdrive/carrot/server/tests/test_youtube_live_captions.py b/selfdrive/carrot/server/tests/test_youtube_live_captions.py
index 4abc0fa74a7..e25ba17dee7 100644
--- a/selfdrive/carrot/server/tests/test_youtube_live_captions.py
+++ b/selfdrive/carrot/server/tests/test_youtube_live_captions.py
@@ -17,14 +17,26 @@ def _unescape_rbsp(payload: bytes) -> bytes:
   return bytes(result)
 
 
-def _caption_pair(sei: bytes) -> tuple[int, int]:
+def _caption_pairs(sei: bytes) -> list[tuple[int, int]]:
   assert sei.startswith(b"\x00\x00\x00\x01\x06")
   rbsp = _unescape_rbsp(sei[5:])
-  assert rbsp[:2] == b"\x04\x0e"
+  assert rbsp[0] == 0x04
   assert rbsp[2:10] == b"\xB5\x00\x31GA94\x03"
-  assert rbsp[10:12] == b"\x41\xFF"
-  assert rbsp[12] == 0xFC
-  return rbsp[13] & 0x7F, rbsp[14] & 0x7F
+  count = rbsp[10] & 0x1F
+  assert rbsp[10] & 0x40
+  assert rbsp[11] == 0xFF
+  result = []
+  for index in range(count):
+    offset = 12 + index * 3
+    assert rbsp[offset] == 0xFC
+    result.append((rbsp[offset + 1] & 0x7F, rbsp[offset + 2] & 0x7F))
+  return result
+
+
+def _caption_pair(sei: bytes) -> tuple[int, int]:
+  pairs = _caption_pairs(sei)
+  assert len(pairs) == 1
+  return pairs[0]
 
 
 def test_build_cea608_sei_has_atsc_payload_and_odd_parity() -> None:
@@ -52,18 +64,18 @@ def test_timestamp_sequence_is_injected_without_changing_video_payload() -> None
   injector = Cea608TimestampInjector()
   video = b"\x00\x00\x00\x01\x65\x88\x84"
   now = datetime(2026, 7, 1, 8, 32, 9, tzinfo=timezone.utc)
-  pairs = []
-  for _ in range(18):
-    injected = injector.inject(video, enabled=True, now=now)
-    assert injected.endswith(video)
-    pairs.append(_caption_pair(injected[:-len(video)]))
+  injected = injector.inject(video, enabled=True, now=now)
+  assert injected.endswith(video)
+  pairs = _caption_pairs(injected[:-len(video)])
 
-  text = "".join(chr(value) for pair in pairs[6:-2] for value in pair).rstrip()
+  text = "".join(chr(value) for pair in pairs[6:-1] for value in pair).rstrip()
   assert text == "2026-07-01 08:32:09"
   assert pairs[:2] == [(0x14, 0x20)] * 2
   assert pairs[2:4] == [(0x14, 0x2E)] * 2
-  assert pairs[4:6] == [(0x11, 0x54)] * 2
-  assert pairs[-2:] == [(0x14, 0x2F)] * 2
+  assert pairs[4:6] == [(0x11, 0x52)] * 2
+  assert pairs[-1] == (0x14, 0x2F)
+  assert injector.inject(video, enabled=True, now=now) == video
+  assert injector.packets_injected == 1
 
 
 def test_disabling_captions_sends_erase_display_memory() -> None:
@@ -71,7 +83,5 @@ def test_disabling_captions_sends_erase_display_memory() -> None:
   video = b"\x00\x00\x00\x01\x41\x01"
   injector.inject(video, enabled=True, now=datetime(2026, 7, 1, tzinfo=timezone.utc))
   first = injector.inject(video, enabled=False)
-  second = injector.inject(video, enabled=False)
-  assert _caption_pair(first[:-len(video)]) == (0x14, 0x2C)
-  assert _caption_pair(second[:-len(video)]) == (0x14, 0x2C)
+  assert _caption_pairs(first[:-len(video)]) == [(0x14, 0x2C)] * 2
   assert injector.inject(video, enabled=False) == video
diff --git a/system/loggerd/encoderd.cc b/system/loggerd/encoderd.cc
index 2115d3e0fae..5ca8d1723b4 100644
--- a/system/loggerd/encoderd.cc
+++ b/system/loggerd/encoderd.cc
@@ -142,7 +142,9 @@ void encoderd_thread(const LogCameraInfo (&cameras)[N]) {
     for (auto stream : streams) {
       auto it = std::find_if(std::begin(cameras), std::end(cameras),
                              [stream](auto &cam) { return cam.stream_type == stream; });
-      assert(it != std::end(cameras));
+      if (it == std::end(cameras)) {
+        continue;
+      }
       ++s.max_waiting;
       encoder_threads.push_back(std::thread(encoder_thread, &s, *it));
     }

From 38fa9195d1e5b2e8a211c38f7898c5600ce922d5 Mon Sep 17 00:00:00 2001
From: jominki354 <jominki354@gmail.com>
Date: Wed, 1 Jul 2026 17:35:31 +0900
Subject: [PATCH 61/61] f

---
 .../web/css/pages/settings/youtube_live.css    | 17 +++++++++++++++++
 selfdrive/carrot/web/index.html                |  4 ++--
 .../web/js/pages/setting_youtube_live.js       | 18 ++++++++++++++++++
 3 files changed, 37 insertions(+), 2 deletions(-)

diff --git a/selfdrive/carrot/web/css/pages/settings/youtube_live.css b/selfdrive/carrot/web/css/pages/settings/youtube_live.css
index 103c2d50ce2..644bbdedf5b 100644
--- a/selfdrive/carrot/web/css/pages/settings/youtube_live.css
+++ b/selfdrive/carrot/web/css/pages/settings/youtube_live.css
@@ -100,6 +100,23 @@
   --ui-action-min: 136px;
 }
 
+.page--setting #settingScreenItems .youtube-timestamp-disabled .setting-switch {
+  cursor: not-allowed;
+}
+
+.page--setting #settingScreenItems .youtube-timestamp-disabled .setting-switch__track,
+.page--setting #settingScreenItems .youtube-timestamp-disabled .setting-switch__input:checked + .setting-switch__track {
+  border-color: color-mix(in srgb, #000 84%, var(--md-outline-var));
+  background: #000;
+}
+
+.page--setting #settingScreenItems .youtube-timestamp-disabled .setting-switch__track::after,
+.page--setting #settingScreenItems .youtube-timestamp-disabled .setting-switch__input:checked + .setting-switch__track::after {
+  transform: none;
+  background: color-mix(in srgb, var(--md-on-surface-var) 42%, #000);
+  box-shadow: none;
+}
+
 .youtube-live-key-row .smallBtn {
   display: inline-flex;
   align-items: center;
diff --git a/selfdrive/carrot/web/index.html b/selfdrive/carrot/web/index.html
index 8a44456ae27..85c6bec7bff 100644
--- a/selfdrive/carrot/web/index.html
+++ b/selfdrive/carrot/web/index.html
@@ -101,7 +101,7 @@
   <link rel="stylesheet" href="/css/pages/settings/base.css?v=2606-21" />
   <link rel="stylesheet" href="/css/pages/settings/panels.css?v=2606-12" />
   <link rel="stylesheet" href="/css/pages/settings/device.css?v=2606-42" />
-  <link rel="stylesheet" href="/css/pages/settings/youtube_live.css?v=2607-17" />
+  <link rel="stylesheet" href="/css/pages/settings/youtube_live.css?v=2607-18" />
   <link rel="stylesheet" href="/css/pages/tools/base.css?v=2605-43" />
   <link rel="stylesheet" href="/css/pages/tools/qr.css?v=2605-40" />
   <link rel="stylesheet" href="/css/pages/tools/main.css?v=2605-53" />
@@ -728,7 +728,7 @@ <h2 id="carrotTitle" class="page-title">Home</h2>
   <script src="/js/shared/ui/effects.js?v=2604-72"></script>
   <script src="/js/shared/ui/navigation.js?v=2606-19"></script>
   <script src="/js/pages/car.js?v=2607-01"></script>
-  <script src="/js/pages/setting_youtube_live.js?v=2607-25"></script>
+  <script src="/js/pages/setting_youtube_live.js?v=2607-26"></script>
   <script src="/js/shared/ui/nav_status_badges.js?v=2607-01"></script>
   <script src="/js/pages/setting.js?v=2607-13"></script>
   <script src="/js/pages/setting_device_config.js?v=2605-05"></script>
diff --git a/selfdrive/carrot/web/js/pages/setting_youtube_live.js b/selfdrive/carrot/web/js/pages/setting_youtube_live.js
index 582e48cbffa..ed62a9f3c69 100644
--- a/selfdrive/carrot/web/js/pages/setting_youtube_live.js
+++ b/selfdrive/carrot/web/js/pages/setting_youtube_live.js
@@ -591,8 +591,26 @@
     state.timer = null;
   }
 
+  function lockTimestampToggle() {
+    const row = document.querySelector('.setting[data-setting-name="CarrotYouTubeTimestamp"]');
+    if (!row) return;
+    const toggle = row.querySelector(".setting-switch__input");
+    if (toggle) {
+      toggle.checked = false;
+      toggle.disabled = true;
+      toggle.setAttribute("aria-disabled", "true");
+    }
+    row.classList.add("youtube-timestamp-disabled");
+    if (state.timestampDisabledSynced) return;
+    state.timestampDisabledSynced = true;
+    setParam("CarrotYouTubeTimestamp", 0).catch(() => {
+      state.timestampDisabledSynced = false;
+    });
+  }
+
   function sync() {
     if (isVisible()) {
+      lockTimestampToggle();
       ensureCard();
       startPolling();
       return;